2025-03-11T23:29:40.226Z,1741735780.226 [DataOverHttps](INFO): Received command: restart logs
2025-03-11T23:29:40.251Z,1741735780.251 [CommandExec](IMPORTANT): got command restart logs
2025-03-11T23:30:13.696Z,1741735813.696 [DataOverHttps](IMPORTANT): SBD MTMSN=20250311T233012
2025-03-11T23:30:21.098Z,1741735821.098 [DataOverHttps](INFO): Received command: load Transport/transit.tl;set transit.MissionTimeout 15 min;set transit.Latitude 36.797 degree;set transit.Longitude -121.847 degree;set transit.Speed 1.4 m/s;set transit.MinOffshore 0.1 km;set transit.MinAltitude 2 m;run
2025-03-11T23:30:21.159Z,1741735821.159 [CommandExec](IMPORTANT): got command load ./Missions/Transport/transit.tl
2025-03-11T23:30:21.160Z,1741735821.160 [MissionManager](INFO): Loading Mission from file: ./Missions/Transport/transit.tl
2025-03-11T23:30:21.160Z,1741735821.160 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Transport/transit.tl
2025-03-11T23:30:21.161Z,1741735821.161 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Transport/transit.tl
2025-03-11T23:30:21.854Z,1741735821.854 [MissionManager](DEBUG): TethyslAPI: ./Missions/Transport/transit.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Mission Id="transit">
    <DefineArg Name="MissionTimeout">
        <Units:minute />
        <Value>60</Value>
    </DefineArg>
    <DefineArg Name="NeedCommsTime">
        <Units:minute />
        <Value>30</Value>
    </DefineArg>
    <DefineArg Name="Latitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Longitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Northings">
        <Units:meter />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="Eastings">
        <Units:meter />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="Depth">
        <Units:meter />
        <Value>10</Value>
    </DefineArg>
    <DefineArg Name="Speed">
        <Units:meter_per_second />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:kilometer />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>7</Value>
    </DefineArg>
    <DefineArg Name="MassHold">
        <True />
    </DefineArg>
    <DefineArg Name="BuoyancyHold">
        <True />
    </DefineArg>
    <Timeout Duration="MissionTimeout" />
    <Insert Id="NeedComms" Filename="Insert/NeedComms.tl" />
    <Assign>
        <Sequence />
        <Arg Name="NeedComms:DiveInterval" />
        <Arg Name="NeedCommsTime" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="NeedComms:WaitForPitchUp" />
        <Units:second />
        <Value>1</Value>
    </Assign>
    <Insert Filename="Insert/StandardEnvelopes.tl" />
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MinAltitude" />
        <Arg Name="MinAltitude" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MaxDepth" />
        <Arg Name="MaxDepth" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MinOffshore" />
        <Arg Name="MinOffshore" />
    </Assign>
    <Insert Filename="Insert/BackseatDriver.tl" />
    <Insert Filename="Insert/PowerOnly.tl" />
    <Guidance:Buoyancy Id="BuoyancyHold">
        <While>
            <Arg Name="BuoyancyHold" />
        </While>
        <Setting>
            <Guidance:Buoyancy.position />
            <Control:VerticalControl.buoyancyNeutral />
        </Setting>
    </Guidance:Buoyancy>
    <Guidance:Pitch Id="MassHold">
        <While>
            <Arg Name="MassHold" />
        </While>
        <Setting>
            <Guidance:Pitch.massPosition />
            <Control:VerticalControl.massDefault />
        </Setting>
    </Guidance:Pitch>
    <Aggregate Id="Transit">
        <Sequence />
        <Guidance:Pitch>
            <Parallel />
            <Setting>
                <Guidance:Pitch.depth />
                <Arg Name="Depth" />
            </Setting>
        </Guidance:Pitch>
        <Guidance:SetSpeed>
            <Parallel />
            <Setting>
                <Guidance:SetSpeed.speed />
                <Arg Name="Speed" />
            </Setting>
        </Guidance:SetSpeed>
        <Guidance:Waypoint Id="Wpt1">
            <Sequence />
            <Setting>
                <Guidance:Waypoint.latitude />
                <Arg Name="Latitude" />
            </Setting>
            <Setting>
                <Guidance:Waypoint.longitude />
                <Arg Name="Longitude" />
            </Setting>
            <Setting>
                <Guidance:Waypoint.northingsDelta />
                <Arg Name="Northings" />
            </Setting>
            <Setting>
                <Guidance:Waypoint.eastingsDelta />
                <Arg Name="Eastings" />
            </Setting>
        </Guidance:Waypoint>
        <Call RefId="NeedComms" Id="PhoneHome" />
    </Aggregate>
</Mission>

2025-03-11T23:30:21.859Z,1741735821.859 [MissionManager](INFO): DefineArg transit.MissionTimeout = 60.000000 min
2025-03-11T23:30:21.861Z,1741735821.861 [MissionManager](INFO): DefineArg transit.NeedCommsTime = 30.000000 min
2025-03-11T23:30:21.863Z,1741735821.863 [MissionManager](INFO): DefineArg transit.Latitude = nan arcdeg
2025-03-11T23:30:21.865Z,1741735821.865 [MissionManager](INFO): DefineArg transit.Longitude = nan arcdeg
2025-03-11T23:30:21.892Z,1741735821.892 [MissionManager](INFO): DefineArg transit.Northings = 0.000000 m
2025-03-11T23:30:21.935Z,1741735821.935 [MissionManager](INFO): DefineArg transit.Eastings = 0.000000 m
2025-03-11T23:30:21.937Z,1741735821.937 [MissionManager](INFO): DefineArg transit.Depth = 10.000000 m
2025-03-11T23:30:21.944Z,1741735821.944 [MissionManager](INFO): DefineArg transit.Speed = 1.000000 m/s
2025-03-11T23:30:21.950Z,1741735821.950 [MissionManager](INFO): DefineArg transit.MaxDepth = 20.000000 m
2025-03-11T23:30:21.953Z,1741735821.953 [MissionManager](INFO): DefineArg transit.MinOffshore = 1.000000 km
2025-03-11T23:30:21.959Z,1741735821.959 [MissionManager](INFO): DefineArg transit.MinAltitude = 7.000000 m
2025-03-11T23:30:21.961Z,1741735821.961 [MissionManager](INFO): DefineArg transit.MassHold = 1 bool
2025-03-11T23:30:21.964Z,1741735821.964 [MissionManager](INFO): DefineArg transit.BuoyancyHold = 1 bool
2025-03-11T23:30:21.964Z,1741735821.964 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl
2025-03-11T23:30:21.964Z,1741735821.964 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl
2025-03-11T23:30:21.965Z,1741735821.965 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl
2025-03-11T23:30:22.235Z,1741735822.235 [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>

2025-03-11T23:30:22.241Z,1741735822.241 [MissionManager](INFO): DefineArg transit:NeedComms.DiveInterval = 1.000000 h
2025-03-11T23:30:22.243Z,1741735822.243 [MissionManager](INFO): DefineArg transit:NeedComms.WaitForPitchUp = 10.000000 min
2025-03-11T23:30:22.245Z,1741735822.245 [MissionManager](INFO): DefineArg transit:NeedComms.SurfacePitch = 20.000000 arcdeg
2025-03-11T23:30:22.248Z,1741735822.248 [MissionManager](INFO): DefineArg transit:NeedComms.SurfaceDepthRate = nan m/s
2025-03-11T23:30:22.250Z,1741735822.250 [MissionManager](INFO): DefineArg transit:NeedComms.SurfaceSpeed = 1.000000 m/s
2025-03-11T23:30:22.252Z,1741735822.252 [MissionManager](INFO): DefineArg transit:NeedComms.SurfacingTimeout = 1000.000000 s
2025-03-11T23:30:22.255Z,1741735822.255 [MissionManager](INFO): DefineArg transit:NeedComms.GPSTimeout = 7.000000 min
2025-03-11T23:30:22.257Z,1741735822.257 [MissionManager](INFO): DefineArg transit:NeedComms.CommsTimeout = 30.000000 min
2025-03-11T23:30:22.263Z,1741735822.263 [transit:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2025-03-11T23:30:22.280Z,1741735822.280 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-03-11T23:30:22.280Z,1741735822.280 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-03-11T23:30:22.281Z,1741735822.281 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-03-11T23:30:22.476Z,1741735822.476 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/StandardEnvelopes.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="StandardEnvelopes">
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="MaxDepthIgnore">
        <Units:meter />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>200</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:meter />
        <Value>2000</Value>
    </DefineArg>
    <Parallel />
    <Guidance:AltitudeEnvelope>
        <Parallel />
        <Setting>
            <Guidance:AltitudeEnvelope.minAltitude />
            <Arg Name="MinAltitude" />
        </Setting>
        <Setting>
            <Guidance:AltitudeEnvelope.maxDepthIgnore />
            <Arg Name="MaxDepthIgnore" />
        </Setting>
    </Guidance:AltitudeEnvelope>
    <Guidance:DepthEnvelope>
        <Parallel />
        <Setting>
            <Guidance:DepthEnvelope.maxDepth />
            <Arg Name="MaxDepth" />
        </Setting>
    </Guidance:DepthEnvelope>
    <Guidance:OffshoreEnvelope>
        <Parallel />
        <Setting>
            <Guidance:OffshoreEnvelope.minOffshore />
            <Arg Name="MinOffshore" />
        </Setting>
    </Guidance:OffshoreEnvelope>
</Aggregate>

2025-03-11T23:30:22.480Z,1741735822.480 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MinAltitude = 5.000000 m
2025-03-11T23:30:22.482Z,1741735822.482 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MaxDepthIgnore = 0.000000 m
2025-03-11T23:30:22.484Z,1741735822.484 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MaxDepth = 200.000000 m
2025-03-11T23:30:22.486Z,1741735822.486 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-03-11T23:30:22.487Z,1741735822.487 [transit:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-03-11T23:30:22.493Z,1741735822.493 [transit:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-03-11T23:30:22.499Z,1741735822.499 [transit:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-03-11T23:30:22.536Z,1741735822.536 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2025-03-11T23:30:22.536Z,1741735822.536 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2025-03-11T23:30:22.537Z,1741735822.537 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2025-03-11T23:30:22.564Z,1741735822.564 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/BackseatDriver.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="BackseatDriver">
    <DefineArg Name="EnableBackseat">
        <False />
    </DefineArg>
    <Parallel />
    <Guidance:BackseatDriver>
        <Sequence />
        <Setting>
            <Guidance:BackseatDriver.powerBackseat />
            <Arg Name="EnableBackseat" />
        </Setting>
    </Guidance:BackseatDriver>
</Aggregate>

2025-03-11T23:30:22.568Z,1741735822.568 [MissionManager](INFO): DefineArg transit:BackseatDriver.EnableBackseat = 0 bool
2025-03-11T23:30:22.570Z,1741735822.570 [transit:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2025-03-11T23:30:22.572Z,1741735822.572 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2025-03-11T23:30:22.572Z,1741735822.572 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2025-03-11T23:30:22.573Z,1741735822.573 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2025-03-11T23:30:22.699Z,1741735822.699 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/PowerOnly.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="PowerOnly">
    <DefineArg Name="SampleAll">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad1">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad2">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad3">
        <False />
    </DefineArg>
    <DefineArg Name="EnabledPowerOnly">
        <Sensor:PowerOnly.loadAtStartup />
    </DefineArg>
    <Parallel />
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleAll" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.samplePowerOnly />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad1" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad1 />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad2" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad2 />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad3" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad3 />
    </ReadData>
    <Guidance:Wait>
        <Sequence />
        <Setting>
            <Guidance:Wait.duration />
            <Units:hour />
            <Value>99999</Value>
        </Setting>
    </Guidance:Wait>
</Aggregate>

2025-03-11T23:30:22.731Z,1741735822.731 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleAll = 0 bool
2025-03-11T23:30:22.733Z,1741735822.733 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleLoad1 = 0 bool
2025-03-11T23:30:22.739Z,1741735822.739 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleLoad2 = 0 bool
2025-03-11T23:30:22.741Z,1741735822.741 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleLoad3 = 0 bool
2025-03-11T23:30:22.748Z,1741735822.748 [MissionManager](INFO): DefineArg transit:PowerOnly.EnabledPowerOnly = 1 bool
2025-03-11T23:30:22.758Z,1741735822.758 [transit:PowerOnly:E.Wait](DEBUG): Construct Wait.
2025-03-11T23:30:22.760Z,1741735822.760 [transit:BuoyancyHold.Buoyancy](DEBUG): Construct Buoyancy.
2025-03-11T23:30:22.763Z,1741735822.763 [transit:MassHold.Pitch](DEBUG): Construct.
2025-03-11T23:30:22.821Z,1741735822.821 [transit:Transit:A.Pitch](DEBUG): Construct.
2025-03-11T23:30:22.826Z,1741735822.826 [transit:Transit:B.SetSpeed](DEBUG): Construct.
2025-03-11T23:30:22.828Z,1741735822.828 [transit:Transit:Wpt1.Waypoint](DEBUG): Construct Waypoint.
2025-03-11T23:30:22.852Z,1741735822.852 [MissionManager](DEBUG): 
#   Copyright (c) 2024 MBARI
#   MBARI Proprietary Information. Confidential. All Rights Reserved
#   Unauthorized copying or distribution of this file via any medium is strictly
#   prohibited.
#
#   WARNING - This file contains information whose export is restricted by the
#   Export Administration Act of 1979 (Title 50, U.S.C., App. 2401 et seq.), as
#   amended. Violations of these export laws are subject to severe civil and/or
#   criminal penalties.

mission transit {
  """
  Vehicle transits to desired waypoint and can be commanded to use/hold
  mass or buoyancy.
  """

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

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

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

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

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

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

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

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

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

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

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

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

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

  timeout duration=MissionTimeout

  insert id="NeedComms" Insert/NeedComms.tl

  assign in sequence NeedComms:DiveInterval = NeedCommsTime

  assign in sequence NeedComms:WaitForPitchUp = 1 second

  insert Insert/StandardEnvelopes.tl

  assign in sequence StandardEnvelopes:MinAltitude = MinAltitude

  assign in sequence StandardEnvelopes:MaxDepth = MaxDepth

  assign in sequence StandardEnvelopes:MinOffshore = MinOffshore

  insert Insert/BackseatDriver.tl

  insert Insert/PowerOnly.tl

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

    set position = Control:VerticalControl.buoyancyNeutral
  }

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

    set massPosition = Control:VerticalControl.massDefault
  }

  aggregate Transit {
    run in sequence

    behavior Guidance:Pitch {
      run in parallel

      set depth = Depth
    }

    behavior Guidance:SetSpeed {
      run in parallel

      set speed = Speed
    }

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

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

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


2025-03-11T23:30:22.852Z,1741735822.852 [CommandExec](IMPORTANT): Loaded ./Missions/Transport/transit.tl id=transit
2025-03-11T23:30:36.603Z,1741735836.603 [CommandExec](IMPORTANT): got command set transit.MissionTimeout 15 minute
2025-03-11T23:30:36.604Z,1741735836.604 [CommandExec](IMPORTANT): got command set transit.Latitude 36.797 degree
2025-03-11T23:30:36.605Z,1741735836.605 [CommandExec](IMPORTANT): got command set transit.Longitude -121.847 degree
2025-03-11T23:30:36.605Z,1741735836.605 [CommandExec](IMPORTANT): got command set transit.Speed 1.4 meter_per_second
2025-03-11T23:30:36.606Z,1741735836.606 [CommandExec](IMPORTANT): got command set transit.MinOffshore 0.1 kilometer
2025-03-11T23:30:36.607Z,1741735836.607 [CommandExec](IMPORTANT): got command set transit.MinAltitude 2 meter
2025-03-11T23:30:36.608Z,1741735836.608 [CommandExec](IMPORTANT): got command run
2025-03-11T23:30:36.609Z,1741735836.609 [CommandExec](IMPORTANT): Running 
2025-03-11T23:30:36.874Z,1741735836.874 [Default] Stopped
2025-03-11T23:30:36.874Z,1741735836.874 [Default](DEBUG): Aggregate::uninitialize Default
2025-03-11T23:30:36.874Z,1741735836.874 [Default:B.GoToSurface] Stopped
2025-03-11T23:30:36.874Z,1741735836.874 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-03-11T23:30:36.874Z,1741735836.874 [Default:CheckIn] Stopped
2025-03-11T23:30:36.874Z,1741735836.874 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-03-11T23:30:36.874Z,1741735836.874 [Default:CheckIn:C.Wait] Stopped
2025-03-11T23:30:36.874Z,1741735836.874 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2025-03-11T23:30:36.875Z,1741735836.875 [MissionManager](IMPORTANT): Started mission transit
2025-03-11T23:30:36.875Z,1741735836.875 [transit] Running Loop=1
2025-03-11T23:30:36.875Z,1741735836.875 [transit](DEBUG): Aggregate::initialize transit
2025-03-11T23:30:36.875Z,1741735836.875 [transit:StandardEnvelopes] Running Loop=1
2025-03-11T23:30:36.875Z,1741735836.875 [transit:StandardEnvelopes](DEBUG): Aggregate::initialize transit:StandardEnvelopes
2025-03-11T23:30:36.875Z,1741735836.875 [transit:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-03-11T23:30:36.875Z,1741735836.875 [transit:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-03-11T23:30:36.876Z,1741735836.876 [transit:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-03-11T23:30:36.876Z,1741735836.876 [transit:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-03-11T23:30:36.876Z,1741735836.876 [transit:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-03-11T23:30:36.876Z,1741735836.876 [transit:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-03-11T23:30:36.876Z,1741735836.876 [transit:BackseatDriver] Running Loop=1
2025-03-11T23:30:36.876Z,1741735836.876 [transit:BackseatDriver](DEBUG): Aggregate::initialize transit:BackseatDriver
2025-03-11T23:30:36.876Z,1741735836.876 [transit:BackseatDriver:A.BackseatDriver] Running Loop=1
2025-03-11T23:30:36.876Z,1741735836.876 [transit:PowerOnly] Running Loop=1
2025-03-11T23:30:36.876Z,1741735836.876 [transit:PowerOnly](DEBUG): Aggregate::initialize transit:PowerOnly
2025-03-11T23:30:36.876Z,1741735836.876 [transit:PowerOnly:A] Running Loop=1
2025-03-11T23:30:36.877Z,1741735836.877 [transit:PowerOnly:B] Running Loop=1
2025-03-11T23:30:36.877Z,1741735836.877 [transit:PowerOnly:C] Running Loop=1
2025-03-11T23:30:36.877Z,1741735836.877 [transit:PowerOnly:D] Running Loop=1
2025-03-11T23:30:36.877Z,1741735836.877 [transit:PowerOnly:E.Wait] Running Loop=1
2025-03-11T23:30:36.877Z,1741735836.877 [transit:PowerOnly:E.Wait](DEBUG): Initialize Wait Component.
2025-03-11T23:30:36.877Z,1741735836.877 [transit:BuoyancyHold.Buoyancy] Running Loop=1
2025-03-11T23:30:36.877Z,1741735836.877 [transit:BuoyancyHold.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-03-11T23:30:36.877Z,1741735836.877 [transit:MassHold.Pitch] Running Loop=1
2025-03-11T23:30:36.877Z,1741735836.877 [transit:MassHold.Pitch](DEBUG): Initialize.
2025-03-11T23:30:36.877Z,1741735836.877 [transit:B] Running Loop=1
2025-03-11T23:30:36.878Z,1741735836.878 [transit:MassHold.Pitch] Running Loop=1
2025-03-11T23:30:36.878Z,1741735836.878 [transit:BuoyancyHold.Buoyancy] Running Loop=1
2025-03-11T23:30:36.879Z,1741735836.879 [transit:PowerOnly] Running Loop=1
2025-03-11T23:30:36.879Z,1741735836.879 [transit:PowerOnly:D] Stopped
2025-03-11T23:30:36.879Z,1741735836.879 [transit:PowerOnly:C] Stopped
2025-03-11T23:30:36.879Z,1741735836.879 [transit:PowerOnly:B] Stopped
2025-03-11T23:30:36.879Z,1741735836.879 [transit:PowerOnly:A] Stopped
2025-03-11T23:30:36.879Z,1741735836.879 [transit:BackseatDriver] Running Loop=1
2025-03-11T23:30:36.879Z,1741735836.879 [transit:StandardEnvelopes] Running Loop=1
2025-03-11T23:30:36.880Z,1741735836.880 [transit:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-03-11T23:30:36.880Z,1741735836.880 [transit:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-03-11T23:30:36.880Z,1741735836.880 [transit:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-03-11T23:30:36.881Z,1741735836.881 [transit:B] Stopped
2025-03-11T23:30:36.881Z,1741735836.881 [transit:C] Running Loop=1
2025-03-11T23:30:37.284Z,1741735837.284 [transit:C] Stopped
2025-03-11T23:30:37.284Z,1741735837.284 [transit:E] Running Loop=1
2025-03-11T23:30:37.687Z,1741735837.687 [transit:E] Stopped
2025-03-11T23:30:37.687Z,1741735837.687 [transit:F] Running Loop=1
2025-03-11T23:30:38.102Z,1741735838.102 [transit:F] Stopped
2025-03-11T23:30:38.103Z,1741735838.103 [transit:G] Running Loop=1
2025-03-11T23:30:38.491Z,1741735838.491 [transit:G] Stopped
2025-03-11T23:30:38.491Z,1741735838.491 [transit:Transit] Running Loop=1
2025-03-11T23:30:38.491Z,1741735838.491 [transit:Transit](DEBUG): Aggregate::initialize transit:Transit
2025-03-11T23:30:38.491Z,1741735838.491 [transit:Transit:A.Pitch] Running Loop=1
2025-03-11T23:30:38.491Z,1741735838.491 [transit:Transit:A.Pitch](DEBUG): Initialize.
2025-03-11T23:30:38.491Z,1741735838.491 [transit:Transit:B.SetSpeed] Running Loop=1
2025-03-11T23:30:38.491Z,1741735838.491 [transit:Transit:B.SetSpeed](DEBUG): Initialize.
2025-03-11T23:30:38.492Z,1741735838.492 [transit:Transit:Wpt1.Waypoint] Running Loop=1
2025-03-11T23:30:38.492Z,1741735838.492 [transit:Transit:Wpt1.Waypoint](DEBUG): Initialize WaypointComponent.
2025-03-11T23:30:38.493Z,1741735838.493 [transit:Transit:Wpt1.Waypoint](IMPORTANT): Navigating to waypoint: 36.797001,-121.847000
2025-03-11T23:30:38.892Z,1741735838.892 [transit:Transit:Wpt1.Waypoint](INFO): Navigating to waypoint: 36.797001,-121.847000
2025-03-11T23:30:38.893Z,1741735838.893 [transit:Transit:B.SetSpeed] Running Loop=1
2025-03-11T23:30:38.893Z,1741735838.893 [transit:Transit:A.Pitch] Running Loop=1
2025-03-11T23:30:38.902Z,1741735838.902 [HorizontalControl](DEBUG): kpHeading = 0.400000
2025-03-11T23:30:38.903Z,1741735838.903 [HorizontalControl](DEBUG): kiHeading = 0.001000
2025-03-11T23:30:38.903Z,1741735838.903 [HorizontalControl](DEBUG): kdHeading = 0.050000
2025-03-11T23:30:55.838Z,1741735855.838 [ThrusterHE](FAULT): Could not get status:serial timeout
2025-03-11T23:30:56.162Z,1741735856.162 [ThrusterHE](FAULT): getSpeed error serial timeout
2025-03-11T23:30:56.162Z,1741735856.162 [ThrusterHE](FAULT): Thruster uart error: serial timeout
2025-03-11T23:30:56.162Z,1741735856.162 [ThrusterHE] Communications Fault, FailCount= 1
2025-03-11T23:30:56.162Z,1741735856.162 [ThrusterHE](ERROR): Communications Fault
2025-03-11T23:30:56.167Z,1741735856.167 [CBIT](ERROR): Communications Fault in component: ThrusterHE
2025-03-11T23:30:56.299Z,1741735856.299 [ThrusterHE](DEBUG): Uninitialize Thruster Servo.
2025-03-11T23:30:56.299Z,1741735856.299 [ThrusterHE](INFO): Powering down
2025-03-11T23:30:56.787Z,1741735856.787 [ThrusterHE](FAULT): LCB fault:  Current Limiter Activated.
2025-03-11T23:30:56.787Z,1741735856.787 [ThrusterHE] Hardware Fault, FailCount= 1
2025-03-11T23:30:56.787Z,1741735856.787 [ThrusterHE](ERROR): Hardware Fault
2025-03-11T23:30:57.084Z,1741735857.084 [ThrusterHE](DEBUG): Initializing EZServoServo.
2025-03-11T23:30:57.203Z,1741735857.203 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2025-03-11T23:30:57.207Z,1741735857.207 [CBIT](INFO): Clearing failed state for component ThrusterHE
2025-03-11T23:30:57.207Z,1741735857.207 [ThrusterHE] No Fault, FailCount= 1
2025-03-11T23:31:02.855Z,1741735862.855 [ThrusterHE](ERROR): Zero Speed Commanded.
2025-03-11T23:31:56.282Z,1741735916.282 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-11T23:31:58.291Z,1741735918.291 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.239273
2025-03-11T23:32:27.066Z,1741735947.066 [Radio_Surface](INFO): Powering down
2025-03-11T23:32:31.422Z,1741735951.422 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-11T23:32:32.426Z,1741735952.426 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-03-11T23:33:26.697Z,1741736006.697 [transit:StandardEnvelopes:A.AltitudeEnvelope](IMPORTANT): Altitude envelope ACTIVE
2025-03-11T23:33:32.398Z,1741736012.398 [ThrusterHE](FAULT): Could not get status:serial timeout
2025-03-11T23:33:32.494Z,1741736012.494 [ThrusterHE](FAULT): getSpeed error serial timeout
2025-03-11T23:33:32.494Z,1741736012.494 [ThrusterHE](FAULT): Thruster uart error: serial timeout
2025-03-11T23:33:32.494Z,1741736012.494 [ThrusterHE] Communications Fault, FailCount= 1
2025-03-11T23:33:32.494Z,1741736012.494 [ThrusterHE](ERROR): Communications Fault
2025-03-11T23:33:32.498Z,1741736012.498 [CBIT](ERROR): Communications Fault in component: ThrusterHE
2025-03-11T23:33:32.610Z,1741736012.610 [ThrusterHE](DEBUG): Uninitialize Thruster Servo.
2025-03-11T23:33:32.610Z,1741736012.610 [ThrusterHE](INFO): Powering down
2025-03-11T23:33:33.428Z,1741736013.428 [ThrusterHE](DEBUG): Initializing EZServoServo.
2025-03-11T23:33:33.549Z,1741736013.549 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2025-03-11T23:33:33.558Z,1741736013.558 [CBIT](INFO): Clearing failed state for component ThrusterHE
2025-03-11T23:33:33.559Z,1741736013.559 [ThrusterHE] No Fault, FailCount= 1
2025-03-11T23:33:40.838Z,1741736020.838 [ThrusterHE](FAULT): Could not get status:serial timeout
2025-03-11T23:33:40.934Z,1741736020.934 [ThrusterHE](FAULT): getSpeed error serial timeout
2025-03-11T23:33:40.934Z,1741736020.934 [ThrusterHE](FAULT): Thruster uart error: serial timeout
2025-03-11T23:33:40.934Z,1741736020.934 [ThrusterHE] Communications Fault, FailCount= 2
2025-03-11T23:33:40.934Z,1741736020.934 [ThrusterHE](ERROR): Communications Fault
2025-03-11T23:33:40.938Z,1741736020.938 [CBIT](ERROR): Communications Fault in component: ThrusterHE
2025-03-11T23:33:41.097Z,1741736021.097 [ThrusterHE](DEBUG): Uninitialize Thruster Servo.
2025-03-11T23:33:41.097Z,1741736021.097 [ThrusterHE](INFO): Powering down
2025-03-11T23:33:41.912Z,1741736021.912 [ThrusterHE](DEBUG): Initializing EZServoServo.
2025-03-11T23:33:42.031Z,1741736022.031 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2025-03-11T23:33:42.035Z,1741736022.035 [CBIT](INFO): Clearing failed state for component ThrusterHE
2025-03-11T23:33:42.035Z,1741736022.035 [ThrusterHE] No Fault, FailCount= 2
2025-03-11T23:33:50.078Z,1741736030.078 [ThrusterHE](FAULT): Could not get status:serial timeout
2025-03-11T23:33:50.166Z,1741736030.166 [ThrusterHE](FAULT): getSpeed error serial timeout
2025-03-11T23:33:50.166Z,1741736030.166 [ThrusterHE](FAULT): Thruster uart error: serial timeout
2025-03-11T23:33:50.166Z,1741736030.166 [ThrusterHE] Communications Fault, FailCount= 3
2025-03-11T23:33:50.166Z,1741736030.166 [ThrusterHE](ERROR): Communications Fault
2025-03-11T23:33:50.171Z,1741736030.171 [CBIT](ERROR): Communications Fault in component: ThrusterHE
2025-03-11T23:33:50.527Z,1741736030.527 [ThrusterHE](DEBUG): Uninitialize Thruster Servo.
2025-03-11T23:33:50.527Z,1741736030.527 [ThrusterHE](INFO): Powering down
2025-03-11T23:33:51.343Z,1741736031.343 [ThrusterHE](DEBUG): Initializing EZServoServo.
2025-03-11T23:33:51.464Z,1741736031.464 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2025-03-11T23:33:51.472Z,1741736031.472 [CBIT](INFO): Clearing failed state for component ThrusterHE
2025-03-11T23:33:51.472Z,1741736031.472 [ThrusterHE] No Fault, FailCount= 3
2025-03-11T23:33:58.966Z,1741736038.966 [ThrusterHE](FAULT): Could not get status:serial timeout
2025-03-11T23:33:59.055Z,1741736039.055 [ThrusterHE](FAULT): getSpeed error serial timeout
2025-03-11T23:33:59.055Z,1741736039.055 [ThrusterHE](FAULT): Thruster uart error: serial timeout
2025-03-11T23:33:59.056Z,1741736039.056 [ThrusterHE] Communications Fault, FailCount= 4
2025-03-11T23:33:59.056Z,1741736039.056 [ThrusterHE](ERROR): Communications Fault
2025-03-11T23:33:59.060Z,1741736039.060 [CBIT](ERROR): Communications Fault in component: ThrusterHE
2025-03-11T23:33:59.302Z,1741736039.302 [ThrusterHE](DEBUG): Uninitialize Thruster Servo.
2025-03-11T23:33:59.303Z,1741736039.303 [ThrusterHE](INFO): Powering down
2025-03-11T23:34:00.091Z,1741736040.091 [ThrusterHE](DEBUG): Initializing EZServoServo.
2025-03-11T23:34:00.211Z,1741736040.211 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2025-03-11T23:34:00.215Z,1741736040.215 [CBIT](INFO): Clearing failed state for component ThrusterHE
2025-03-11T23:34:00.215Z,1741736040.215 [ThrusterHE] No Fault, FailCount= 4
2025-03-11T23:34:07.826Z,1741736047.826 [ThrusterHE](FAULT): Could not get status:serial timeout
2025-03-11T23:34:07.922Z,1741736047.922 [ThrusterHE](FAULT): getSpeed error serial timeout
2025-03-11T23:34:07.922Z,1741736047.922 [ThrusterHE](FAULT): Thruster uart error: serial timeout
2025-03-11T23:34:07.922Z,1741736047.922 [ThrusterHE] Communications Fault, FailCount= 5
2025-03-11T23:34:07.922Z,1741736047.922 [ThrusterHE](ERROR): Communications Fault
2025-03-11T23:34:07.930Z,1741736047.930 [CBIT](ERROR): Communications Fault in component: ThrusterHE
2025-03-11T23:34:07.930Z,1741736047.930 [CBIT](CRITICAL): Communications Fault in component: ThrusterHE
2025-03-11T23:34:08.163Z,1741736048.163 [ThrusterHE](DEBUG): Uninitialize Thruster Servo.
2025-03-11T23:34:08.163Z,1741736048.163 [ThrusterHE](INFO): Powering down
2025-03-11T23:34:08.164Z,1741736048.164 [CommandExec](FAULT): Scheduling is paused
2025-03-11T23:34:08.165Z,1741736048.165 [CBIT](INFO): Critical error at 20250311T233407
2025-03-11T23:34:08.165Z,1741736048.165 [Supervisor](INFO): Stop Mission called by CBIT::checkCriticals
2025-03-11T23:34:08.548Z,1741736048.548 [MissionManager](INFO): MissionManager is completed.
2025-03-11T23:34:08.549Z,1741736048.549 [MissionManager](INFO): Uninitializing Mission transit
2025-03-11T23:34:08.549Z,1741736048.549 [transit] Stopped
2025-03-11T23:34:08.549Z,1741736048.549 [transit](DEBUG): Aggregate::uninitialize transit
2025-03-11T23:34:08.549Z,1741736048.549 [transit:StandardEnvelopes] Stopped
2025-03-11T23:34:08.549Z,1741736048.549 [transit:StandardEnvelopes](DEBUG): Aggregate::uninitialize transit:StandardEnvelopes
2025-03-11T23:34:08.549Z,1741736048.549 [transit:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-03-11T23:34:08.549Z,1741736048.549 [transit:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-03-11T23:34:08.549Z,1741736048.549 [transit:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-03-11T23:34:08.549Z,1741736048.549 [transit:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-03-11T23:34:08.549Z,1741736048.549 [transit:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-03-11T23:34:08.549Z,1741736048.549 [transit:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-03-11T23:34:08.549Z,1741736048.549 [transit:BackseatDriver] Stopped
2025-03-11T23:34:08.550Z,1741736048.550 [transit:BackseatDriver](DEBUG): Aggregate::uninitialize transit:BackseatDriver
2025-03-11T23:34:08.550Z,1741736048.550 [transit:BackseatDriver:A.BackseatDriver] Stopped
2025-03-11T23:34:08.550Z,1741736048.550 [transit:PowerOnly] Stopped
2025-03-11T23:34:08.566Z,1741736048.566 [transit:PowerOnly](DEBUG): Aggregate::uninitialize transit:PowerOnly
2025-03-11T23:34:08.566Z,1741736048.566 [transit:PowerOnly:E.Wait] Stopped
2025-03-11T23:34:08.566Z,1741736048.566 [transit:PowerOnly:E.Wait](DEBUG): Uninitialize Wait Component.
2025-03-11T23:34:08.566Z,1741736048.566 [transit:BuoyancyHold.Buoyancy] Stopped
2025-03-11T23:34:08.566Z,1741736048.566 [transit:BuoyancyHold.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-03-11T23:34:08.566Z,1741736048.566 [transit:MassHold.Pitch] Stopped
2025-03-11T23:34:08.566Z,1741736048.566 [transit:Transit] Stopped
2025-03-11T23:34:08.567Z,1741736048.567 [transit:Transit](DEBUG): Aggregate::uninitialize transit:Transit
2025-03-11T23:34:08.567Z,1741736048.567 [transit:Transit:A.Pitch] Stopped
2025-03-11T23:34:08.567Z,1741736048.567 [transit:Transit:B.SetSpeed] Stopped
2025-03-11T23:34:08.567Z,1741736048.567 [transit:Transit:B.SetSpeed](DEBUG): Uninitialize.
2025-03-11T23:34:08.567Z,1741736048.567 [transit:Transit:Wpt1.Waypoint] Stopped
2025-03-11T23:34:08.567Z,1741736048.567 [transit:Transit:Wpt1.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-03-11T23:34:08.946Z,1741736048.946 [MissionManager](IMPORTANT): Started mission Default
2025-03-11T23:34:08.946Z,1741736048.946 [Default] Running Loop=1
2025-03-11T23:34:08.946Z,1741736048.946 [Default](DEBUG): Aggregate::initialize Default
2025-03-11T23:34:08.946Z,1741736048.946 [Default:B.GoToSurface] Running Loop=1
2025-03-11T23:34:08.946Z,1741736048.946 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-03-11T23:34:08.947Z,1741736048.947 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-03-11T23:34:08.947Z,1741736048.947 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-03-11T23:34:08.947Z,1741736048.947 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-03-11T23:34:08.948Z,1741736048.948 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-03-11T23:34:08.948Z,1741736048.948 [Default:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-03-11T23:34:08.948Z,1741736048.948 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-03-11T23:34:08.949Z,1741736048.949 [Default:A.Wait] Running Loop=1
2025-03-11T23:34:08.949Z,1741736048.949 [Default:A.Wait](DEBUG): Initialize Wait Component.
2025-03-11T23:34:08.957Z,1741736048.957 [ThrusterHE](DEBUG): Initializing EZServoServo.
2025-03-11T23:34:09.071Z,1741736049.071 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2025-03-11T23:34:09.355Z,1741736049.355 [ElevatorOffsetCalculator](INFO): New estimator for commanded vars: speed 1.00 m/s, pitch 30.00 deg, mass-position -26.00 mm (1 active estimators).
2025-03-11T23:34:09.710Z,1741736049.710 [Radio_Surface](INFO): Powering up
2025-03-11T23:34:15.842Z,1741736055.842 [DataOverHttps](INFO): Radio surface powered ON.
2025-03-11T23:34:21.969Z,1741736061.969 [Default:A.Wait](INFO): Done Waiting.
2025-03-11T23:34:21.969Z,1741736061.969 [Default:A.Wait] Stopped
2025-03-11T23:34:21.969Z,1741736061.969 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2025-03-11T23:34:35.013Z,1741736075.013 [Default:CheckIn] Running Loop=1
2025-03-11T23:34:35.013Z,1741736075.013 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-03-11T23:34:35.013Z,1741736075.013 [Default:CheckIn:Read_GPS] Running Loop=1
2025-03-11T23:34:35.426Z,1741736075.426 [Waterlinked](INFO): Powering down
2025-03-11T23:34:45.966Z,1741736085.966 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-11T23:34:47.057Z,1741736087.057 [NAL9602](INFO): SBD MO Status=0, MOMSN=18460, MT Status=0, MTMSN=0
2025-03-11T23:34:47.057Z,1741736087.057 [NAL9602](INFO): No messages in MT queue
2025-03-11T23:34:48.269Z,1741736088.269 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,233447.00,A,3648.31417,N,12147.80190,W,2.371,258.24,110325,,,A*7B
2025-03-11T23:34:48.280Z,1741736088.280 [NAL9602](INFO): GPS fix at 20250311T233447: (36.805236, -121.796698)
2025-03-11T23:34:48.290Z,1741736088.290 [Default:CheckIn:Read_GPS] Stopped
2025-03-11T23:34:48.290Z,1741736088.290 [Default:CheckIn:Read_Iridium] Running Loop=1
2025-03-11T23:34:54.418Z,1741736094.418 [CBIT](INFO): Clearing failed state for component ThrusterHE
2025-03-11T23:34:54.418Z,1741736094.418 [ThrusterHE] No Fault, FailCount= 5
2025-03-11T23:35:04.141Z,1741736104.141 [NAL9602](INFO): SBD MO Status=1, MOMSN=18461, MT Status=0, MTMSN=0
2025-03-11T23:35:04.190Z,1741736104.190 [NAL9602](INFO): Sent 38 bytes from file Logs/20250311T194334/Courier0097.lzma
2025-03-11T23:35:04.191Z,1741736104.191 [NAL9602](INFO): Packets left to send: 0
2025-03-11T23:35:17.549Z,1741736117.549 [NAL9602](INFO): SBD MO Status=2, MOMSN=18462, MT Status=2, MTMSN=0
2025-03-11T23:35:17.549Z,1741736117.549 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-03-11T23:35:21.106Z,1741736121.106 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-11T23:35:44.725Z,1741736144.725 [NAL9602](INFO): SBD MO Status=1, MOMSN=18462, MT Status=0, MTMSN=0
2025-03-11T23:35:44.783Z,1741736144.783 [NAL9602](INFO): Sent 332 bytes from file Logs/20250311T232940/Courier0000.lzma
2025-03-11T23:35:44.783Z,1741736144.783 [NAL9602](INFO): Packets left to send: 1
2025-03-11T23:35:54.885Z,1741736154.885 [NAL9602](INFO): SBD MO Status=1, MOMSN=18463, MT Status=0, MTMSN=0
2025-03-11T23:35:54.946Z,1741736154.946 [NAL9602](INFO): Sent 1 bytes from file Logs/20250311T232940/Courier0000.lzma
2025-03-11T23:35:54.946Z,1741736154.946 [NAL9602](INFO): Packets left to send: 0
2025-03-11T23:35:56.254Z,1741736156.254 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-11T23:36:05.881Z,1741736165.881 [NAL9602](INFO): SBD MO Status=1, MOMSN=18464, MT Status=0, MTMSN=0
2025-03-11T23:36:05.942Z,1741736165.942 [NAL9602](INFO): Sent 107 bytes from file Logs/20250311T194334/Express0098.lzma
2025-03-11T23:36:05.942Z,1741736165.942 [NAL9602](INFO): Packets left to send: 0
2025-03-11T23:36:19.693Z,1741736179.693 [NAL9602](INFO): SBD MO Status=1, MOMSN=18465, MT Status=0, MTMSN=0
2025-03-11T23:36:19.752Z,1741736179.752 [NAL9602](INFO): Sent 332 bytes from file Logs/20250311T232940/Express0001.lzma
2025-03-11T23:36:19.753Z,1741736179.753 [NAL9602](INFO): Packets left to send: 3
2025-03-11T23:36:31.394Z,1741736191.394 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-11T23:36:33.115Z,1741736193.115 [NAL9602](INFO): SBD MO Status=1, MOMSN=18466, MT Status=0, MTMSN=0
2025-03-11T23:36:33.168Z,1741736193.168 [NAL9602](INFO): Sent 332 bytes from file Logs/20250311T232940/Express0001.lzma
2025-03-11T23:36:33.168Z,1741736193.168 [NAL9602](INFO): Packets left to send: 2
2025-03-11T23:36:49.365Z,1741736209.365 [NAL9602](INFO): SBD MO Status=1, MOMSN=18467, MT Status=0, MTMSN=0
2025-03-11T23:36:49.426Z,1741736209.426 [NAL9602](INFO): Sent 332 bytes from file Logs/20250311T232940/Express0001.lzma
2025-03-11T23:36:49.426Z,1741736209.426 [NAL9602](INFO): Packets left to send: 1
2025-03-11T23:36:59.136Z,1741736219.136 [NAL9602](INFO): SBD MO Status=1, MOMSN=18468, MT Status=0, MTMSN=0
2025-03-11T23:36:59.198Z,1741736219.198 [NAL9602](INFO): Sent 113 bytes from file Logs/20250311T232940/Express0001.lzma
2025-03-11T23:36:59.199Z,1741736219.199 [NAL9602](INFO): Packets left to send: 0
2025-03-11T23:37:06.542Z,1741736226.542 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-11T23:37:09.233Z,1741736229.233 [NAL9602](INFO): SBD MO Status=0, MOMSN=18469, MT Status=0, MTMSN=0
2025-03-11T23:37:09.310Z,1741736229.310 [Default:CheckIn:Read_Iridium] Stopped
2025-03-11T23:37:09.310Z,1741736229.310 [Default:CheckIn:C.Wait] Running Loop=1
2025-03-11T23:37:09.311Z,1741736229.311 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2025-03-11T23:37:39.935Z,1741736259.935 [NAL9602](INFO): Not Powering down - fast GPS
2025-03-11T23:37:41.368Z,1741736261.368 [DataOverHttps](IMPORTANT): SBD MTMSN=20250311T233740
2025-03-11T23:37:41.372Z,1741736261.372 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.004136
2025-03-11T23:37:48.863Z,1741736268.863 [DataOverHttps](INFO): Received command: load Transport/transit.tl;set transit.MissionTimeout 60 min;set transit.Latitude 36.797 degree;set transit.Longitude -121.847 degree;set transit.Speed 1.4 m/s;set transit.MinOffshore 0.1 km;set transit.MinAltitude 2 m;run
2025-03-11T23:37:48.907Z,1741736268.907 [CommandExec](IMPORTANT): got command load ./Missions/Transport/transit.tl
2025-03-11T23:37:48.907Z,1741736268.907 [MissionManager](INFO): Loading Mission from file: ./Missions/Transport/transit.tl
2025-03-11T23:37:48.907Z,1741736268.907 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Transport/transit.tl
2025-03-11T23:37:48.909Z,1741736268.909 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Transport/transit.tl
2025-03-11T23:37:49.655Z,1741736269.655 [MissionManager](DEBUG): TethyslAPI: ./Missions/Transport/transit.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Mission Id="transit">
    <DefineArg Name="MissionTimeout">
        <Units:minute />
        <Value>60</Value>
    </DefineArg>
    <DefineArg Name="NeedCommsTime">
        <Units:minute />
        <Value>30</Value>
    </DefineArg>
    <DefineArg Name="Latitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Longitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Northings">
        <Units:meter />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="Eastings">
        <Units:meter />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="Depth">
        <Units:meter />
        <Value>10</Value>
    </DefineArg>
    <DefineArg Name="Speed">
        <Units:meter_per_second />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:kilometer />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>7</Value>
    </DefineArg>
    <DefineArg Name="MassHold">
        <True />
    </DefineArg>
    <DefineArg Name="BuoyancyHold">
        <True />
    </DefineArg>
    <Timeout Duration="MissionTimeout" />
    <Insert Id="NeedComms" Filename="Insert/NeedComms.tl" />
    <Assign>
        <Sequence />
        <Arg Name="NeedComms:DiveInterval" />
        <Arg Name="NeedCommsTime" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="NeedComms:WaitForPitchUp" />
        <Units:second />
        <Value>1</Value>
    </Assign>
    <Insert Filename="Insert/StandardEnvelopes.tl" />
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MinAltitude" />
        <Arg Name="MinAltitude" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MaxDepth" />
        <Arg Name="MaxDepth" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MinOffshore" />
        <Arg Name="MinOffshore" />
    </Assign>
    <Insert Filename="Insert/BackseatDriver.tl" />
    <Insert Filename="Insert/PowerOnly.tl" />
    <Guidance:Buoyancy Id="BuoyancyHold">
        <While>
            <Arg Name="BuoyancyHold" />
        </While>
        <Setting>
            <Guidance:Buoyancy.position />
            <Control:VerticalControl.buoyancyNeutral />
        </Setting>
    </Guidance:Buoyancy>
    <Guidance:Pitch Id="MassHold">
        <While>
            <Arg Name="MassHold" />
        </While>
        <Setting>
            <Guidance:Pitch.massPosition />
            <Control:VerticalControl.massDefault />
        </Setting>
    </Guidance:Pitch>
    <Aggregate Id="Transit">
        <Sequence />
        <Guidance:Pitch>
            <Parallel />
            <Setting>
                <Guidance:Pitch.depth />
                <Arg Name="Depth" />
            </Setting>
        </Guidance:Pitch>
        <Guidance:SetSpeed>
            <Parallel />
            <Setting>
                <Guidance:SetSpeed.speed />
                <Arg Name="Speed" />
            </Setting>
        </Guidance:SetSpeed>
        <Guidance:Waypoint Id="Wpt1">
            <Sequence />
            <Setting>
                <Guidance:Waypoint.latitude />
                <Arg Name="Latitude" />
            </Setting>
            <Setting>
                <Guidance:Waypoint.longitude />
                <Arg Name="Longitude" />
            </Setting>
            <Setting>
                <Guidance:Waypoint.northingsDelta />
                <Arg Name="Northings" />
            </Setting>
            <Setting>
                <Guidance:Waypoint.eastingsDelta />
                <Arg Name="Eastings" />
            </Setting>
        </Guidance:Waypoint>
        <Call RefId="NeedComms" Id="PhoneHome" />
    </Aggregate>
</Mission>

2025-03-11T23:37:49.686Z,1741736269.686 [MissionManager](INFO): DefineArg transit.MissionTimeout = 60.000000 min
2025-03-11T23:37:49.692Z,1741736269.692 [MissionManager](INFO): DefineArg transit.NeedCommsTime = 30.000000 min
2025-03-11T23:37:49.695Z,1741736269.695 [MissionManager](INFO): DefineArg transit.Latitude = nan arcdeg
2025-03-11T23:37:49.697Z,1741736269.697 [MissionManager](INFO): DefineArg transit.Longitude = nan arcdeg
2025-03-11T23:37:49.708Z,1741736269.708 [MissionManager](INFO): DefineArg transit.Northings = 0.000000 m
2025-03-11T23:37:49.716Z,1741736269.716 [MissionManager](INFO): DefineArg transit.Eastings = 0.000000 m
2025-03-11T23:37:49.722Z,1741736269.722 [MissionManager](INFO): DefineArg transit.Depth = 10.000000 m
2025-03-11T23:37:49.732Z,1741736269.732 [MissionManager](INFO): DefineArg transit.Speed = 1.000000 m/s
2025-03-11T23:37:49.734Z,1741736269.734 [MissionManager](INFO): DefineArg transit.MaxDepth = 20.000000 m
2025-03-11T23:37:49.740Z,1741736269.740 [MissionManager](INFO): DefineArg transit.MinOffshore = 1.000000 km
2025-03-11T23:37:49.747Z,1741736269.747 [MissionManager](INFO): DefineArg transit.MinAltitude = 7.000000 m
2025-03-11T23:37:49.749Z,1741736269.749 [MissionManager](INFO): DefineArg transit.MassHold = 1 bool
2025-03-11T23:37:49.755Z,1741736269.755 [MissionManager](INFO): DefineArg transit.BuoyancyHold = 1 bool
2025-03-11T23:37:49.755Z,1741736269.755 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl
2025-03-11T23:37:49.755Z,1741736269.755 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl
2025-03-11T23:37:49.756Z,1741736269.756 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl
2025-03-11T23:37:49.864Z,1741736269.864 [DataOverHttps](IMPORTANT): SBD MTMSN=20250311T233748
2025-03-11T23:37:50.080Z,1741736270.080 [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>

2025-03-11T23:37:50.085Z,1741736270.085 [MissionManager](INFO): DefineArg transit:NeedComms.DiveInterval = 1.000000 h
2025-03-11T23:37:50.087Z,1741736270.087 [MissionManager](INFO): DefineArg transit:NeedComms.WaitForPitchUp = 10.000000 min
2025-03-11T23:37:50.090Z,1741736270.090 [MissionManager](INFO): DefineArg transit:NeedComms.SurfacePitch = 20.000000 arcdeg
2025-03-11T23:37:50.108Z,1741736270.108 [MissionManager](INFO): DefineArg transit:NeedComms.SurfaceDepthRate = nan m/s
2025-03-11T23:37:50.114Z,1741736270.114 [MissionManager](INFO): DefineArg transit:NeedComms.SurfaceSpeed = 1.000000 m/s
2025-03-11T23:37:50.116Z,1741736270.116 [MissionManager](INFO): DefineArg transit:NeedComms.SurfacingTimeout = 1000.000000 s
2025-03-11T23:37:50.123Z,1741736270.123 [MissionManager](INFO): DefineArg transit:NeedComms.GPSTimeout = 7.000000 min
2025-03-11T23:37:50.125Z,1741736270.125 [MissionManager](INFO): DefineArg transit:NeedComms.CommsTimeout = 30.000000 min
2025-03-11T23:37:50.137Z,1741736270.137 [transit:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2025-03-11T23:37:50.191Z,1741736270.191 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-03-11T23:37:50.191Z,1741736270.191 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-03-11T23:37:50.192Z,1741736270.192 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-03-11T23:37:50.268Z,1741736270.268 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/StandardEnvelopes.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="StandardEnvelopes">
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="MaxDepthIgnore">
        <Units:meter />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>200</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:meter />
        <Value>2000</Value>
    </DefineArg>
    <Parallel />
    <Guidance:AltitudeEnvelope>
        <Parallel />
        <Setting>
            <Guidance:AltitudeEnvelope.minAltitude />
            <Arg Name="MinAltitude" />
        </Setting>
        <Setting>
            <Guidance:AltitudeEnvelope.maxDepthIgnore />
            <Arg Name="MaxDepthIgnore" />
        </Setting>
    </Guidance:AltitudeEnvelope>
    <Guidance:DepthEnvelope>
        <Parallel />
        <Setting>
            <Guidance:DepthEnvelope.maxDepth />
            <Arg Name="MaxDepth" />
        </Setting>
    </Guidance:DepthEnvelope>
    <Guidance:OffshoreEnvelope>
        <Parallel />
        <Setting>
            <Guidance:OffshoreEnvelope.minOffshore />
            <Arg Name="MinOffshore" />
        </Setting>
    </Guidance:OffshoreEnvelope>
</Aggregate>

2025-03-11T23:37:50.272Z,1741736270.272 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MinAltitude = 5.000000 m
2025-03-11T23:37:50.274Z,1741736270.274 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MaxDepthIgnore = 0.000000 m
2025-03-11T23:37:50.276Z,1741736270.276 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MaxDepth = 200.000000 m
2025-03-11T23:37:50.280Z,1741736270.280 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-03-11T23:37:50.281Z,1741736270.281 [transit:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-03-11T23:37:50.287Z,1741736270.287 [transit:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-03-11T23:37:50.293Z,1741736270.293 [transit:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-03-11T23:37:50.326Z,1741736270.326 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2025-03-11T23:37:50.326Z,1741736270.326 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2025-03-11T23:37:50.327Z,1741736270.327 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2025-03-11T23:37:50.361Z,1741736270.361 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/BackseatDriver.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="BackseatDriver">
    <DefineArg Name="EnableBackseat">
        <False />
    </DefineArg>
    <Parallel />
    <Guidance:BackseatDriver>
        <Sequence />
        <Setting>
            <Guidance:BackseatDriver.powerBackseat />
            <Arg Name="EnableBackseat" />
        </Setting>
    </Guidance:BackseatDriver>
</Aggregate>

2025-03-11T23:37:50.364Z,1741736270.364 [MissionManager](INFO): DefineArg transit:BackseatDriver.EnableBackseat = 0 bool
2025-03-11T23:37:50.366Z,1741736270.366 [transit:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2025-03-11T23:37:50.368Z,1741736270.368 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2025-03-11T23:37:50.369Z,1741736270.369 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2025-03-11T23:37:50.370Z,1741736270.370 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2025-03-11T23:37:50.550Z,1741736270.550 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/PowerOnly.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="PowerOnly">
    <DefineArg Name="SampleAll">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad1">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad2">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad3">
        <False />
    </DefineArg>
    <DefineArg Name="EnabledPowerOnly">
        <Sensor:PowerOnly.loadAtStartup />
    </DefineArg>
    <Parallel />
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleAll" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.samplePowerOnly />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad1" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad1 />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad2" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad2 />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad3" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad3 />
    </ReadData>
    <Guidance:Wait>
        <Sequence />
        <Setting>
            <Guidance:Wait.duration />
            <Units:hour />
            <Value>99999</Value>
        </Setting>
    </Guidance:Wait>
</Aggregate>

2025-03-11T23:37:50.554Z,1741736270.554 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleAll = 0 bool
2025-03-11T23:37:50.556Z,1741736270.556 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleLoad1 = 0 bool
2025-03-11T23:37:50.557Z,1741736270.557 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleLoad2 = 0 bool
2025-03-11T23:37:50.560Z,1741736270.560 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleLoad3 = 0 bool
2025-03-11T23:37:50.586Z,1741736270.586 [MissionManager](INFO): DefineArg transit:PowerOnly.EnabledPowerOnly = 1 bool
2025-03-11T23:37:50.607Z,1741736270.607 [transit:PowerOnly:E.Wait](DEBUG): Construct Wait.
2025-03-11T23:37:50.609Z,1741736270.609 [transit:BuoyancyHold.Buoyancy](DEBUG): Construct Buoyancy.
2025-03-11T23:37:50.613Z,1741736270.613 [transit:MassHold.Pitch](DEBUG): Construct.
2025-03-11T23:37:50.632Z,1741736270.632 [transit:Transit:A.Pitch](DEBUG): Construct.
2025-03-11T23:37:50.641Z,1741736270.641 [transit:Transit:B.SetSpeed](DEBUG): Construct.
2025-03-11T23:37:50.643Z,1741736270.643 [transit:Transit:Wpt1.Waypoint](DEBUG): Construct Waypoint.
2025-03-11T23:37:50.658Z,1741736270.658 [MissionManager](DEBUG): 
#   Copyright (c) 2024 MBARI
#   MBARI Proprietary Information. Confidential. All Rights Reserved
#   Unauthorized copying or distribution of this file via any medium is strictly
#   prohibited.
#
#   WARNING - This file contains information whose export is restricted by the
#   Export Administration Act of 1979 (Title 50, U.S.C., App. 2401 et seq.), as
#   amended. Violations of these export laws are subject to severe civil and/or
#   criminal penalties.

mission transit {
  """
  Vehicle transits to desired waypoint and can be commanded to use/hold
  mass or buoyancy.
  """

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

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

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

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

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

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

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

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

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

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

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

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

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

  timeout duration=MissionTimeout

  insert id="NeedComms" Insert/NeedComms.tl

  assign in sequence NeedComms:DiveInterval = NeedCommsTime

  assign in sequence NeedComms:WaitForPitchUp = 1 second

  insert Insert/StandardEnvelopes.tl

  assign in sequence StandardEnvelopes:MinAltitude = MinAltitude

  assign in sequence StandardEnvelopes:MaxDepth = MaxDepth

  assign in sequence StandardEnvelopes:MinOffshore = MinOffshore

  insert Insert/BackseatDriver.tl

  insert Insert/PowerOnly.tl

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

    set position = Control:VerticalControl.buoyancyNeutral
  }

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

    set massPosition = Control:VerticalControl.massDefault
  }

  aggregate Transit {
    run in sequence

    behavior Guidance:Pitch {
      run in parallel

      set depth = Depth
    }

    behavior Guidance:SetSpeed {
      run in parallel

      set speed = Speed
    }

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

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

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


2025-03-11T23:37:50.658Z,1741736270.658 [CommandExec](IMPORTANT): Loaded ./Missions/Transport/transit.tl id=transit
2025-03-11T23:38:00.942Z,1741736280.942 [DataOverHttps](INFO): Received command: load Transport/transit.tl;set transit.MissionTimeout 60 min;set transit.Latitude 36.797 degree;set transit.Longitude -121.847 degree;set transit.Speed 1.0 m/s;set transit.MinOffshore 0.1 km;set transit.MinAltitude 2 m;run
2025-03-11T23:38:07.959Z,1741736287.959 [CommandExec](IMPORTANT): got command set transit.MissionTimeout 60 minute
2025-03-11T23:38:07.959Z,1741736287.959 [CommandExec](IMPORTANT): got command set transit.Latitude 36.797 degree
2025-03-11T23:38:07.960Z,1741736287.960 [CommandExec](IMPORTANT): got command set transit.Longitude -121.847 degree
2025-03-11T23:38:07.961Z,1741736287.961 [CommandExec](IMPORTANT): got command set transit.Speed 1.4 meter_per_second
2025-03-11T23:38:07.962Z,1741736287.962 [CommandExec](IMPORTANT): got command set transit.MinOffshore 0.1 kilometer
2025-03-11T23:38:07.963Z,1741736287.963 [CommandExec](IMPORTANT): got command set transit.MinAltitude 2 meter
2025-03-11T23:38:07.963Z,1741736287.963 [CommandExec](IMPORTANT): got command run
2025-03-11T23:38:07.965Z,1741736287.965 [CommandExec](IMPORTANT): Running 
2025-03-11T23:38:07.978Z,1741736287.978 [CommandExec](IMPORTANT): got command load ./Missions/Transport/transit.tl
2025-03-11T23:38:07.978Z,1741736287.978 [MissionManager](INFO): Uninitializing Mission transit
2025-03-11T23:38:08.027Z,1741736288.027 [MissionManager](INFO): Loading Mission from file: ./Missions/Transport/transit.tl
2025-03-11T23:38:08.027Z,1741736288.027 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Transport/transit.tl
2025-03-11T23:38:08.029Z,1741736288.029 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Transport/transit.tl
2025-03-11T23:38:08.811Z,1741736288.811 [MissionManager](DEBUG): TethyslAPI: ./Missions/Transport/transit.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Mission Id="transit">
    <DefineArg Name="MissionTimeout">
        <Units:minute />
        <Value>60</Value>
    </DefineArg>
    <DefineArg Name="NeedCommsTime">
        <Units:minute />
        <Value>30</Value>
    </DefineArg>
    <DefineArg Name="Latitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Longitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Northings">
        <Units:meter />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="Eastings">
        <Units:meter />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="Depth">
        <Units:meter />
        <Value>10</Value>
    </DefineArg>
    <DefineArg Name="Speed">
        <Units:meter_per_second />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:kilometer />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>7</Value>
    </DefineArg>
    <DefineArg Name="MassHold">
        <True />
    </DefineArg>
    <DefineArg Name="BuoyancyHold">
        <True />
    </DefineArg>
    <Timeout Duration="MissionTimeout" />
    <Insert Id="NeedComms" Filename="Insert/NeedComms.tl" />
    <Assign>
        <Sequence />
        <Arg Name="NeedComms:DiveInterval" />
        <Arg Name="NeedCommsTime" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="NeedComms:WaitForPitchUp" />
        <Units:second />
        <Value>1</Value>
    </Assign>
    <Insert Filename="Insert/StandardEnvelopes.tl" />
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MinAltitude" />
        <Arg Name="MinAltitude" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MaxDepth" />
        <Arg Name="MaxDepth" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MinOffshore" />
        <Arg Name="MinOffshore" />
    </Assign>
    <Insert Filename="Insert/BackseatDriver.tl" />
    <Insert Filename="Insert/PowerOnly.tl" />
    <Guidance:Buoyancy Id="BuoyancyHold">
        <While>
            <Arg Name="BuoyancyHold" />
        </While>
        <Setting>
            <Guidance:Buoyancy.position />
            <Control:VerticalControl.buoyancyNeutral />
        </Setting>
    </Guidance:Buoyancy>
    <Guidance:Pitch Id="MassHold">
        <While>
            <Arg Name="MassHold" />
        </While>
        <Setting>
            <Guidance:Pitch.massPosition />
            <Control:VerticalControl.massDefault />
        </Setting>
    </Guidance:Pitch>
    <Aggregate Id="Transit">
        <Sequence />
        <Guidance:Pitch>
            <Parallel />
            <Setting>
                <Guidance:Pitch.depth />
                <Arg Name="Depth" />
            </Setting>
        </Guidance:Pitch>
        <Guidance:SetSpeed>
            <Parallel />
            <Setting>
                <Guidance:SetSpeed.speed />
                <Arg Name="Speed" />
            </Setting>
        </Guidance:SetSpeed>
        <Guidance:Waypoint Id="Wpt1">
            <Sequence />
            <Setting>
                <Guidance:Waypoint.latitude />
                <Arg Name="Latitude" />
            </Setting>
            <Setting>
                <Guidance:Waypoint.longitude />
                <Arg Name="Longitude" />
            </Setting>
            <Setting>
                <Guidance:Waypoint.northingsDelta />
                <Arg Name="Northings" />
            </Setting>
            <Setting>
                <Guidance:Waypoint.eastingsDelta />
                <Arg Name="Eastings" />
            </Setting>
        </Guidance:Waypoint>
        <Call RefId="NeedComms" Id="PhoneHome" />
    </Aggregate>
</Mission>

2025-03-11T23:38:08.816Z,1741736288.816 [MissionManager](INFO): DefineArg transit.MissionTimeout = 60.000000 min
2025-03-11T23:38:08.818Z,1741736288.818 [MissionManager](INFO): DefineArg transit.NeedCommsTime = 30.000000 min
2025-03-11T23:38:08.821Z,1741736288.821 [MissionManager](INFO): DefineArg transit.Latitude = nan arcdeg
2025-03-11T23:38:08.823Z,1741736288.823 [MissionManager](INFO): DefineArg transit.Longitude = nan arcdeg
2025-03-11T23:38:08.825Z,1741736288.825 [MissionManager](INFO): DefineArg transit.Northings = 0.000000 m
2025-03-11T23:38:08.827Z,1741736288.827 [MissionManager](INFO): DefineArg transit.Eastings = 0.000000 m
2025-03-11T23:38:08.829Z,1741736288.829 [MissionManager](INFO): DefineArg transit.Depth = 10.000000 m
2025-03-11T23:38:08.831Z,1741736288.831 [MissionManager](INFO): DefineArg transit.Speed = 1.000000 m/s
2025-03-11T23:38:08.833Z,1741736288.833 [MissionManager](INFO): DefineArg transit.MaxDepth = 20.000000 m
2025-03-11T23:38:08.869Z,1741736288.869 [MissionManager](INFO): DefineArg transit.MinOffshore = 1.000000 km
2025-03-11T23:38:08.871Z,1741736288.871 [MissionManager](INFO): DefineArg transit.MinAltitude = 7.000000 m
2025-03-11T23:38:08.873Z,1741736288.873 [MissionManager](INFO): DefineArg transit.MassHold = 1 bool
2025-03-11T23:38:08.875Z,1741736288.875 [MissionManager](INFO): DefineArg transit.BuoyancyHold = 1 bool
2025-03-11T23:38:08.876Z,1741736288.876 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl
2025-03-11T23:38:08.876Z,1741736288.876 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl
2025-03-11T23:38:08.877Z,1741736288.877 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl
2025-03-11T23:38:09.173Z,1741736289.173 [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>

2025-03-11T23:38:09.179Z,1741736289.179 [MissionManager](INFO): DefineArg transit:NeedComms.DiveInterval = 1.000000 h
2025-03-11T23:38:09.181Z,1741736289.181 [MissionManager](INFO): DefineArg transit:NeedComms.WaitForPitchUp = 10.000000 min
2025-03-11T23:38:09.183Z,1741736289.183 [MissionManager](INFO): DefineArg transit:NeedComms.SurfacePitch = 20.000000 arcdeg
2025-03-11T23:38:09.185Z,1741736289.185 [MissionManager](INFO): DefineArg transit:NeedComms.SurfaceDepthRate = nan m/s
2025-03-11T23:38:09.188Z,1741736289.188 [MissionManager](INFO): DefineArg transit:NeedComms.SurfaceSpeed = 1.000000 m/s
2025-03-11T23:38:09.190Z,1741736289.190 [MissionManager](INFO): DefineArg transit:NeedComms.SurfacingTimeout = 1000.000000 s
2025-03-11T23:38:09.192Z,1741736289.192 [MissionManager](INFO): DefineArg transit:NeedComms.GPSTimeout = 7.000000 min
2025-03-11T23:38:09.195Z,1741736289.195 [MissionManager](INFO): DefineArg transit:NeedComms.CommsTimeout = 30.000000 min
2025-03-11T23:38:09.216Z,1741736289.216 [transit:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2025-03-11T23:38:09.266Z,1741736289.266 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-03-11T23:38:09.266Z,1741736289.266 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-03-11T23:38:09.267Z,1741736289.267 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-03-11T23:38:09.335Z,1741736289.335 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/StandardEnvelopes.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="StandardEnvelopes">
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="MaxDepthIgnore">
        <Units:meter />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>200</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:meter />
        <Value>2000</Value>
    </DefineArg>
    <Parallel />
    <Guidance:AltitudeEnvelope>
        <Parallel />
        <Setting>
            <Guidance:AltitudeEnvelope.minAltitude />
            <Arg Name="MinAltitude" />
        </Setting>
        <Setting>
            <Guidance:AltitudeEnvelope.maxDepthIgnore />
            <Arg Name="MaxDepthIgnore" />
        </Setting>
    </Guidance:AltitudeEnvelope>
    <Guidance:DepthEnvelope>
        <Parallel />
        <Setting>
            <Guidance:DepthEnvelope.maxDepth />
            <Arg Name="MaxDepth" />
        </Setting>
    </Guidance:DepthEnvelope>
    <Guidance:OffshoreEnvelope>
        <Parallel />
        <Setting>
            <Guidance:OffshoreEnvelope.minOffshore />
            <Arg Name="MinOffshore" />
        </Setting>
    </Guidance:OffshoreEnvelope>
</Aggregate>

2025-03-11T23:38:09.341Z,1741736289.341 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MinAltitude = 5.000000 m
2025-03-11T23:38:09.344Z,1741736289.344 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MaxDepthIgnore = 0.000000 m
2025-03-11T23:38:09.346Z,1741736289.346 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MaxDepth = 200.000000 m
2025-03-11T23:38:09.348Z,1741736289.348 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-03-11T23:38:09.349Z,1741736289.349 [transit:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-03-11T23:38:09.355Z,1741736289.355 [transit:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-03-11T23:38:09.361Z,1741736289.361 [transit:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-03-11T23:38:09.404Z,1741736289.404 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2025-03-11T23:38:09.404Z,1741736289.404 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2025-03-11T23:38:09.405Z,1741736289.405 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2025-03-11T23:38:09.469Z,1741736289.469 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/BackseatDriver.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="BackseatDriver">
    <DefineArg Name="EnableBackseat">
        <False />
    </DefineArg>
    <Parallel />
    <Guidance:BackseatDriver>
        <Sequence />
        <Setting>
            <Guidance:BackseatDriver.powerBackseat />
            <Arg Name="EnableBackseat" />
        </Setting>
    </Guidance:BackseatDriver>
</Aggregate>

2025-03-11T23:38:09.491Z,1741736289.491 [MissionManager](INFO): DefineArg transit:BackseatDriver.EnableBackseat = 0 bool
2025-03-11T23:38:09.494Z,1741736289.494 [transit:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2025-03-11T23:38:09.497Z,1741736289.497 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2025-03-11T23:38:09.497Z,1741736289.497 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2025-03-11T23:38:09.503Z,1741736289.503 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2025-03-11T23:38:09.637Z,1741736289.637 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/PowerOnly.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="PowerOnly">
    <DefineArg Name="SampleAll">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad1">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad2">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad3">
        <False />
    </DefineArg>
    <DefineArg Name="EnabledPowerOnly">
        <Sensor:PowerOnly.loadAtStartup />
    </DefineArg>
    <Parallel />
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleAll" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.samplePowerOnly />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad1" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad1 />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad2" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad2 />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad3" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad3 />
    </ReadData>
    <Guidance:Wait>
        <Sequence />
        <Setting>
            <Guidance:Wait.duration />
            <Units:hour />
            <Value>99999</Value>
        </Setting>
    </Guidance:Wait>
</Aggregate>

2025-03-11T23:38:09.641Z,1741736289.641 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleAll = 0 bool
2025-03-11T23:38:09.643Z,1741736289.643 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleLoad1 = 0 bool
2025-03-11T23:38:09.645Z,1741736289.645 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleLoad2 = 0 bool
2025-03-11T23:38:09.647Z,1741736289.647 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleLoad3 = 0 bool
2025-03-11T23:38:09.650Z,1741736289.650 [MissionManager](INFO): DefineArg transit:PowerOnly.EnabledPowerOnly = 1 bool
2025-03-11T23:38:09.656Z,1741736289.656 [transit:PowerOnly:E.Wait](DEBUG): Construct Wait.
2025-03-11T23:38:09.658Z,1741736289.658 [transit:BuoyancyHold.Buoyancy](DEBUG): Construct Buoyancy.
2025-03-11T23:38:09.661Z,1741736289.661 [transit:MassHold.Pitch](DEBUG): Construct.
2025-03-11T23:38:09.667Z,1741736289.667 [transit:Transit:A.Pitch](DEBUG): Construct.
2025-03-11T23:38:09.671Z,1741736289.671 [transit:Transit:B.SetSpeed](DEBUG): Construct.
2025-03-11T23:38:09.673Z,1741736289.673 [transit:Transit:Wpt1.Waypoint](DEBUG): Construct Waypoint.
2025-03-11T23:38:09.712Z,1741736289.712 [MissionManager](DEBUG): 
#   Copyright (c) 2024 MBARI
#   MBARI Proprietary Information. Confidential. All Rights Reserved
#   Unauthorized copying or distribution of this file via any medium is strictly
#   prohibited.
#
#   WARNING - This file contains information whose export is restricted by the
#   Export Administration Act of 1979 (Title 50, U.S.C., App. 2401 et seq.), as
#   amended. Violations of these export laws are subject to severe civil and/or
#   criminal penalties.

mission transit {
  """
  Vehicle transits to desired waypoint and can be commanded to use/hold
  mass or buoyancy.
  """

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

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

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

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

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

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

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

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

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

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

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

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

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

  timeout duration=MissionTimeout

  insert id="NeedComms" Insert/NeedComms.tl

  assign in sequence NeedComms:DiveInterval = NeedCommsTime

  assign in sequence NeedComms:WaitForPitchUp = 1 second

  insert Insert/StandardEnvelopes.tl

  assign in sequence StandardEnvelopes:MinAltitude = MinAltitude

  assign in sequence StandardEnvelopes:MaxDepth = MaxDepth

  assign in sequence StandardEnvelopes:MinOffshore = MinOffshore

  insert Insert/BackseatDriver.tl

  insert Insert/PowerOnly.tl

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

    set position = Control:VerticalControl.buoyancyNeutral
  }

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

    set massPosition = Control:VerticalControl.massDefault
  }

  aggregate Transit {
    run in sequence

    behavior Guidance:Pitch {
      run in parallel

      set depth = Depth
    }

    behavior Guidance:SetSpeed {
      run in parallel

      set speed = Speed
    }

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

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

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


2025-03-11T23:38:09.713Z,1741736289.713 [CommandExec](IMPORTANT): Loaded ./Missions/Transport/transit.tl id=transit
2025-03-11T23:38:23.362Z,1741736303.362 [CommandExec](IMPORTANT): got command set transit.MissionTimeout 60 minute
2025-03-11T23:38:23.363Z,1741736303.363 [CommandExec](IMPORTANT): got command set transit.Latitude 36.797 degree
2025-03-11T23:38:23.364Z,1741736303.364 [CommandExec](IMPORTANT): got command set transit.Longitude -121.847 degree
2025-03-11T23:38:23.364Z,1741736303.364 [CommandExec](IMPORTANT): got command set transit.Speed 1.0 meter_per_second
2025-03-11T23:38:23.365Z,1741736303.365 [CommandExec](IMPORTANT): got command set transit.MinOffshore 0.1 kilometer
2025-03-11T23:38:23.366Z,1741736303.366 [CommandExec](IMPORTANT): got command set transit.MinAltitude 2 meter
2025-03-11T23:38:23.367Z,1741736303.367 [CommandExec](IMPORTANT): got command run
2025-03-11T23:38:23.368Z,1741736303.368 [CommandExec](IMPORTANT): Running 
2025-03-11T23:38:23.583Z,1741736303.583 [Default] Stopped
2025-03-11T23:38:23.583Z,1741736303.583 [Default](DEBUG): Aggregate::uninitialize Default
2025-03-11T23:38:23.583Z,1741736303.583 [Default:B.GoToSurface] Stopped
2025-03-11T23:38:23.584Z,1741736303.584 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-03-11T23:38:23.584Z,1741736303.584 [Default:CheckIn] Stopped
2025-03-11T23:38:23.584Z,1741736303.584 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-03-11T23:38:23.584Z,1741736303.584 [Default:CheckIn:C.Wait] Stopped
2025-03-11T23:38:23.584Z,1741736303.584 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2025-03-11T23:38:23.584Z,1741736303.584 [MissionManager](IMPORTANT): Started mission transit
2025-03-11T23:38:23.584Z,1741736303.584 [transit] Running Loop=1
2025-03-11T23:38:23.584Z,1741736303.584 [transit](DEBUG): Aggregate::initialize transit
2025-03-11T23:38:23.584Z,1741736303.584 [transit:StandardEnvelopes] Running Loop=1
2025-03-11T23:38:23.585Z,1741736303.585 [transit:StandardEnvelopes](DEBUG): Aggregate::initialize transit:StandardEnvelopes
2025-03-11T23:38:23.585Z,1741736303.585 [transit:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-03-11T23:38:23.585Z,1741736303.585 [transit:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-03-11T23:38:23.585Z,1741736303.585 [transit:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-03-11T23:38:23.585Z,1741736303.585 [transit:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-03-11T23:38:23.585Z,1741736303.585 [transit:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-03-11T23:38:23.585Z,1741736303.585 [transit:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-03-11T23:38:23.585Z,1741736303.585 [transit:BackseatDriver] Running Loop=1
2025-03-11T23:38:23.585Z,1741736303.585 [transit:BackseatDriver](DEBUG): Aggregate::initialize transit:BackseatDriver
2025-03-11T23:38:23.586Z,1741736303.586 [transit:BackseatDriver:A.BackseatDriver] Running Loop=1
2025-03-11T23:38:23.586Z,1741736303.586 [transit:PowerOnly] Running Loop=1
2025-03-11T23:38:23.586Z,1741736303.586 [transit:PowerOnly](DEBUG): Aggregate::initialize transit:PowerOnly
2025-03-11T23:38:23.586Z,1741736303.586 [transit:PowerOnly:A] Running Loop=1
2025-03-11T23:38:23.586Z,1741736303.586 [transit:PowerOnly:B] Running Loop=1
2025-03-11T23:38:23.586Z,1741736303.586 [transit:PowerOnly:C] Running Loop=1
2025-03-11T23:38:23.586Z,1741736303.586 [transit:PowerOnly:D] Running Loop=1
2025-03-11T23:38:23.587Z,1741736303.587 [transit:PowerOnly:E.Wait] Running Loop=1
2025-03-11T23:38:23.587Z,1741736303.587 [transit:PowerOnly:E.Wait](DEBUG): Initialize Wait Component.
2025-03-11T23:38:23.587Z,1741736303.587 [transit:BuoyancyHold.Buoyancy] Running Loop=1
2025-03-11T23:38:23.587Z,1741736303.587 [transit:BuoyancyHold.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-03-11T23:38:23.587Z,1741736303.587 [transit:MassHold.Pitch] Running Loop=1
2025-03-11T23:38:23.587Z,1741736303.587 [transit:MassHold.Pitch](DEBUG): Initialize.
2025-03-11T23:38:23.587Z,1741736303.587 [transit:B] Running Loop=1
2025-03-11T23:38:23.588Z,1741736303.588 [transit:MassHold.Pitch] Running Loop=1
2025-03-11T23:38:23.588Z,1741736303.588 [transit:BuoyancyHold.Buoyancy] Running Loop=1
2025-03-11T23:38:23.588Z,1741736303.588 [transit:PowerOnly] Running Loop=1
2025-03-11T23:38:23.589Z,1741736303.589 [transit:PowerOnly:D] Stopped
2025-03-11T23:38:23.589Z,1741736303.589 [transit:PowerOnly:C] Stopped
2025-03-11T23:38:23.589Z,1741736303.589 [transit:PowerOnly:B] Stopped
2025-03-11T23:38:23.589Z,1741736303.589 [transit:PowerOnly:A] Stopped
2025-03-11T23:38:23.589Z,1741736303.589 [transit:BackseatDriver] Running Loop=1
2025-03-11T23:38:23.589Z,1741736303.589 [transit:StandardEnvelopes] Running Loop=1
2025-03-11T23:38:23.589Z,1741736303.589 [transit:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-03-11T23:38:23.589Z,1741736303.589 [transit:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-03-11T23:38:23.590Z,1741736303.590 [transit:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-03-11T23:38:23.591Z,1741736303.591 [transit:B] Stopped
2025-03-11T23:38:23.591Z,1741736303.591 [transit:C] Running Loop=1
2025-03-11T23:38:23.993Z,1741736303.993 [transit:C] Stopped
2025-03-11T23:38:23.993Z,1741736303.993 [transit:E] Running Loop=1
2025-03-11T23:38:24.396Z,1741736304.396 [transit:E] Stopped
2025-03-11T23:38:24.397Z,1741736304.397 [transit:F] Running Loop=1
2025-03-11T23:38:24.792Z,1741736304.792 [transit:F] Stopped
2025-03-11T23:38:24.793Z,1741736304.793 [transit:G] Running Loop=1
2025-03-11T23:38:25.195Z,1741736305.195 [transit:G] Stopped
2025-03-11T23:38:25.195Z,1741736305.195 [transit:Transit] Running Loop=1
2025-03-11T23:38:25.195Z,1741736305.195 [transit:Transit](DEBUG): Aggregate::initialize transit:Transit
2025-03-11T23:38:25.195Z,1741736305.195 [transit:Transit:A.Pitch] Running Loop=1
2025-03-11T23:38:25.195Z,1741736305.195 [transit:Transit:A.Pitch](DEBUG): Initialize.
2025-03-11T23:38:25.196Z,1741736305.196 [transit:Transit:B.SetSpeed] Running Loop=1
2025-03-11T23:38:25.196Z,1741736305.196 [transit:Transit:B.SetSpeed](DEBUG): Initialize.
2025-03-11T23:38:25.196Z,1741736305.196 [transit:Transit:Wpt1.Waypoint] Running Loop=1
2025-03-11T23:38:25.196Z,1741736305.196 [transit:Transit:Wpt1.Waypoint](DEBUG): Initialize WaypointComponent.
2025-03-11T23:38:25.197Z,1741736305.197 [transit:Transit:Wpt1.Waypoint](IMPORTANT): Navigating to waypoint: 36.797001,-121.847000
2025-03-11T23:38:25.603Z,1741736305.603 [transit:Transit:Wpt1.Waypoint](INFO): Navigating to waypoint: 36.797001,-121.847000
2025-03-11T23:38:25.604Z,1741736305.604 [transit:Transit:B.SetSpeed] Running Loop=1
2025-03-11T23:38:25.604Z,1741736305.604 [transit:Transit:A.Pitch] Running Loop=1
2025-03-11T23:38:48.278Z,1741736328.278 [ThrusterHE](INFO): Failure count cleared after critical for ThrusterHE
2025-03-11T23:38:58.587Z,1741736338.587 [ElevatorOffsetCalculator](INFO): New estimator for commanded vars: speed 1.00 m/s, pitch 30.00 deg, mass-position 9.81 mm (2 active estimators).
2025-03-11T23:39:47.570Z,1741736387.570 [Waterlinked](INFO): Powering down
2025-03-11T23:40:33.111Z,1741736433.111 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.261978
2025-03-11T23:40:47.795Z,1741736447.795 [Radio_Surface](INFO): Powering down
2025-03-11T23:41:17.294Z,1741736477.294 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-11T23:41:18.298Z,1741736478.298 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-03-11T23:43:20.433Z,1741736600.433 [DAT](INFO): DAT read: user:7>Rx Time:23:43:19.9260

2025-03-11T23:43:20.434Z,1741736600.434 [DAT](INFO): Rx dataTimestamp_ set to:1741736600.433206
2025-03-11T23:43:20.435Z,1741736600.435 [DAT](INFO): DAT read: 

2025-03-11T23:43:20.436Z,1741736600.436 [DAT](INFO): DAT read: $Packet for address 0

2025-03-11T23:43:20.437Z,1741736600.437 [DAT](INFO): received a packet notification
2025-03-11T23:43:46.403Z,1741736626.403 [DAT](INFO): DAT read: Rx Time:23:43:45.8288

2025-03-11T23:43:46.404Z,1741736626.404 [DAT](INFO): Rx dataTimestamp_ set to:1741736626.403311
2025-03-11T23:43:46.404Z,1741736626.404 [DAT](INFO): DAT read: 

2025-03-11T23:43:46.405Z,1741736626.405 [DAT](INFO): DAT read: $Packet for address 0

2025-03-11T23:43:46.405Z,1741736626.405 [DAT](INFO): received a packet notification
2025-03-11T23:48:38.614Z,1741736918.614 [DAT](INFO): DAT read: Rx Time:23:48:38.0888

2025-03-11T23:48:38.616Z,1741736918.616 [DAT](INFO): Rx dataTimestamp_ set to:1741736918.615035
2025-03-11T23:48:38.617Z,1741736918.617 [DAT](INFO): DAT read: 

2025-03-11T23:48:38.619Z,1741736918.619 [DAT](INFO): DAT read: $Packet for address 0

2025-03-11T23:48:38.620Z,1741736918.620 [DAT](INFO): received a packet notification
2025-03-11T23:50:19.731Z,1741737019.731 [DAT](INFO): DAT read: Rx Time:23:50:19.1964

2025-03-11T23:50:19.732Z,1741737019.732 [DAT](INFO): Rx dataTimestamp_ set to:1741737019.731505
2025-03-11T23:50:19.733Z,1741737019.733 [DAT](INFO): DAT read: 

2025-03-11T23:50:19.735Z,1741737019.735 [DAT](INFO): DAT read: $Packet for address 0

2025-03-11T23:50:19.736Z,1741737019.736 [DAT](INFO): received a packet notification
2025-03-11T23:58:10.930Z,1741737490.930 [BPC1](ERROR): BPC1A got IPBS message with 6 sticks (min is 7).
2025-03-11T23:58:17.551Z,1741737497.551 [BPC1](ERROR): BPC1A got IPBS message with 6 sticks (min is 7).
2025-03-11T23:58:19.502Z,1741737499.502 [ElevatorServo](ERROR): getPosition uart error serial timeout
2025-03-11T23:58:19.502Z,1741737499.502 [ElevatorServo](FAULT): Elevator uart error - getPosition.serial timeout
2025-03-11T23:58:19.502Z,1741737499.502 [ElevatorServo] Communications Fault, FailCount= 1
2025-03-11T23:58:19.502Z,1741737499.502 [ElevatorServo](ERROR): Communications Fault
2025-03-11T23:58:19.586Z,1741737499.586 [CBIT](ERROR): Communications Fault in component: ElevatorServo
2025-03-11T23:58:19.673Z,1741737499.673 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2025-03-11T23:58:19.673Z,1741737499.673 [ElevatorServo](INFO): Powering down
2025-03-11T23:58:20.596Z,1741737500.596 [ElevatorServo](DEBUG): Initializing EZServoServo.
2025-03-11T23:58:20.716Z,1741737500.716 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2025-03-11T23:58:20.862Z,1741737500.862 [CBIT](INFO): Clearing failed state for component ElevatorServo
2025-03-11T23:58:20.862Z,1741737500.862 [ElevatorServo] No Fault, FailCount= 1
2025-03-11T23:58:30.670Z,1741737510.670 [BPC1](ERROR): BPC1A got IPBS message with 6 sticks (min is 7).
2025-03-11T23:58:43.503Z,1741737523.503 [BPC1](ERROR): BPC1A got IPBS message with 6 sticks (min is 7).
2025-03-11T23:58:56.641Z,1741737536.641 [BPC1](ERROR): BPC1A got IPBS message with 6 sticks (min is 7).
2025-03-11T23:59:09.406Z,1741737549.406 [BPC1](ERROR): BPC1A got IPBS message with 6 sticks (min is 7).
2025-03-11T23:59:22.386Z,1741737562.386 [BPC1](ERROR): BPC1A got IPBS message with 6 sticks (min is 7).
2025-03-11T23:59:35.043Z,1741737575.043 [BPC1](ERROR): BPC1A got IPBS message with 6 sticks (min is 7).
2025-03-11T23:59:48.095Z,1741737588.095 [BPC1](ERROR): BPC1A got IPBS message with 6 sticks (min is 7).
2025-03-12T00:00:00.403Z,1741737600.403 [BPC1](ERROR): BPC1A got IPBS message with 6 sticks (min is 7).
2025-03-12T00:00:12.651Z,1741737612.651 [BPC1](ERROR): BPC1A got IPBS message with 6 sticks (min is 7).
2025-03-12T00:00:25.689Z,1741737625.689 [BPC1](ERROR): BPC1A got IPBS message with 6 sticks (min is 7).
2025-03-12T00:00:38.923Z,1741737638.923 [BPC1](INFO): Calculating totals. Valid battery stick count: 54. Valid reserve battery stick count: 6.
2025-03-12T00:00:38.926Z,1741737638.926 [BPC1](INFO): Received data from all battery sticks.
2025-03-12T00:04:49.589Z,1741737889.589 [transit:NeedComms] Running Loop=1
2025-03-12T00:04:49.589Z,1741737889.589 [transit:NeedComms](DEBUG): Aggregate::initialize transit:NeedComms
2025-03-12T00:04:49.589Z,1741737889.589 [transit:NeedComms:B.GoToSurface] Running Loop=1
2025-03-12T00:04:49.589Z,1741737889.589 [transit:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-03-12T00:04:49.589Z,1741737889.589 [transit:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-03-12T00:04:49.590Z,1741737889.590 [transit:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-03-12T00:04:49.590Z,1741737889.590 [transit:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-03-12T00:04:49.591Z,1741737889.591 [transit:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-03-12T00:04:49.591Z,1741737889.591 [transit:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-03-12T00:04:49.591Z,1741737889.591 [transit:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-03-12T00:04:49.592Z,1741737889.592 [transit:NeedComms:A] Running Loop=1
2025-03-12T00:04:49.593Z,1741737889.593 [transit:NeedComms:A](INFO): last time_fix was:  1741736087.000000 second since 1970/01/01T00:00:00Z 
2025-03-12T00:04:49.593Z,1741737889.593 [transit:NeedComms:A] Stopped
2025-03-12T00:05:35.844Z,1741737935.844 [transit:NeedComms:C] Running Loop=1
2025-03-12T00:05:36.322Z,1741737936.322 [Waterlinked](INFO): Powering down
2025-03-12T00:05:36.349Z,1741737936.349 [transit:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-03-12T00:05:36.606Z,1741737936.606 [Radio_Surface](INFO): Powering up
2025-03-12T00:05:42.514Z,1741737942.514 [DataOverHttps](INFO): Radio surface powered ON.
2025-03-12T00:06:12.646Z,1741737972.646 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T00:06:47.790Z,1741738007.790 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T00:07:22.942Z,1741738042.942 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T00:07:51.568Z,1741738071.568 [NAL9602](INFO): SBD MO Status=2, MOMSN=18470, MT Status=2, MTMSN=0
2025-03-12T00:07:51.568Z,1741738071.568 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-03-12T00:07:58.091Z,1741738078.091 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T00:08:33.242Z,1741738113.242 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T00:08:50.956Z,1741738130.956 [NAL9602](INFO): SBD MO Status=0, MOMSN=18470, MT Status=0, MTMSN=0
2025-03-12T00:08:50.956Z,1741738130.956 [NAL9602](INFO): No messages in MT queue
2025-03-12T00:08:52.169Z,1741738132.169 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,000851.00,A,3648.14063,N,12148.74159,W,0.875,85.90,120325,,,A*40
2025-03-12T00:08:52.172Z,1741738132.172 [NAL9602](INFO): GPS fix at 20250312T000851: (36.802344, -121.812360)
2025-03-12T00:08:52.185Z,1741738132.185 [UniversalFixResidualReporter](INFO): Fix residual: 4.8 %DT, over the last 1497.5 m. Residual distance 72.6 m at bearing -73.7 degrees. Fix at (36.8023, -121.8124) with 1431.0 m made good.
2025-03-12T00:08:52.189Z,1741738132.189 [transit:NeedComms:C] Stopped
2025-03-12T00:08:52.190Z,1741738132.190 [transit:NeedComms:D] Running Loop=1
2025-03-12T00:08:52.609Z,1741738132.609 [transit:NeedComms:D](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-03-12T00:09:06.864Z,1741738146.864 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003544
2025-03-12T00:09:10.817Z,1741738150.817 [NAL9602](INFO): SBD MO Status=1, MOMSN=18471, MT Status=0, MTMSN=0
2025-03-12T00:09:10.879Z,1741738150.879 [NAL9602](INFO): Sent 264 bytes from file Logs/20250311T232940/Courier0003.lzma
2025-03-12T00:09:10.879Z,1741738150.879 [NAL9602](INFO): Packets left to send: 0
2025-03-12T00:09:14.414Z,1741738154.414 [DataOverHttps](INFO): Sending 39 bytes from file Logs/20250311T232940/Courier0006.lzma
2025-03-12T00:09:15.416Z,1741738155.416 [DataOverHttps](INFO): Moved sent file to Logs/20250311T232940/Courier0006.lzma.bak
2025-03-12T00:09:15.416Z,1741738155.416 [DataOverHttps](INFO): SBD MOMSN=24180944
2025-03-12T00:09:31.383Z,1741738171.383 [DataOverHttps](INFO): Sending 725 bytes from file Logs/20250311T232940/Express0004.lzma
2025-03-12T00:09:32.384Z,1741738172.384 [DataOverHttps](INFO): Moved sent file to Logs/20250311T232940/Express0004.lzma.bak
2025-03-12T00:09:32.384Z,1741738172.384 [DataOverHttps](INFO): SBD MOMSN=24180950
2025-03-12T00:09:41.523Z,1741738181.523 [NAL9602](INFO): Not Powering down - fast GPS
2025-03-12T00:09:51.358Z,1741738191.358 [DataOverHttps](INFO): Sending 73 bytes from file Logs/20250311T232940/Express0007.lzma
2025-03-12T00:09:52.360Z,1741738192.360 [DataOverHttps](INFO): Moved sent file to Logs/20250311T232940/Express0007.lzma.bak
2025-03-12T00:09:52.360Z,1741738192.360 [DataOverHttps](INFO): SBD MOMSN=24180977
2025-03-12T00:09:53.736Z,1741738193.736 [transit:NeedComms:D] Stopped
2025-03-12T00:09:53.737Z,1741738193.737 [transit:NeedComms:E] Running Loop=1
2025-03-12T00:09:54.144Z,1741738194.144 [transit:NeedComms:E](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-03-12T00:09:55.714Z,1741738195.714 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,000955.00,A,3648.14423,N,12148.74023,W,0.641,325.43,120325,,,A*77
2025-03-12T00:09:55.716Z,1741738195.716 [NAL9602](INFO): GPS fix at 20250312T000955: (36.802404, -121.812337)
2025-03-12T00:09:55.765Z,1741738195.765 [transit:NeedComms:E] Stopped
2025-03-12T00:09:55.766Z,1741738195.766 [transit:NeedComms](INFO): Completed transit:NeedComms
2025-03-12T00:09:55.766Z,1741738195.766 [transit:NeedComms] Stopped
2025-03-12T00:09:55.766Z,1741738195.766 [transit:NeedComms](DEBUG): Aggregate::uninitialize transit:NeedComms
2025-03-12T00:09:55.766Z,1741738195.766 [transit:NeedComms:B.GoToSurface] Stopped
2025-03-12T00:09:55.771Z,1741738195.771 [transit:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-03-12T00:10:19.237Z,1741738219.237 [NAL9602](INFO): SBD MO Status=0, MOMSN=18472, MT Status=0, MTMSN=0
2025-03-12T00:10:19.238Z,1741738219.238 [NAL9602](INFO): No messages in MT queue
2025-03-12T00:10:38.807Z,1741738238.807 [ElevatorOffsetCalculator](INFO): New estimator for commanded vars: speed 1.00 m/s, pitch 20.00 deg, mass-position 9.81 mm (3 active estimators).
2025-03-12T00:10:49.725Z,1741738249.725 [NAL9602](INFO): Not Powering down - fast GPS
2025-03-12T00:11:00.215Z,1741738260.215 [DataOverHttps](INFO): Exceeded connection timeout, disconnecting.
2025-03-12T00:11:01.219Z,1741738261.219 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.059158
2025-03-12T00:11:17.208Z,1741738277.208 [transit:StandardEnvelopes:A.AltitudeEnvelope](IMPORTANT): Altitude envelope ACTIVE
2025-03-12T00:11:35.354Z,1741738295.354 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T00:11:39.082Z,1741738299.082 [Radio_Surface](INFO): Powering down
2025-03-12T00:11:39.374Z,1741738299.374 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-03-12T00:35:05.183Z,1741739705.183 [DAT](INFO): DAT read: Rx Time:00:35:04.6236

2025-03-12T00:35:05.184Z,1741739705.184 [DAT](INFO): Rx dataTimestamp_ set to:1741739705.183604
2025-03-12T00:35:05.184Z,1741739705.184 [DAT](INFO): DAT read: 

2025-03-12T00:35:05.185Z,1741739705.185 [DAT](INFO): DAT read: $Packet for address 0

2025-03-12T00:35:05.185Z,1741739705.185 [DAT](INFO): received a packet notification
2025-03-12T00:35:56.395Z,1741739756.395 [DAT](INFO): DAT read: Rx Time:00:35:55.7784

2025-03-12T00:35:56.396Z,1741739756.396 [DAT](INFO): Rx dataTimestamp_ set to:1741739756.395612
2025-03-12T00:35:56.396Z,1741739756.396 [DAT](INFO): DAT read: 

2025-03-12T00:35:56.397Z,1741739756.397 [DAT](INFO): DAT read: $Packet for address 0

2025-03-12T00:35:56.397Z,1741739756.397 [DAT](INFO): received a packet notification
2025-03-12T00:38:23.958Z,1741739903.958 [transit](INFO): Timed out from 2025-03-11T23:38:23.6Z
2025-03-12T00:38:23.959Z,1741739903.959 [MissionManager](INFO): transit is completed.
2025-03-12T00:38:23.959Z,1741739903.959 [MissionManager](INFO): Uninitializing Mission transit
2025-03-12T00:38:23.959Z,1741739903.959 [transit] Stopped
2025-03-12T00:38:23.959Z,1741739903.959 [transit](DEBUG): Aggregate::uninitialize transit
2025-03-12T00:38:23.959Z,1741739903.959 [transit:StandardEnvelopes] Stopped
2025-03-12T00:38:23.960Z,1741739903.960 [transit:StandardEnvelopes](DEBUG): Aggregate::uninitialize transit:StandardEnvelopes
2025-03-12T00:38:23.960Z,1741739903.960 [transit:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-03-12T00:38:23.960Z,1741739903.960 [transit:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-03-12T00:38:23.960Z,1741739903.960 [transit:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-03-12T00:38:23.960Z,1741739903.960 [transit:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-03-12T00:38:23.960Z,1741739903.960 [transit:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-03-12T00:38:23.961Z,1741739903.961 [transit:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-03-12T00:38:23.961Z,1741739903.961 [transit:BackseatDriver] Stopped
2025-03-12T00:38:23.961Z,1741739903.961 [transit:BackseatDriver](DEBUG): Aggregate::uninitialize transit:BackseatDriver
2025-03-12T00:38:23.961Z,1741739903.961 [transit:BackseatDriver:A.BackseatDriver] Stopped
2025-03-12T00:38:23.961Z,1741739903.961 [transit:PowerOnly] Stopped
2025-03-12T00:38:23.961Z,1741739903.961 [transit:PowerOnly](DEBUG): Aggregate::uninitialize transit:PowerOnly
2025-03-12T00:38:23.962Z,1741739903.962 [transit:PowerOnly:E.Wait] Stopped
2025-03-12T00:38:23.962Z,1741739903.962 [transit:PowerOnly:E.Wait](DEBUG): Uninitialize Wait Component.
2025-03-12T00:38:23.962Z,1741739903.962 [transit:BuoyancyHold.Buoyancy] Stopped
2025-03-12T00:38:23.962Z,1741739903.962 [transit:BuoyancyHold.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-03-12T00:38:23.962Z,1741739903.962 [transit:MassHold.Pitch] Stopped
2025-03-12T00:38:23.963Z,1741739903.963 [transit:Transit] Stopped
2025-03-12T00:38:23.963Z,1741739903.963 [transit:Transit](DEBUG): Aggregate::uninitialize transit:Transit
2025-03-12T00:38:23.963Z,1741739903.963 [transit:Transit:A.Pitch] Stopped
2025-03-12T00:38:23.963Z,1741739903.963 [transit:Transit:B.SetSpeed] Stopped
2025-03-12T00:38:23.963Z,1741739903.963 [transit:Transit:B.SetSpeed](DEBUG): Uninitialize.
2025-03-12T00:38:23.963Z,1741739903.963 [transit:Transit:Wpt1.Waypoint] Stopped
2025-03-12T00:38:23.963Z,1741739903.963 [transit:Transit:Wpt1.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-03-12T00:38:24.361Z,1741739904.361 [MissionManager](IMPORTANT): Started mission Default
2025-03-12T00:38:24.361Z,1741739904.361 [Default] Running Loop=1
2025-03-12T00:38:24.361Z,1741739904.361 [Default](DEBUG): Aggregate::initialize Default
2025-03-12T00:38:24.361Z,1741739904.361 [Default:B.GoToSurface] Running Loop=1
2025-03-12T00:38:24.361Z,1741739904.361 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-03-12T00:38:24.362Z,1741739904.362 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-03-12T00:38:24.362Z,1741739904.362 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-03-12T00:38:24.362Z,1741739904.362 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-03-12T00:38:24.363Z,1741739904.363 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-03-12T00:38:24.363Z,1741739904.363 [Default:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-03-12T00:38:24.363Z,1741739904.363 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-03-12T00:38:24.364Z,1741739904.364 [Default:A.Wait] Running Loop=1
2025-03-12T00:38:24.364Z,1741739904.364 [Default:A.Wait](DEBUG): Initialize Wait Component.
2025-03-12T00:38:25.003Z,1741739905.003 [Radio_Surface](INFO): Powering up
2025-03-12T00:38:31.018Z,1741739911.018 [DataOverHttps](INFO): Radio surface powered ON.
2025-03-12T00:38:37.687Z,1741739917.687 [Default:A.Wait](INFO): Done Waiting.
2025-03-12T00:38:37.687Z,1741739917.687 [Default:A.Wait] Stopped
2025-03-12T00:38:37.687Z,1741739917.687 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2025-03-12T00:38:56.805Z,1741739936.805 [Default:CheckIn] Running Loop=1
2025-03-12T00:38:56.805Z,1741739936.805 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-03-12T00:38:56.805Z,1741739936.805 [Default:CheckIn:Read_GPS] Running Loop=1
2025-03-12T00:39:01.138Z,1741739941.138 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T00:39:28.263Z,1741739968.263 [Waterlinked](ERROR): only read 0 of 1 data item for BIT error. Device response::TS,24052713304609, 0.0, +0.0,   0.0,1475.0I,    +0,    +0,    +0,    +0,V
2025-03-12T00:39:36.278Z,1741739976.278 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T00:40:07.041Z,1741740007.041 [NAL9602](INFO): SBD MO Status=2, MOMSN=18473, MT Status=2, MTMSN=0
2025-03-12T00:40:07.042Z,1741740007.042 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-03-12T00:40:11.418Z,1741740011.418 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T00:40:34.513Z,1741740034.513 [NAL9602](INFO): SBD MO Status=0, MOMSN=18473, MT Status=0, MTMSN=0
2025-03-12T00:40:34.514Z,1741740034.514 [NAL9602](INFO): No messages in MT queue
2025-03-12T00:40:35.729Z,1741740035.729 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,004035.00,A,3648.05473,N,12149.60815,W,0.680,111.80,120325,,,A*77
2025-03-12T00:40:35.732Z,1741740035.732 [NAL9602](INFO): GPS fix at 20250312T004035: (36.800912, -121.826802)
2025-03-12T00:40:35.775Z,1741740035.775 [UniversalFixResidualReporter](INFO): Fix residual: 7.9 %DT, over the last 1427.5 m. Residual distance 112.4 m at bearing -141.4 degrees. Fix at (36.8009, -121.8268) with 1298.6 m made good.
2025-03-12T00:40:35.776Z,1741740035.776 [Default:CheckIn:Read_GPS] Stopped
2025-03-12T00:40:35.776Z,1741740035.776 [Default:CheckIn:Read_Iridium] Running Loop=1
2025-03-12T00:40:46.558Z,1741740046.558 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T00:40:59.350Z,1741740059.350 [NAL9602](INFO): SBD MO Status=2, MOMSN=18474, MT Status=2, MTMSN=0
2025-03-12T00:40:59.350Z,1741740059.350 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-03-12T00:41:19.677Z,1741740079.677 [NAL9602](INFO): SBD MO Status=1, MOMSN=18474, MT Status=0, MTMSN=0
2025-03-12T00:41:19.730Z,1741740079.730 [NAL9602](INFO): Sent 82 bytes from file Logs/20250311T232940/Courier0009.lzma
2025-03-12T00:41:19.731Z,1741740079.731 [NAL9602](INFO): Packets left to send: 0
2025-03-12T00:41:21.699Z,1741740081.699 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T00:41:33.569Z,1741740093.569 [NAL9602](INFO): SBD MO Status=1, MOMSN=18475, MT Status=0, MTMSN=0
2025-03-12T00:41:33.622Z,1741740093.622 [NAL9602](INFO): Sent 332 bytes from file Logs/20250311T232940/Express0010.lzma
2025-03-12T00:41:33.622Z,1741740093.622 [NAL9602](INFO): Packets left to send: 1
2025-03-12T00:41:52.728Z,1741740112.728 [NAL9602](INFO): SBD MO Status=1, MOMSN=18476, MT Status=0, MTMSN=0
2025-03-12T00:41:52.783Z,1741740112.783 [NAL9602](INFO): Sent 79 bytes from file Logs/20250311T232940/Express0010.lzma
2025-03-12T00:41:52.783Z,1741740112.783 [NAL9602](INFO): Packets left to send: 0
2025-03-12T00:41:58.452Z,1741740118.452 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.006751
2025-03-12T00:41:59.540Z,1741740119.540 [Default:CheckIn:Read_Iridium] Stopped
2025-03-12T00:41:59.540Z,1741740119.540 [Default:CheckIn:C.Wait] Running Loop=1
2025-03-12T00:41:59.540Z,1741740119.540 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2025-03-12T00:42:12.459Z,1741740132.459 [NAL9602](INFO): SBD MO Status=2, MOMSN=18477, MT Status=2, MTMSN=0
2025-03-12T00:42:12.459Z,1741740132.459 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-03-12T00:42:43.187Z,1741740163.187 [NAL9602](INFO): Not Powering down - fast GPS
2025-03-12T00:46:18.384Z,1741740378.384 [DataOverHttps](IMPORTANT): SBD MTMSN=20250312T004617
2025-03-12T00:46:26.259Z,1741740386.259 [DataOverHttps](INFO): Received command: sched asap "load Science/sci2_noyo_optim.tl;set sci2_noyo_optim.MissionTimeout 1 h;set sci2_noyo_optim.NeedCommsTime 30 min;set sci2_noyo_optim.Depth 15 m;set sci2_noyo_optim.Lat1 36.797 degree;set sci2_noyo_optim.Lon1 -121.847 degree" 31bgi 1 2
2025-03-12T00:46:26.319Z,1741740386.319 [CommandExec](IMPORTANT): got command schedule asap "load Science/sci2_noyo_optim.tl;set sci2_noyo_optim.MissionTimeout 1 h;set sci2_noyo_optim.NeedCommsTime 30 min;set sci2_noyo_optim.Depth 15 m;set sci2_noyo_optim.Lat1 36.797 degree;set sci2_noyo_optim.Lon1 -121.847 degree" 31bgi 1 2.000000
2025-03-12T00:46:26.319Z,1741740386.319 [CommandExec](IMPORTANT): Scheduling command #1 of 2 with id=31bgi
2025-03-12T00:46:26.320Z,1741740386.320 [CommandExec](IMPORTANT): Scheduled #1 (#1 of 2 with id='31bgi'): "load Science/sci2_noyo_optim.tl;set sci2_noyo_optim.MissionTimeout 1 h;set sci2_noyo_optim.NeedCommsTime 30 min;set sci2_noyo_optim.Depth 15 m;set sci2_noyo_optim.Lat1 36.797 degree;set sci2_noyo_optim.Lon1 -121.847 degree", ASAP
2025-03-12T00:46:27.260Z,1741740387.260 [DataOverHttps](IMPORTANT): SBD MTMSN=20250312T004626
2025-03-12T00:46:34.902Z,1741740394.902 [DataOverHttps](INFO): Received command: sched asap "set sci2_noyo_optim.ApproachDepth 10 m;set sci2_noyo_optim.SlowSpeed NaN m/s;set sci2_noyo_optim.MinAltitude 10 m;set sci2_noyo_optim.MaxDepth 40 m;run" 31bgi 2 2
2025-03-12T00:46:34.950Z,1741740394.950 [CommandExec](IMPORTANT): got command schedule asap "set sci2_noyo_optim.ApproachDepth 10 m;set sci2_noyo_optim.SlowSpeed NaN m/s;set sci2_noyo_optim.MinAltitude 10 m;set sci2_noyo_optim.MaxDepth 40 m;run" 31bgi 2 2.000000
2025-03-12T00:46:34.951Z,1741740394.951 [CommandExec](IMPORTANT): Scheduling command #2 of 2 with id=31bgi
2025-03-12T00:46:34.952Z,1741740394.952 [CommandExec](IMPORTANT): Scheduled #2 (#2 of 2 with id='31bgi'): "set sci2_noyo_optim.ApproachDepth 10 m;set sci2_noyo_optim.SlowSpeed NaN m/s;set sci2_noyo_optim.MinAltitude 10 m;set sci2_noyo_optim.MaxDepth 40 m;run", ASAP
2025-03-12T00:46:35.161Z,1741740395.161 [CommandExec](IMPORTANT): got command load ./Missions/Science/sci2_noyo_optim.tl
2025-03-12T00:46:35.164Z,1741740395.164 [MissionManager](INFO): Loading Mission from file: ./Missions/Science/sci2_noyo_optim.tl
2025-03-12T00:46:35.165Z,1741740395.165 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Science/sci2_noyo_optim.tl
2025-03-12T00:46:35.171Z,1741740395.171 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Science/sci2_noyo_optim.tl
2025-03-12T00:46:39.672Z,1741740399.672 [MissionManager](DEBUG): TethyslAPI: ./Missions/Science/sci2_noyo_optim.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Mission Id="sci2_noyo_optim">
    <DefineArg Name="MissionTimeout">
        <Units:hour />
        <Value>2</Value>
    </DefineArg>
    <DefineArg Name="NeedCommsTime">
        <Units:minute />
        <Value>60</Value>
    </DefineArg>
    <DefineArg Name="Depth">
        <Units:meter />
        <Value>35</Value>
    </DefineArg>
    <DefineArg Name="Repeat">
        <Units:count />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="Lat1">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lat2">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lat3">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lat4">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lat5">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lat6">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lat7">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lat8">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lon1">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lon2">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lon3">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lon4">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lon5">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lon6">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lon7">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lon8">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="FastSpeed">
        <Units:meter_per_second />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="ApproachDepth">
        <Units:meter />
        <Value>30</Value>
    </DefineArg>
    <DefineArg Name="ApproachSpeed">
        <Units:meter_per_second />
        <Value>0.7</Value>
    </DefineArg>
    <DefineArg Name="ApproachDepthRate">
        <Units:meter_per_second />
        <Value>0.05</Value>
    </DefineArg>
    <DefineArg Name="ApproachPitchLimit">
        <Units:degree />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="ApproachDepthTimeout">
        <Units:minute />
        <Value>15</Value>
    </DefineArg>
    <DefineArg Name="ApproachSettleTimePreDive">
        <Units:minute />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="ApproachSettleTimePostDive">
        <Units:minute />
        <Value>3</Value>
    </DefineArg>
    <DefineArg Name="kpDepth">
        <Units:radian_per_meter />
        <Value>0.07</Value>
    </DefineArg>
    <DefineArg Name="SlowSpeed">
        <Units:meter_per_second />
        <Value>0.25</Value>
    </DefineArg>
    <DefineArg Name="DepthDeviationSlow">
        <Units:meter />
        <Value>3</Value>
    </DefineArg>
    <DefineArg Name="BuoyancyNeutral">
        <Control:VerticalControl.buoyancyNeutral />
    </DefineArg>
    <DefineArg Name="MassDefault">
        <Control:VerticalControl.massDefault />
    </DefineArg>
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>2</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>50</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:kilometer />
        <Value>2</Value>
    </DefineArg>
    <DefineOutput Name="DiveMode">
        <Units:count />
        <Value>0</Value>
    </DefineOutput>
    <DefineOutput Name="DoingComms">
        <Units:count />
        <Value>0</Value>
    </DefineOutput>
    <DefineOutput Name="InitialDive">
        <Units:count />
        <Value>1</Value>
    </DefineOutput>
    <DefineOutput Name="SettleAtDepth">
        <Units:count />
        <Value>2</Value>
    </DefineOutput>
    <DefineOutput Name="MaintainDepth">
        <Units:count />
        <Value>3</Value>
    </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="MissionTimeout" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="NeedComms:WaitForPitchUp" />
        <Units:minute />
        <Value>0</Value>
    </Assign>
    <Insert Filename="Insert/BackseatDriver.tl" />
    <Assign>
        <Parallel />
        <Arg Name="BackseatDriver:EnableBackseat" />
        <True />
    </Assign>
    <Insert Filename="Insert/PowerOnly.tl" />
    <Guidance:Buoyancy>
        <Parallel />
        <Setting>
            <Guidance:Buoyancy.position />
            <Arg Name="BuoyancyNeutral" />
        </Setting>
    </Guidance:Buoyancy>
    <Aggregate Id="SurfaceComms">
        <When>
            <Called />
            <Or>
                <Elapsed>
                    <Universal:time_fix />
                </Elapsed>
                <Gt>
                    <Arg Name="NeedCommsTime" />
                </Gt>
            </Or>
        </When>
        <Assign>
            <Sequence />
            <Arg Name="DiveMode" />
            <Arg Name="DoingComms" />
        </Assign>
        <Call RefId="NeedComms" />
        <Assign>
            <Sequence />
            <Arg Name="DiveMode" />
            <Arg Name="InitialDive" />
        </Assign>
    </Aggregate>
    <Aggregate Id="DiveCmd">
        <When>
            <Called />
        </When>
        <Aggregate Id="InitialDive">
            <While>
                <Arg Name="DiveMode" />
                <Eq>
                    <Arg Name="InitialDive" />
                </Eq>
            </While>
            <Aggregate Id="dive">
                <Sequence />
                <Assign>
                    <Parallel />
                    <Control:VerticalControl.pitchLimit />
                    <Arg Name="ApproachPitchLimit" />
                </Assign>
                <Assign>
                    <Parallel />
                    <Control:VerticalControl.kpDepth />
                    <Arg Name="kpDepth" />
                </Assign>
                <Guidance:Mass>
                    <Parallel />
                    <Setting>
                        <Guidance:Mass.position />
                        <Arg Name="MassDefault" />
                    </Setting>
                </Guidance:Mass>
                <Syslog Severity="Info">
                    Waiting for 
                    <Arg Name="ApproachSettleTimePreDive" />
                    <Units:minute />
                    while pumping down to neutral.
                </Syslog>
                <Guidance:Wait>
                    <Sequence />
                    <Setting>
                        <Guidance:Wait.duration />
                        <Arg Name="ApproachSettleTimePreDive" />
                    </Setting>
                </Guidance:Wait>
                <Syslog>
                    Moving to 
                    <Arg Name="ApproachDepth" />
                    <Units:meter />
                </Syslog>
                <Aggregate Id="ApproachDepth">
                    <Sequence />
                    <Guidance:SetSpeed>
                        <Parallel />
                        <Setting>
                            <Guidance:SetSpeed.speed />
                            <Arg Name="ApproachSpeed" />
                        </Setting>
                    </Guidance:SetSpeed>
                    <Guidance:Pitch>
                        <Sequence />
                        <Timeout Duration="ApproachDepthTimeout">
                            <Syslog Severity="Important">
                                Timed out while trying to reach target depth at current depth of 
                                <Universal:depth />
                                <Units:meter />
                            </Syslog>
                            <Guidance:Execute>
                                <Sequence />
                                <Setting>
                                    <Guidance:Execute.command />
                                    <String>stop</String>
                                </Setting>
                            </Guidance:Execute>
                        </Timeout>
                        <Setting>
                            <Guidance:Pitch.depth />
                            <Arg Name="ApproachDepth" />
                        </Setting>
                        <Setting>
                            <Guidance:Pitch.depthRate />
                            <Arg Name="ApproachDepthRate" />
                        </Setting>
                    </Guidance:Pitch>
                </Aggregate>
                <Assign>
                    <Sequence />
                    <Arg Name="DiveMode" />
                    <Arg Name="SettleAtDepth" />
                </Assign>
            </Aggregate>
        </Aggregate>
        <Aggregate Id="SettleAtDepth">
            <While>
                <Arg Name="DiveMode" />
                <Eq>
                    <Arg Name="SettleAtDepth" />
                </Eq>
            </While>
            <Aggregate Id="dive">
                <Sequence />
                <Syslog Severity="Info">
                    Reached 
                    <Universal:depth />
                    <Units:meter />
                    , settling for 
                    <Arg Name="ApproachSettleTimePostDive" />
                    <Units:minute />
                </Syslog>
                <Guidance:Pitch>
                    <Parallel />
                    <Setting>
                        <Guidance:Pitch.depth />
                        <Arg Name="Depth" />
                    </Setting>
                </Guidance:Pitch>
                <Guidance:Wait>
                    <Sequence />
                    <Setting>
                        <Guidance:Wait.duration />
                        <Arg Name="ApproachSettleTimePostDive" />
                    </Setting>
                </Guidance:Wait>
                <Assign>
                    <Sequence />
                    <Arg Name="DiveMode" />
                    <Arg Name="MaintainDepth" />
                </Assign>
            </Aggregate>
        </Aggregate>
        <Aggregate Id="MaintainDepth">
            <While>
                <Arg Name="DiveMode" />
                <Eq>
                    <Arg Name="MaintainDepth" />
                </Eq>
                <And>
                    <Universal:depth />
                    <Gt>
                        <Arg Name="Depth" />
                        <Add>
                            <Arg Name="DepthDeviationSlow" />
                        </Add>
                    </Gt>
                </And>
                <Or>
                    <Universal:depth />
                    <Lt>
                        <Arg Name="Depth" />
                        <Sub>
                            <Arg Name="DepthDeviationSlow" />
                        </Sub>
                    </Lt>
                </Or>
            </While>
            <Aggregate Id="dive">
                <Parallel />
                <Aggregate Id="ThrusterDive">
                    <While>
                        <Arg Name="FastSpeed" />
                        <Gt>
                            <Units:meter_per_second />
                            <Value>0.0</Value>
                        </Gt>
                    </While>
                    <Guidance:Mass>
                        <Parallel />
                        <Setting>
                            <Guidance:Mass.position />
                            <Arg Name="MassDefault" />
                        </Setting>
                    </Guidance:Mass>
                    <Guidance:SetSpeed>
                        <Parallel />
                        <Setting>
                            <Guidance:SetSpeed.speed />
                            <Arg Name="FastSpeed" />
                        </Setting>
                    </Guidance:SetSpeed>
                </Aggregate>
                <Guidance:Pitch>
                    <Parallel />
                    <Setting>
                        <Guidance:Pitch.depth />
                        <Arg Name="Depth" />
                    </Setting>
                </Guidance:Pitch>
            </Aggregate>
        </Aggregate>
        <Aggregate Id="MaintainDepthSlow">
            <While>
                <Not>
                    <IsNaN>
                        <Arg Name="SlowSpeed" />
                    </IsNaN>
                </Not>
                <And>
                    <Arg Name="DiveMode" />
                    <Eq>
                        <Arg Name="MaintainDepth" />
                    </Eq>
                </And>
                <And>
                    <Universal:depth />
                    <Le>
                        <Arg Name="Depth" />
                        <Add>
                            <Arg Name="DepthDeviationSlow" />
                        </Add>
                    </Le>
                </And>
                <And>
                    <Universal:depth />
                    <Ge>
                        <Arg Name="Depth" />
                        <Sub>
                            <Arg Name="DepthDeviationSlow" />
                        </Sub>
                    </Ge>
                </And>
            </While>
            <Guidance:SetSpeed>
                <Parallel />
                <Setting>
                    <Guidance:SetSpeed.speed />
                    <Arg Name="SlowSpeed" />
                </Setting>
            </Guidance:SetSpeed>
            <Assign>
                <Parallel />
                <Control:VerticalControl.depthDeadband />
                <Arg Name="DepthDeviationSlow" />
                <Add>
                    <Units:meter />
                    <Value>3</Value>
                </Add>
            </Assign>
            <Guidance:Buoyancy>
                <Parallel />
                <Setting>
                    <Guidance:Buoyancy.position />
                    <Units:cubic_centimeter />
                    <Value>NaN</Value>
                </Setting>
            </Guidance:Buoyancy>
            <Guidance:Pitch>
                <Parallel />
                <Setting>
                    <Guidance:Pitch.depth />
                    <Arg Name="Depth" />
                </Setting>
            </Guidance:Pitch>
        </Aggregate>
    </Aggregate>
    <Call RefId="SurfaceComms" Id="StartingMission" />
    <Aggregate Id="Lap">
        <Sequence Repeat="Repeat" />
        <Aggregate Id="Dive">
            <While>
                <Not>
                    <Arg Name="DiveMode" />
                    <Eq>
                        <Arg Name="DoingComms" />
                    </Eq>
                </Not>
            </While>
            <Call RefId="DiveCmd" />
        </Aggregate>
        <Aggregate Id="Wpt1">
            <Sequence />
            <Guidance:Waypoint>
                <Sequence />
                <Setting>
                    <Guidance:Waypoint.latitude />
                    <Arg Name="Lat1" />
                </Setting>
                <Setting>
                    <Guidance:Waypoint.longitude />
                    <Arg Name="Lon1" />
                </Setting>
            </Guidance:Waypoint>
        </Aggregate>
        <Aggregate Id="Wpt2">
            <Sequence />
            <Guidance:Waypoint>
                <Sequence />
                <Setting>
                    <Guidance:Waypoint.latitude />
                    <Arg Name="Lat2" />
                </Setting>
                <Setting>
                    <Guidance:Waypoint.longitude />
                    <Arg Name="Lon2" />
                </Setting>
            </Guidance:Waypoint>
        </Aggregate>
        <Aggregate Id="Wpt3">
            <Sequence />
            <Guidance:Waypoint>
                <Sequence />
                <Setting>
                    <Guidance:Waypoint.latitude />
                    <Arg Name="Lat3" />
                </Setting>
                <Setting>
                    <Guidance:Waypoint.longitude />
                    <Arg Name="Lon3" />
                </Setting>
            </Guidance:Waypoint>
        </Aggregate>
        <Aggregate Id="Wpt4">
            <Sequence />
            <Guidance:Waypoint>
                <Sequence />
                <Setting>
                    <Guidance:Waypoint.latitude />
                    <Arg Name="Lat4" />
                </Setting>
                <Setting>
                    <Guidance:Waypoint.longitude />
                    <Arg Name="Lon4" />
                </Setting>
            </Guidance:Waypoint>
        </Aggregate>
        <Aggregate Id="Wpt5">
            <Sequence />
            <Guidance:Waypoint>
                <Sequence />
                <Setting>
                    <Guidance:Waypoint.latitude />
                    <Arg Name="Lat5" />
                </Setting>
                <Setting>
                    <Guidance:Waypoint.longitude />
                    <Arg Name="Lon5" />
                </Setting>
            </Guidance:Waypoint>
        </Aggregate>
        <Aggregate Id="Wpt6">
            <Sequence />
            <Guidance:Waypoint>
                <Sequence />
                <Setting>
                    <Guidance:Waypoint.latitude />
                    <Arg Name="Lat6" />
                </Setting>
                <Setting>
                    <Guidance:Waypoint.longitude />
                    <Arg Name="Lon6" />
                </Setting>
            </Guidance:Waypoint>
        </Aggregate>
        <Aggregate Id="Wpt7">
            <Sequence />
            <Guidance:Waypoint>
                <Sequence />
                <Setting>
                    <Guidance:Waypoint.latitude />
                    <Arg Name="Lat7" />
                </Setting>
                <Setting>
                    <Guidance:Waypoint.longitude />
                    <Arg Name="Lon7" />
                </Setting>
            </Guidance:Waypoint>
        </Aggregate>
    </Aggregate>
</Mission>

2025-03-12T00:46:39.684Z,1741740399.684 [MissionManager](INFO): DefineArg sci2_noyo_optim.MissionTimeout = 2.000000 h
2025-03-12T00:46:39.687Z,1741740399.687 [MissionManager](INFO): DefineArg sci2_noyo_optim.NeedCommsTime = 60.000000 min
2025-03-12T00:46:39.690Z,1741740399.690 [MissionManager](INFO): DefineArg sci2_noyo_optim.Depth = 35.000000 m
2025-03-12T00:46:39.693Z,1741740399.693 [MissionManager](INFO): DefineArg sci2_noyo_optim.Repeat = 1.000000 count
2025-03-12T00:46:39.696Z,1741740399.696 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lat1 = nan arcdeg
2025-03-12T00:46:39.699Z,1741740399.699 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lat2 = nan arcdeg
2025-03-12T00:46:39.702Z,1741740399.702 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lat3 = nan arcdeg
2025-03-12T00:46:39.705Z,1741740399.705 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lat4 = nan arcdeg
2025-03-12T00:46:39.708Z,1741740399.708 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lat5 = nan arcdeg
2025-03-12T00:46:39.711Z,1741740399.711 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lat6 = nan arcdeg
2025-03-12T00:46:39.715Z,1741740399.715 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lat7 = nan arcdeg
2025-03-12T00:46:39.717Z,1741740399.717 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lat8 = nan arcdeg
2025-03-12T00:46:39.720Z,1741740399.720 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lon1 = nan arcdeg
2025-03-12T00:46:39.743Z,1741740399.743 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lon2 = nan arcdeg
2025-03-12T00:46:39.751Z,1741740399.751 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lon3 = nan arcdeg
2025-03-12T00:46:39.754Z,1741740399.754 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lon4 = nan arcdeg
2025-03-12T00:46:39.761Z,1741740399.761 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lon5 = nan arcdeg
2025-03-12T00:46:39.765Z,1741740399.765 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lon6 = nan arcdeg
2025-03-12T00:46:39.780Z,1741740399.780 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lon7 = nan arcdeg
2025-03-12T00:46:39.783Z,1741740399.783 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lon8 = nan arcdeg
2025-03-12T00:46:39.786Z,1741740399.786 [MissionManager](INFO): DefineArg sci2_noyo_optim.FastSpeed = 1.000000 m/s
2025-03-12T00:46:39.789Z,1741740399.789 [MissionManager](INFO): DefineArg sci2_noyo_optim.ApproachDepth = 30.000000 m
2025-03-12T00:46:39.809Z,1741740399.809 [MissionManager](INFO): DefineArg sci2_noyo_optim.ApproachSpeed = 0.700000 m/s
2025-03-12T00:46:39.812Z,1741740399.812 [MissionManager](INFO): DefineArg sci2_noyo_optim.ApproachDepthRate = 0.050000 m/s
2025-03-12T00:46:39.816Z,1741740399.816 [MissionManager](INFO): DefineArg sci2_noyo_optim.ApproachPitchLimit = 20.000000 arcdeg
2025-03-12T00:46:39.827Z,1741740399.827 [MissionManager](INFO): DefineArg sci2_noyo_optim.ApproachDepthTimeout = 15.000000 min
2025-03-12T00:46:39.834Z,1741740399.834 [MissionManager](INFO): DefineArg sci2_noyo_optim.ApproachSettleTimePreDive = 1.000000 min
2025-03-12T00:46:39.837Z,1741740399.837 [MissionManager](INFO): DefineArg sci2_noyo_optim.ApproachSettleTimePostDive = 3.000000 min
2025-03-12T00:46:39.849Z,1741740399.849 [MissionManager](INFO): DefineArg sci2_noyo_optim.kpDepth = 0.070000 rad/m
2025-03-12T00:46:39.853Z,1741740399.853 [MissionManager](INFO): DefineArg sci2_noyo_optim.SlowSpeed = 0.250000 m/s
2025-03-12T00:46:39.864Z,1741740399.864 [MissionManager](INFO): DefineArg sci2_noyo_optim.DepthDeviationSlow = 3.000000 m
2025-03-12T00:46:39.869Z,1741740399.869 [MissionManager](INFO): DefineArg sci2_noyo_optim.BuoyancyNeutral = 277.341827 cc
2025-03-12T00:46:39.884Z,1741740399.884 [MissionManager](INFO): DefineArg sci2_noyo_optim.MassDefault = 0.980754 cm
2025-03-12T00:46:39.939Z,1741740399.939 [MissionManager](INFO): DefineArg sci2_noyo_optim.MinAltitude = 2.000000 m
2025-03-12T00:46:39.946Z,1741740399.946 [MissionManager](INFO): DefineArg sci2_noyo_optim.MaxDepth = 50.000000 m
2025-03-12T00:46:39.949Z,1741740399.949 [MissionManager](INFO): DefineArg sci2_noyo_optim.MinOffshore = 2.000000 km
2025-03-12T00:46:39.964Z,1741740399.964 [MissionManager](INFO): DefineOutput sci2_noyo_optim.DiveMode = 0.000000 count
2025-03-12T00:46:39.972Z,1741740399.972 [MissionManager](INFO): DefineOutput sci2_noyo_optim.DoingComms = 0.000000 count
2025-03-12T00:46:39.995Z,1741740399.995 [MissionManager](INFO): DefineOutput sci2_noyo_optim.InitialDive = 1.000000 count
2025-03-12T00:46:40.003Z,1741740400.003 [MissionManager](INFO): DefineOutput sci2_noyo_optim.SettleAtDepth = 2.000000 count
2025-03-12T00:46:40.010Z,1741740400.010 [MissionManager](INFO): DefineOutput sci2_noyo_optim.MaintainDepth = 3.000000 count
2025-03-12T00:46:40.011Z,1741740400.011 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/Science.tl
2025-03-12T00:46:40.011Z,1741740400.011 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/Science.tl
2025-03-12T00:46:40.019Z,1741740400.019 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/Science.tl
2025-03-12T00:46:43.007Z,1741740403.007 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/Science.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="Science">
    <DefineArg Name="PeakDetectChlActive">
        <False />
    </DefineArg>
    <DefineArg Name="EdgeDetectChlActive">
        <False />
    </DefineArg>
    <DefineArg Name="TimeWindowPeakReport">
        <Units:minute />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="HighestChlPeakReportActive">
        <False />
    </DefineArg>
    <DefineArg Name="HighestSaltPeakReportActive">
        <False />
    </DefineArg>
    <DefineArg Name="HighestOilPeakReportActive">
        <False />
    </DefineArg>
    <DefineArg Name="PatchTracking">
        <False />
    </DefineArg>
    <DefineArg Name="FilterWidthHorizontal">
        <Units:count />
        <Value>3</Value>
    </DefineArg>
    <DefineArg Name="NumProfilesSlidingwindow">
        <Units:count />
        <Value>100</Value>
    </DefineArg>
    <DefineArg Name="OffPeakFractionHorizontal">
        <Units:percent />
        <Value>80</Value>
    </DefineArg>
    <DefineArg Name="PeakDetectNO3Active">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectOilActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectFDOMActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectSalinityActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreLMavgROIActive">
        <False />
    </DefineArg>
    <DefineArg Name="EdgeDetectPlanktivoreLMavgROIActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreHMavgROIActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreDiatomsActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreDinoflagellatesActive">
        <False />
    </DefineArg>
    <DefineArg Name="UpwardDerivativeOfTemperatureActive">
        <False />
    </DefineArg>
    <DefineArg Name="EnabledAanderaaO2">
        <Science:Aanderaa_O2.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledNeilBrown">
        <Science:CTD_NeilBrown.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledSeabird">
        <Science:CTD_Seabird.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledWetLabsBB2FL">
        <Science:WetLabsBB2FL.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledWetLabsSeaOWL_UV_A">
        <Science:WetLabsSeaOWL_UV_A.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledWetLabsUBAT">
        <Science:WetLabsUBAT.loadAtStartup />
    </DefineArg>
    <DefineArg Name="LowPassWindowLength">
        <Units:count />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="MedianFilterLen">
        <Units:count />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="ShallowBound">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="DeepBound">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="DepChangeThreshForAttitudeFlip">
        <Units:meter />
        <Value>2.0</Value>
    </DefineArg>
    <DefineArg Name="OffPeakFractionVertical">
        <Units:percent />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="ChlPeakThresh">
        <Units:microgram_per_liter />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="ChlThreshTriggerActive">
        <False />
    </DefineArg>
    <DefineArg Name="ChlLowerThresh">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="ChlUpperThresh">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="NumProfilesThresh">
        <Units:count />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="PlanktivoreLMavgROIPeakThresh">
        <Units:count_per_second />
        <Value>0</Value>
    </DefineArg>
    <DefineOutput Name="GoDown">
        <True />
    </DefineOutput>
    <DefineOutput Name="PeakChl">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChl">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChlDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChlTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChlLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChlLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3">
        <Units:micromole_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3Depth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3Latitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3Longitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOil">
        <Units:kilogram_per_cubic_meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOilDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOilLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOilLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOM">
        <Units:part_per_billion />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSalt">
        <Units:practical_salinity_unit />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROI">
        <Units:count_per_second />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROIDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROITemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROILatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROILongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROI">
        <Units:count_per_second />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROIDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROITemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROILatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROILongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROI">
        <Units:count_per_second />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROIDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROITemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROILatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROILongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatoms">
        <Units:count_per_milliliter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellates">
        <Units:count_per_milliliter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChl">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlDistance">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSalt">
        <Units:practical_salinity_unit />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltDistance">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOil">
        <Units:practical_salinity_unit />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilDistance">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="TriggeredOnChl">
        <False />
    </DefineOutput>
    <DefineOutput Name="ChlTriggering">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <Parallel />
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledAanderaaO2" />
        </While>
        <Universal:mass_concentration_of_oxygen_in_sea_water />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledNeilBrown" />
            <Or>
                <Arg Name="EnabledSeabird" />
            </Or>
        </While>
        <Universal:sea_water_temperature />
        <Universal:sea_water_salinity />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledSeabird" />
        </While>
        <Science:CTD_Seabird.sea_water_temperature />
        <Science:CTD_Seabird.sea_water_salinity />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledNeilBrown" />
            <Or>
                <Arg Name="EnabledSeabird" />
            </Or>
            <And>
                <Arg Name="UpwardDerivativeOfTemperatureActive" />
            </And>
        </While>
        <Universal:upward_derivative_of_sea_water_temperature />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledWetLabsBB2FL" />
            <Or>
                <Arg Name="PeakDetectChlActive" />
            </Or>
        </While>
        <Universal:mass_concentration_of_chlorophyll_in_sea_water />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledWetLabsUBAT" />
        </While>
        <Science:WetLabsUBAT.average_bioluminescence />
    </ReadData>
    <ReadData Id="Read_Oil" Strategy="MinError">
        <While>
            <Arg Name="EnabledWetLabsSeaOWL_UV_A" />
            <Or>
                <Arg Name="PeakDetectOilActive" />
            </Or>
        </While>
        <Universal:mass_concentration_of_petroleum_hydrocarbons_in_sea_water />
    </ReadData>
    <Aggregate Id="OceanCurrent">
        <Sequence />
        <Estimation:CurrentEstimator>
            <Parallel />
        </Estimation:CurrentEstimator>
    </Aggregate>
    <Aggregate Id="PeakDetectChl">
        <While>
            <Arg Name="PeakDetectChlActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:mass_concentration_of_chlorophyll_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakChl">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakChlDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakChlTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakChlLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakChlLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakChl" />
            <Arg Name="PeakChlDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="EdgeDetectChl">
        <While>
            <Arg Name="EdgeDetectChlActive" />
        </While>
        <Syslog Severity="Debug">EdgeDetectVsDepth</Syslog>
        <Trigger:EdgeDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:EdgeDetectVsDepth.detect />
                <Universal:mass_concentration_of_chlorophyll_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFraction />
                <Arg Name="OffPeakFractionVertical" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.peakThresh />
                <Arg Name="ChlPeakThresh" />
            </Setting>
            <OutputArg Name="GoDown">
                <Trigger:EdgeDetectVsDepth.goDown />
            </OutputArg>
            <OutputArg Name="PeakChl">
                <Trigger:EdgeDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakChlDepth">
                <Trigger:EdgeDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakChlTemperature">
                <Trigger:EdgeDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakChlLatitude">
                <Trigger:EdgeDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakChlLongitude">
                <Trigger:EdgeDetectVsDepth.peakLongitude />
            </OutputArg>
            <OutputArg Name="EdgeChl">
                <Trigger:EdgeDetectVsDepth.edgeDetect />
            </OutputArg>
            <OutputArg Name="EdgeChlDepth">
                <Trigger:EdgeDetectVsDepth.edgeDepth />
            </OutputArg>
            <OutputArg Name="EdgeChlTemperature">
                <Trigger:EdgeDetectVsDepth.edgeTemperature />
            </OutputArg>
            <OutputArg Name="EdgeChlLatitude">
                <Trigger:EdgeDetectVsDepth.edgeLatitude />
            </OutputArg>
            <OutputArg Name="EdgeChlLongitude">
                <Trigger:EdgeDetectVsDepth.edgeLongitude />
            </OutputArg>
        </Trigger:EdgeDetectVsDepth>
        <Syslog Severity="Info">
            GoDown, ChlPeakThresh, PeakChl, PeakChlDepth, EdgeChl, EdgeChlDepth = 
            <Arg Name="GoDown" />
            <Units:bool />
            , 
            <Arg Name="ChlPeakThresh" />
            <Units:microgram_per_liter />
            , 
            <Arg Name="PeakChl" />
            <Units:microgram_per_liter />
            , 
            <Arg Name="PeakChlDepth" />
            <Units:meter />
            , 
            <Arg Name="EdgeChl" />
            <Units:microgram_per_liter />
            , 
            <Arg Name="EdgeChlDepth" />
            <Units:meter />
        </Syslog>
        <SendData Service="Express">
            <Arg Name="PeakChl" />
            <Arg Name="PeakChlDepth" />
            <Arg Name="EdgeChl" />
            <Arg Name="EdgeChlDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="HighestChlPeakReport">
        <While>
            <Arg Name="HighestChlPeakReportActive" />
        </While>
        <Trigger:PeakDetectHorizontal>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectHorizontal.detectFrom />
                <Arg Name="PeakChl" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.depthFrom />
                <Arg Name="PeakChlDepth" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.latitudeFrom />
                <Arg Name="PeakChlLatitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.longitudeFrom />
                <Arg Name="PeakChlLongitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.patchTracking />
                <Arg Name="PatchTracking" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.filterWidth />
                <Arg Name="FilterWidthHorizontal" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.numProfilesSlidingwindow />
                <Arg Name="NumProfilesSlidingwindow" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.offPeakFraction />
                <Arg Name="OffPeakFractionHorizontal" />
            </Setting>
            <OutputArg Name="PatchChl">
                <Trigger:PeakDetectHorizontal.peakDetect />
            </OutputArg>
            <OutputArg Name="PatchChlDepth">
                <Trigger:PeakDetectHorizontal.peakDepth />
            </OutputArg>
            <OutputArg Name="PatchChlLatitude">
                <Trigger:PeakDetectHorizontal.peakLatitude />
            </OutputArg>
            <OutputArg Name="PatchChlLongitude">
                <Trigger:PeakDetectHorizontal.peakLongitude />
            </OutputArg>
            <OutputArg Name="PatchChlDistance">
                <Trigger:PeakDetectHorizontal.peakDistance />
            </OutputArg>
        </Trigger:PeakDetectHorizontal>
    </Aggregate>
    <Aggregate Id="PeakDetectNO3">
        <While>
            <Arg Name="PeakDetectNO3Active" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:mole_concentration_of_nitrate_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <OutputArg Name="PeakNO3">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakNO3Depth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakNO3Latitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakNO3Longitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakNO3" />
            <Arg Name="PeakNO3Depth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectOil">
        <While>
            <Arg Name="PeakDetectOilActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:mass_concentration_of_petroleum_hydrocarbons_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <OutputArg Name="PeakOil">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakOilDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakOilLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakOilLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakOil" />
            <Arg Name="PeakOilDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="HighestOilPeakReport">
        <While>
            <Arg Name="HighestOilPeakReportActive" />
        </While>
        <Trigger:PeakDetectHorizontal>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectHorizontal.detectFrom />
                <Arg Name="PeakOil" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.depthFrom />
                <Arg Name="PeakOilDepth" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.latitudeFrom />
                <Arg Name="PeakOilLatitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.longitudeFrom />
                <Arg Name="PeakOilLongitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.patchTracking />
                <Arg Name="PatchTracking" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.filterWidth />
                <Arg Name="FilterWidthHorizontal" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.numProfilesSlidingwindow />
                <Arg Name="NumProfilesSlidingwindow" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.offPeakFraction />
                <Arg Name="OffPeakFractionHorizontal" />
            </Setting>
            <OutputArg Name="PatchOil">
                <Trigger:PeakDetectHorizontal.peakDetect />
            </OutputArg>
            <OutputArg Name="PatchOilDepth">
                <Trigger:PeakDetectHorizontal.peakDepth />
            </OutputArg>
            <OutputArg Name="PatchOilLatitude">
                <Trigger:PeakDetectHorizontal.peakLatitude />
            </OutputArg>
            <OutputArg Name="PatchOilLongitude">
                <Trigger:PeakDetectHorizontal.peakLongitude />
            </OutputArg>
            <OutputArg Name="PatchOilDistance">
                <Trigger:PeakDetectHorizontal.peakDistance />
            </OutputArg>
        </Trigger:PeakDetectHorizontal>
    </Aggregate>
    <Aggregate Id="PeakDetectFDOM">
        <While>
            <Arg Name="PeakDetectFDOMActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:concentration_of_colored_dissolved_organic_matter_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <OutputArg Name="PeakFDOM">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakFDOMDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakFDOMTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakFDOMLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakFDOMLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakFDOM" />
            <Arg Name="PeakFDOMDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectSalinity">
        <While>
            <Arg Name="PeakDetectSalinityActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:sea_water_salinity />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakSalt">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakSaltDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakSaltTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakSaltLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakSaltLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakSalt" />
            <Arg Name="PeakSaltDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="HighestSaltPeakReport">
        <While>
            <Arg Name="HighestSaltPeakReportActive" />
        </While>
        <Trigger:PeakDetectHorizontal>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectHorizontal.detectFrom />
                <Arg Name="PeakSalt" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.depthFrom />
                <Arg Name="PeakSaltDepth" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.latitudeFrom />
                <Arg Name="PeakSaltLatitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.longitudeFrom />
                <Arg Name="PeakSaltLongitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.patchTracking />
                <Arg Name="PatchTracking" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.filterWidth />
                <Arg Name="FilterWidthHorizontal" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.numProfilesSlidingwindow />
                <Arg Name="NumProfilesSlidingwindow" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.offPeakFraction />
                <Arg Name="OffPeakFractionHorizontal" />
            </Setting>
            <OutputArg Name="PatchSalt">
                <Trigger:PeakDetectHorizontal.peakDetect />
            </OutputArg>
            <OutputArg Name="PatchSaltDepth">
                <Trigger:PeakDetectHorizontal.peakDepth />
            </OutputArg>
            <OutputArg Name="PatchSaltLatitude">
                <Trigger:PeakDetectHorizontal.peakLatitude />
            </OutputArg>
            <OutputArg Name="PatchSaltLongitude">
                <Trigger:PeakDetectHorizontal.peakLongitude />
            </OutputArg>
            <OutputArg Name="PatchSaltDistance">
                <Trigger:PeakDetectHorizontal.peakDistance />
            </OutputArg>
        </Trigger:PeakDetectHorizontal>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreLMavgROI">
        <While>
            <Arg Name="PeakDetectPlanktivoreLMavgROIActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_LM_AvgRois</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreLMavgROI">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROIDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROITemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROILatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROILongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreLMavgROI" />
            <Arg Name="PeakPlanktivoreLMavgROIDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="EdgeDetectPlanktivoreLMavgROI">
        <While>
            <Arg Name="EdgeDetectPlanktivoreLMavgROIActive" />
        </While>
        <Syslog Severity="Debug">EdgeDetectVsDepth</Syslog>
        <Trigger:EdgeDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:EdgeDetectVsDepth.detect />
                <String>_.planktivore_LM_AvgRois</String>
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFraction />
                <Arg Name="OffPeakFractionVertical" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.peakThresh />
                <Arg Name="PlanktivoreLMavgROIPeakThresh" />
            </Setting>
            <OutputArg Name="GoDown">
                <Trigger:EdgeDetectVsDepth.goDown />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROI">
                <Trigger:EdgeDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROIDepth">
                <Trigger:EdgeDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROITemperature">
                <Trigger:EdgeDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROILatitude">
                <Trigger:EdgeDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROILongitude">
                <Trigger:EdgeDetectVsDepth.peakLongitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROI">
                <Trigger:EdgeDetectVsDepth.edgeDetect />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROIDepth">
                <Trigger:EdgeDetectVsDepth.edgeDepth />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROITemperature">
                <Trigger:EdgeDetectVsDepth.edgeTemperature />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROILatitude">
                <Trigger:EdgeDetectVsDepth.edgeLatitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROILongitude">
                <Trigger:EdgeDetectVsDepth.edgeLongitude />
            </OutputArg>
        </Trigger:EdgeDetectVsDepth>
        <Syslog Severity="Important">
            GoDown, PlanktivoreLMavgROIPeakThresh, PeakPlanktivoreLMavgROI, PeakPlanktivoreLMavgROIDepth, EdgePlanktivoreLMavgROI, EdgePlanktivoreLMavgROIDepth = 
            <Arg Name="GoDown" />
            <Units:bool />
            , 
            <Arg Name="PlanktivoreLMavgROIPeakThresh" />
            <Units:microgram_per_liter />
            , 
            <Arg Name="PeakPlanktivoreLMavgROI" />
            <Units:microgram_per_liter />
            , 
            <Arg Name="PeakPlanktivoreLMavgROIDepth" />
            <Units:meter />
            , 
            <Arg Name="EdgePlanktivoreLMavgROI" />
            <Units:microgram_per_liter />
            , 
            <Arg Name="EdgePlanktivoreLMavgROIDepth" />
            <Units:meter />
        </Syslog>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreLMavgROI" />
            <Arg Name="PeakPlanktivoreLMavgROIDepth" />
            <Arg Name="EdgePlanktivoreLMavgROI" />
            <Arg Name="EdgePlanktivoreLMavgROIDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreHMavgROI">
        <While>
            <Arg Name="PeakDetectPlanktivoreHMavgROIActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_HM_AvgRois</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreHMavgROI">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROIDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROITemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROILatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROILongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreHMavgROI" />
            <Arg Name="PeakPlanktivoreHMavgROIDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreDiatoms">
        <While>
            <Arg Name="PeakDetectPlanktivoreDiatomsActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_diatoms</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreDiatoms">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreDiatoms" />
            <Arg Name="PeakPlanktivoreDiatomsDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreDinoflagellates">
        <While>
            <Arg Name="PeakDetectPlanktivoreDinoflagellatesActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_dinoflagellates</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreDinoflagellates">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreDinoflagellates" />
            <Arg Name="PeakPlanktivoreDinoflagellatesDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="ChlThreshTrigger">
        <While>
            <Arg Name="ChlThreshTriggerActive" />
        </While>
        <Trigger:ValueDetect>
            <Sequence />
            <Setting>
                <Trigger:ValueDetect.detect />
                <Arg Name="PeakChl" />
            </Setting>
            <Setting>
                <Trigger:ValueDetect.lowerThreshold />
                <Arg Name="ChlLowerThresh" />
            </Setting>
            <Setting>
                <Trigger:ValueDetect.upperThreshold />
                <Arg Name="ChlUpperThresh" />
            </Setting>
            <Setting>
                <Trigger:ValueDetect.numProfilesThreshold />
                <Arg Name="NumProfilesThresh" />
            </Setting>
            <OutputArg Name="ChlTriggering">
                <Trigger:ValueDetect.outputValue />
            </OutputArg>
        </Trigger:ValueDetect>
        <Assign>
            <Sequence />
            <Arg Name="TriggeredOnChl" />
            <True />
        </Assign>
        <Syslog Severity="Important">
            Triggered. PeakChl values on 
            <Arg Name="NumProfilesThresh" />
            <Units:count />
             consecutive yo-yo profiles fall in [
            <Arg Name="ChlLowerThresh" />
            <Units:microgram_per_liter />
            <Arg Name="ChlUpperThresh" />
            <Units:microgram_per_liter />
            ] (NaN bound is ignored).
        </Syslog>
    </Aggregate>
</Aggregate>

2025-03-12T00:46:43.030Z,1741740403.030 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.PeakDetectChlActive = 0 bool
2025-03-12T00:46:43.033Z,1741740403.033 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.EdgeDetectChlActive = 0 bool
2025-03-12T00:46:43.036Z,1741740403.036 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.TimeWindowPeakReport = nan min
2025-03-12T00:46:43.039Z,1741740403.039 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.HighestChlPeakReportActive = 0 bool
2025-03-12T00:46:43.041Z,1741740403.041 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.HighestSaltPeakReportActive = 0 bool
2025-03-12T00:46:43.044Z,1741740403.044 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.HighestOilPeakReportActive = 0 bool
2025-03-12T00:46:43.047Z,1741740403.047 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.PatchTracking = 0 bool
2025-03-12T00:46:43.050Z,1741740403.050 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.FilterWidthHorizontal = 3.000000 count
2025-03-12T00:46:43.053Z,1741740403.053 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.NumProfilesSlidingwindow = 100.000000 count
2025-03-12T00:46:43.072Z,1741740403.072 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.OffPeakFractionHorizontal = 80.000000 %
2025-03-12T00:46:43.080Z,1741740403.080 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.PeakDetectNO3Active = 0 bool
2025-03-12T00:46:43.087Z,1741740403.087 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.PeakDetectOilActive = 0 bool
2025-03-12T00:46:43.095Z,1741740403.095 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.PeakDetectFDOMActive = 0 bool
2025-03-12T00:46:43.097Z,1741740403.097 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.PeakDetectSalinityActive = 0 bool
2025-03-12T00:46:43.104Z,1741740403.104 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.PeakDetectPlanktivoreLMavgROIActive = 0 bool
2025-03-12T00:46:43.112Z,1741740403.112 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.EdgeDetectPlanktivoreLMavgROIActive = 0 bool
2025-03-12T00:46:43.119Z,1741740403.119 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.PeakDetectPlanktivoreHMavgROIActive = 0 bool
2025-03-12T00:46:43.121Z,1741740403.121 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.PeakDetectPlanktivoreDiatomsActive = 0 bool
2025-03-12T00:46:43.129Z,1741740403.129 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.PeakDetectPlanktivoreDinoflagellatesActive = 0 bool
2025-03-12T00:46:43.132Z,1741740403.132 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2025-03-12T00:46:43.181Z,1741740403.181 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.EnabledAanderaaO2 = 0 bool
2025-03-12T00:46:43.209Z,1741740403.209 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.EnabledNeilBrown = 0 bool
2025-03-12T00:46:43.275Z,1741740403.275 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.EnabledSeabird = 1 bool
2025-03-12T00:46:43.287Z,1741740403.287 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.EnabledWetLabsBB2FL = 1 bool
2025-03-12T00:46:43.299Z,1741740403.299 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.EnabledWetLabsSeaOWL_UV_A = 0 bool
2025-03-12T00:46:43.307Z,1741740403.307 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.EnabledWetLabsUBAT = 0 bool
2025-03-12T00:46:43.315Z,1741740403.315 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.LowPassWindowLength = 20.000000 count
2025-03-12T00:46:43.322Z,1741740403.322 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.MedianFilterLen = 5.000000 count
2025-03-12T00:46:43.325Z,1741740403.325 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.ShallowBound = nan m
2025-03-12T00:46:43.332Z,1741740403.332 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.DeepBound = nan m
2025-03-12T00:46:43.350Z,1741740403.350 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.DepChangeThreshForAttitudeFlip = 2.000000 m
2025-03-12T00:46:43.353Z,1741740403.353 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.OffPeakFractionVertical = nan %
2025-03-12T00:46:43.361Z,1741740403.361 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.ChlPeakThresh = 0.000000 ug/l
2025-03-12T00:46:43.364Z,1741740403.364 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.ChlThreshTriggerActive = 0 bool
2025-03-12T00:46:43.375Z,1741740403.375 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.ChlLowerThresh = nan ug/l
2025-03-12T00:46:43.387Z,1741740403.387 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.ChlUpperThresh = nan ug/l
2025-03-12T00:46:43.397Z,1741740403.397 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.NumProfilesThresh = 5.000000 count
2025-03-12T00:46:43.414Z,1741740403.414 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.PlanktivoreLMavgROIPeakThresh = 0.000000 count/s
2025-03-12T00:46:43.417Z,1741740403.417 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.GoDown = 1 bool
2025-03-12T00:46:43.424Z,1741740403.424 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakChl = nan ug/l
2025-03-12T00:46:43.432Z,1741740403.432 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakChlDepth = nan m
2025-03-12T00:46:43.439Z,1741740403.439 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakChlTemperature = nan degC
2025-03-12T00:46:43.447Z,1741740403.447 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakChlLatitude = nan arcdeg
2025-03-12T00:46:43.450Z,1741740403.450 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakChlLongitude = nan arcdeg
2025-03-12T00:46:43.460Z,1741740403.460 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.EdgeChl = nan ug/l
2025-03-12T00:46:43.464Z,1741740403.464 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.EdgeChlDepth = nan m
2025-03-12T00:46:43.467Z,1741740403.467 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.EdgeChlTemperature = nan degC
2025-03-12T00:46:43.479Z,1741740403.479 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.EdgeChlLatitude = nan arcdeg
2025-03-12T00:46:43.486Z,1741740403.486 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.EdgeChlLongitude = nan arcdeg
2025-03-12T00:46:43.489Z,1741740403.489 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakNO3 = nan umol/l
2025-03-12T00:46:43.497Z,1741740403.497 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakNO3Depth = nan m
2025-03-12T00:46:43.516Z,1741740403.516 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakNO3Latitude = nan arcdeg
2025-03-12T00:46:43.520Z,1741740403.520 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakNO3Longitude = nan arcdeg
2025-03-12T00:46:43.523Z,1741740403.523 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakOil = nan kg/m3
2025-03-12T00:46:43.526Z,1741740403.526 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakOilDepth = nan m
2025-03-12T00:46:43.529Z,1741740403.529 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakOilLatitude = nan arcdeg
2025-03-12T00:46:43.580Z,1741740403.580 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakOilLongitude = nan arcdeg
2025-03-12T00:46:43.592Z,1741740403.592 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakFDOM = nan ppb
2025-03-12T00:46:43.596Z,1741740403.596 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakFDOMDepth = nan m
2025-03-12T00:46:43.607Z,1741740403.607 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakFDOMTemperature = nan degC
2025-03-12T00:46:43.623Z,1741740403.623 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakFDOMLatitude = nan arcdeg
2025-03-12T00:46:43.633Z,1741740403.633 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakFDOMLongitude = nan arcdeg
2025-03-12T00:46:43.648Z,1741740403.648 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakSalt = nan psu
2025-03-12T00:46:43.651Z,1741740403.651 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakSaltDepth = nan m
2025-03-12T00:46:43.661Z,1741740403.661 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakSaltTemperature = nan degC
2025-03-12T00:46:43.673Z,1741740403.673 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakSaltLatitude = nan arcdeg
2025-03-12T00:46:43.677Z,1741740403.677 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakSaltLongitude = nan arcdeg
2025-03-12T00:46:43.688Z,1741740403.688 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreLMavgROI = nan count/s
2025-03-12T00:46:43.696Z,1741740403.696 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreLMavgROIDepth = nan m
2025-03-12T00:46:43.705Z,1741740403.705 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreLMavgROITemperature = nan degC
2025-03-12T00:46:43.708Z,1741740403.708 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreLMavgROILatitude = nan arcdeg
2025-03-12T00:46:43.713Z,1741740403.713 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreLMavgROILongitude = nan arcdeg
2025-03-12T00:46:43.728Z,1741740403.728 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.EdgePlanktivoreLMavgROI = nan count/s
2025-03-12T00:46:43.731Z,1741740403.731 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.EdgePlanktivoreLMavgROIDepth = nan m
2025-03-12T00:46:43.738Z,1741740403.738 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.EdgePlanktivoreLMavgROITemperature = nan degC
2025-03-12T00:46:43.744Z,1741740403.744 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.EdgePlanktivoreLMavgROILatitude = nan arcdeg
2025-03-12T00:46:43.747Z,1741740403.747 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.EdgePlanktivoreLMavgROILongitude = nan arcdeg
2025-03-12T00:46:43.755Z,1741740403.755 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreHMavgROI = nan count/s
2025-03-12T00:46:43.758Z,1741740403.758 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreHMavgROIDepth = nan m
2025-03-12T00:46:43.765Z,1741740403.765 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreHMavgROITemperature = nan degC
2025-03-12T00:46:43.772Z,1741740403.772 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreHMavgROILatitude = nan arcdeg
2025-03-12T00:46:43.790Z,1741740403.790 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreHMavgROILongitude = nan arcdeg
2025-03-12T00:46:43.796Z,1741740403.796 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreDiatoms = nan count/ml
2025-03-12T00:46:43.814Z,1741740403.814 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreDiatomsDepth = nan m
2025-03-12T00:46:43.824Z,1741740403.824 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreDiatomsTemperature = nan degC
2025-03-12T00:46:43.843Z,1741740403.843 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreDiatomsLatitude = nan arcdeg
2025-03-12T00:46:43.857Z,1741740403.857 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreDiatomsLongitude = nan arcdeg
2025-03-12T00:46:43.864Z,1741740403.864 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreDinoflagellates = nan count/ml
2025-03-12T00:46:43.883Z,1741740403.883 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreDinoflagellatesDepth = nan m
2025-03-12T00:46:43.889Z,1741740403.889 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreDinoflagellatesTemperature = nan degC
2025-03-12T00:46:43.905Z,1741740403.905 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreDinoflagellatesLatitude = nan arcdeg
2025-03-12T00:46:43.919Z,1741740403.919 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreDinoflagellatesLongitude = nan arcdeg
2025-03-12T00:46:43.924Z,1741740403.924 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchChl = nan ug/l
2025-03-12T00:46:43.938Z,1741740403.938 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchChlDepth = nan m
2025-03-12T00:46:43.941Z,1741740403.941 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchChlLatitude = nan arcdeg
2025-03-12T00:46:43.944Z,1741740403.944 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchChlLongitude = nan arcdeg
2025-03-12T00:46:43.991Z,1741740403.991 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchChlDistance = nan m
2025-03-12T00:46:43.999Z,1741740403.999 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchSalt = nan psu
2025-03-12T00:46:44.010Z,1741740404.010 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchSaltDepth = nan m
2025-03-12T00:46:44.013Z,1741740404.013 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchSaltLatitude = nan arcdeg
2025-03-12T00:46:44.029Z,1741740404.029 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchSaltLongitude = nan arcdeg
2025-03-12T00:46:44.042Z,1741740404.042 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchSaltDistance = nan m
2025-03-12T00:46:44.059Z,1741740404.059 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchOil = nan psu
2025-03-12T00:46:44.067Z,1741740404.067 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchOilDepth = nan m
2025-03-12T00:46:44.074Z,1741740404.074 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchOilLatitude = nan arcdeg
2025-03-12T00:46:44.077Z,1741740404.077 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchOilLongitude = nan arcdeg
2025-03-12T00:46:44.085Z,1741740404.085 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchOilDistance = nan m
2025-03-12T00:46:44.114Z,1741740404.114 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.TriggeredOnChl = 0 bool
2025-03-12T00:46:44.118Z,1741740404.118 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.ChlTriggering = nan ug/l
2025-03-12T00:46:44.245Z,1741740404.245 [sci2_noyo_optim:Science:PeakDetectChl:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-03-12T00:46:44.269Z,1741740404.269 [sci2_noyo_optim:Science:EdgeDetectChl:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-03-12T00:46:44.328Z,1741740404.328 [sci2_noyo_optim:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-03-12T00:46:44.397Z,1741740404.397 [sci2_noyo_optim:Science:PeakDetectNO3:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-03-12T00:46:44.437Z,1741740404.437 [sci2_noyo_optim:Science:PeakDetectOil:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-03-12T00:46:44.484Z,1741740404.484 [sci2_noyo_optim:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-03-12T00:46:44.548Z,1741740404.548 [sci2_noyo_optim:Science:PeakDetectFDOM:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-03-12T00:46:44.578Z,1741740404.578 [sci2_noyo_optim:Science:PeakDetectSalinity:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-03-12T00:46:44.631Z,1741740404.631 [sci2_noyo_optim:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-03-12T00:46:44.667Z,1741740404.667 [sci2_noyo_optim:Science:PeakDetectPlanktivoreLMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-03-12T00:46:44.701Z,1741740404.701 [sci2_noyo_optim:Science:EdgeDetectPlanktivoreLMavgROI:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-03-12T00:46:44.747Z,1741740404.747 [sci2_noyo_optim:Science:PeakDetectPlanktivoreHMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-03-12T00:46:44.825Z,1741740404.825 [sci2_noyo_optim:Science:PeakDetectPlanktivoreDiatoms:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-03-12T00:46:44.866Z,1741740404.866 [sci2_noyo_optim:Science:PeakDetectPlanktivoreDinoflagellates:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-03-12T00:46:44.899Z,1741740404.899 [sci2_noyo_optim:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Construct ValueDetect.
2025-03-12T00:46:44.912Z,1741740404.912 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-03-12T00:46:44.912Z,1741740404.912 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-03-12T00:46:44.913Z,1741740404.913 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-03-12T00:46:45.093Z,1741740405.093 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/StandardEnvelopes.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="StandardEnvelopes">
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="MaxDepthIgnore">
        <Units:meter />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>200</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:meter />
        <Value>2000</Value>
    </DefineArg>
    <Parallel />
    <Guidance:AltitudeEnvelope>
        <Parallel />
        <Setting>
            <Guidance:AltitudeEnvelope.minAltitude />
            <Arg Name="MinAltitude" />
        </Setting>
        <Setting>
            <Guidance:AltitudeEnvelope.maxDepthIgnore />
            <Arg Name="MaxDepthIgnore" />
        </Setting>
    </Guidance:AltitudeEnvelope>
    <Guidance:DepthEnvelope>
        <Parallel />
        <Setting>
            <Guidance:DepthEnvelope.maxDepth />
            <Arg Name="MaxDepth" />
        </Setting>
    </Guidance:DepthEnvelope>
    <Guidance:OffshoreEnvelope>
        <Parallel />
        <Setting>
            <Guidance:OffshoreEnvelope.minOffshore />
            <Arg Name="MinOffshore" />
        </Setting>
    </Guidance:OffshoreEnvelope>
</Aggregate>

2025-03-12T00:46:45.116Z,1741740405.116 [MissionManager](INFO): DefineArg sci2_noyo_optim:StandardEnvelopes.MinAltitude = 5.000000 m
2025-03-12T00:46:45.125Z,1741740405.125 [MissionManager](INFO): DefineArg sci2_noyo_optim:StandardEnvelopes.MaxDepthIgnore = 0.000000 m
2025-03-12T00:46:45.139Z,1741740405.139 [MissionManager](INFO): DefineArg sci2_noyo_optim:StandardEnvelopes.MaxDepth = 200.000000 m
2025-03-12T00:46:45.151Z,1741740405.151 [MissionManager](INFO): DefineArg sci2_noyo_optim:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-03-12T00:46:45.152Z,1741740405.152 [sci2_noyo_optim:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-03-12T00:46:45.210Z,1741740405.210 [sci2_noyo_optim:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-03-12T00:46:45.248Z,1741740405.248 [sci2_noyo_optim:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-03-12T00:46:45.276Z,1741740405.276 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl
2025-03-12T00:46:45.276Z,1741740405.276 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl
2025-03-12T00:46:45.278Z,1741740405.278 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl
2025-03-12T00:46:45.806Z,1741740405.806 [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>

2025-03-12T00:46:45.820Z,1741740405.820 [MissionManager](INFO): DefineArg sci2_noyo_optim:NeedComms.DiveInterval = 1.000000 h
2025-03-12T00:46:45.824Z,1741740405.824 [MissionManager](INFO): DefineArg sci2_noyo_optim:NeedComms.WaitForPitchUp = 10.000000 min
2025-03-12T00:46:45.835Z,1741740405.835 [MissionManager](INFO): DefineArg sci2_noyo_optim:NeedComms.SurfacePitch = 20.000000 arcdeg
2025-03-12T00:46:45.843Z,1741740405.843 [MissionManager](INFO): DefineArg sci2_noyo_optim:NeedComms.SurfaceDepthRate = nan m/s
2025-03-12T00:46:45.846Z,1741740405.846 [MissionManager](INFO): DefineArg sci2_noyo_optim:NeedComms.SurfaceSpeed = 1.000000 m/s
2025-03-12T00:46:45.849Z,1741740405.849 [MissionManager](INFO): DefineArg sci2_noyo_optim:NeedComms.SurfacingTimeout = 1000.000000 s
2025-03-12T00:46:45.852Z,1741740405.852 [MissionManager](INFO): DefineArg sci2_noyo_optim:NeedComms.GPSTimeout = 7.000000 min
2025-03-12T00:46:45.873Z,1741740405.873 [MissionManager](INFO): DefineArg sci2_noyo_optim:NeedComms.CommsTimeout = 30.000000 min
2025-03-12T00:46:45.880Z,1741740405.880 [sci2_noyo_optim:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2025-03-12T00:46:45.933Z,1741740405.933 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2025-03-12T00:46:45.933Z,1741740405.933 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2025-03-12T00:46:45.945Z,1741740405.945 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2025-03-12T00:46:46.029Z,1741740406.029 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/BackseatDriver.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="BackseatDriver">
    <DefineArg Name="EnableBackseat">
        <False />
    </DefineArg>
    <Parallel />
    <Guidance:BackseatDriver>
        <Sequence />
        <Setting>
            <Guidance:BackseatDriver.powerBackseat />
            <Arg Name="EnableBackseat" />
        </Setting>
    </Guidance:BackseatDriver>
</Aggregate>

2025-03-12T00:46:46.041Z,1741740406.041 [MissionManager](INFO): DefineArg sci2_noyo_optim:BackseatDriver.EnableBackseat = 0 bool
2025-03-12T00:46:46.051Z,1741740406.051 [sci2_noyo_optim:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2025-03-12T00:46:46.060Z,1741740406.060 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2025-03-12T00:46:46.061Z,1741740406.061 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2025-03-12T00:46:46.066Z,1741740406.066 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2025-03-12T00:46:46.285Z,1741740406.285 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/PowerOnly.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="PowerOnly">
    <DefineArg Name="SampleAll">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad1">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad2">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad3">
        <False />
    </DefineArg>
    <DefineArg Name="EnabledPowerOnly">
        <Sensor:PowerOnly.loadAtStartup />
    </DefineArg>
    <Parallel />
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleAll" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.samplePowerOnly />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad1" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad1 />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad2" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad2 />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad3" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad3 />
    </ReadData>
    <Guidance:Wait>
        <Sequence />
        <Setting>
            <Guidance:Wait.duration />
            <Units:hour />
            <Value>99999</Value>
        </Setting>
    </Guidance:Wait>
</Aggregate>

2025-03-12T00:46:46.298Z,1741740406.298 [MissionManager](INFO): DefineArg sci2_noyo_optim:PowerOnly.SampleAll = 0 bool
2025-03-12T00:46:46.302Z,1741740406.302 [MissionManager](INFO): DefineArg sci2_noyo_optim:PowerOnly.SampleLoad1 = 0 bool
2025-03-12T00:46:46.322Z,1741740406.322 [MissionManager](INFO): DefineArg sci2_noyo_optim:PowerOnly.SampleLoad2 = 0 bool
2025-03-12T00:46:46.329Z,1741740406.329 [MissionManager](INFO): DefineArg sci2_noyo_optim:PowerOnly.SampleLoad3 = 0 bool
2025-03-12T00:46:46.354Z,1741740406.354 [MissionManager](INFO): DefineArg sci2_noyo_optim:PowerOnly.EnabledPowerOnly = 1 bool
2025-03-12T00:46:46.424Z,1741740406.424 [sci2_noyo_optim:PowerOnly:E.Wait](DEBUG): Construct Wait.
2025-03-12T00:46:46.434Z,1741740406.434 [sci2_noyo_optim:L.Buoyancy](DEBUG): Construct Buoyancy.
2025-03-12T00:46:46.480Z,1741740406.480 [sci2_noyo_optim:DiveCmd:InitialDive:dive:C.Mass](DEBUG): Construct.
2025-03-12T00:46:46.500Z,1741740406.500 [sci2_noyo_optim:DiveCmd:InitialDive:dive:E.Wait](DEBUG): Construct Wait.
2025-03-12T00:46:46.508Z,1741740406.508 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:A.SetSpeed](DEBUG): Construct.
2025-03-12T00:46:46.515Z,1741740406.515 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:B.Pitch](DEBUG): Construct.
2025-03-12T00:46:46.533Z,1741740406.533 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:B.Pitch:A_Timeout:B.Execute](DEBUG): Construct Execute.
2025-03-12T00:46:46.554Z,1741740406.554 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:B.Pitch](DEBUG): Construct.
2025-03-12T00:46:46.564Z,1741740406.564 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:C.Wait](DEBUG): Construct Wait.
2025-03-12T00:46:46.589Z,1741740406.589 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass](DEBUG): Construct.
2025-03-12T00:46:46.594Z,1741740406.594 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed](DEBUG): Construct.
2025-03-12T00:46:46.605Z,1741740406.605 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:B.Pitch](DEBUG): Construct.
2025-03-12T00:46:46.632Z,1741740406.632 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:A.SetSpeed](DEBUG): Construct.
2025-03-12T00:46:46.646Z,1741740406.646 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:C.Buoyancy](DEBUG): Construct Buoyancy.
2025-03-12T00:46:46.649Z,1741740406.649 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:D.Pitch](DEBUG): Construct.
2025-03-12T00:46:46.672Z,1741740406.672 [sci2_noyo_optim:Lap:Wpt1:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T00:46:46.688Z,1741740406.688 [sci2_noyo_optim:Lap:Wpt2:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T00:46:46.704Z,1741740406.704 [sci2_noyo_optim:Lap:Wpt3:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T00:46:46.720Z,1741740406.720 [sci2_noyo_optim:Lap:Wpt4:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T00:46:46.736Z,1741740406.736 [sci2_noyo_optim:Lap:Wpt5:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T00:46:46.752Z,1741740406.752 [sci2_noyo_optim:Lap:Wpt6:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T00:46:46.767Z,1741740406.767 [sci2_noyo_optim:Lap:Wpt7:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T00:46:46.925Z,1741740406.925 [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 sci2_noyo_optim {
  """
  Vehicle transits to the specified waypoints at the commanded depth
  (flat-and-level, no yoyos) with science, Optim camera, and multiray
  lights on.
  """

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

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

    Depth = 35 meter
      """
      Depth of flat and level flight during the mission.
      """

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

    Lat[1..8] = NaN degree
      """
      Latitude of waypoint {$}. If nan, waypoint is skipped.
      """

    Lon[1..8] = NaN degree
      """
      Longitude of waypoint {$}. If nan, waypoint is skipped.
      """

    FastSpeed = 1 meter_per_second
      """
      Speed while transiting to waypoint.
      """

    ApproachDepth = 30 meter
      """
      Depth for initial descent form the surface.
      """

    ApproachSpeed = 0.7 meter_per_second
      """
      Speed while descending to target depth.
      """

    ApproachDepthRate = 0.05 meter_per_second
      """
      Descent depth rate (Positive depth rate means going down).
      """

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

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

    ApproachSettleTimePreDive = 1 minute
      """
      Time duration for the vehicle to pump down the VBS *BEFORE* leaving the
      surface.
      """

    ApproachSettleTimePostDive = 3 minute
      """
      Time duration for the vehicle to settle *AFTER* reaching the target
      depth.
      """

    kpDepth = 0.07 radian_per_meter
      """
      Dive loop proportional gain (applied only while the vehicle is
      descending to target depth).
      """

    SlowSpeed = 0.25 meter_per_second
      """
      Set this to something other than Nan if slow speed filming with a
      wide depth deadband is desired.
      """

    DepthDeviationSlow = 3 meter
      """
      Allowable +/- deviation from depth during slow flight. Needs a SlowSpeed
      to be set.
      """

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

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

    MinAltitude = 2 meter
      """
      Minimum height above the sea floor for the entire mission.
      """

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

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

  output {
    DiveMode = 0 count
      """
      Mission variable (don't change). The mission sets this variable to
      switch between dive modes. Initialized to DoingComms.
      """

    DoingComms = 0 count
      """
      Mission variable (don't change). The mission will run in this to mode
      when doing surface comms.
      """

    InitialDive = 1 count
      """
      Mission variable (don't change). The mission will run in this mode after
      surface comms are done to dive the vehicle to the approach depth.
      """

    SettleAtDepth = 2 count
      """
      Mission variable (don't change). The mission will run in this mode to
      settle the vehicle at the target depth.
      """

    MaintainDepth = 3 count
      """
      Mission variable (don't change). The mission will run in this mode to
      maintain the vehicle at the target depth.
      """
  }

  # Mission timeout

  timeout duration=MissionTimeout

  # Science!

  insert Insert/Science.tl {
    """
    Run the science sensors.
    """
  }

  # 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 = MissionTimeout

  assign in sequence NeedComms:WaitForPitchUp = 0 minute

  insert Insert/BackseatDriver.tl
  assign in parallel BackseatDriver:EnableBackseat = true

  insert Insert/PowerOnly.tl

  behavior Guidance:Buoyancy {
    run in parallel

    set position = BuoyancyNeutral
  }

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

    assign in sequence DiveMode = DoingComms

    call refId="NeedComms"

    assign in sequence DiveMode = InitialDive
  }

  aggregate DiveCmd {
    """
    Called when the vehicle should be underwater. Arbitrates between 4
    dive modes: 1) descend from the surface to initial depth. 2) settle
    at target depth using the VB. 3) cruise at target depth and go slow
    while within depth deviation bounds if a slow speed is set.
    """

    run when ( called )

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

      run while ( DiveMode == InitialDive )

      aggregate dive {
        run in sequence

        assign in parallel Control:VerticalControl.pitchLimit = ApproachPitchLimit

        assign in parallel Control:VerticalControl.kpDepth = kpDepth

        behavior Guidance:Mass {
          run in parallel

          set position = MassDefault
        }

        # behavior Guidance:Buoyancy {
        #   run in parallel

        #   set position = BuoyancyNeutral
        # }

        syslog info "Waiting for "
             + ApproachSettleTimePreDive~minute + "while pumping down to neutral."

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

          run in sequence

          set duration = ApproachSettleTimePreDive
        }

        syslog "Moving to " + ApproachDepth~meter

        aggregate ApproachDepth {
          run in sequence

          behavior Guidance:SetSpeed {
            run in parallel

            set speed = ApproachSpeed
          }

          behavior Guidance:Pitch {
            run in sequence

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

              behavior Guidance:Execute {
                run in sequence

                set command = "stop"
              }
            }

            set depth = ApproachDepth
            set depthRate = ApproachDepthRate
          }
        }

        assign in sequence DiveMode = SettleAtDepth
      }
    }

    aggregate SettleAtDepth {
      """
      Take a few more moments here to make sure the vehicle is settled
      at the target depth.
      """

      run while ( DiveMode == SettleAtDepth )

      aggregate dive {
        run in sequence

        syslog info "Reached " + Universal:depth~meter + ", settling for "
             + ApproachSettleTimePostDive~minute

        behavior Guidance:Pitch {
          run in parallel

          set depth = Depth
        }

        behavior Guidance:Wait {
          run in sequence

          set duration = ApproachSettleTimePostDive
        }

        assign in sequence DiveMode = MaintainDepth
      }
    }

    aggregate MaintainDepth {
      """
      Cruise at the target depth.
      """

      run while (
        DiveMode == MaintainDepth
        and ( Universal:depth > ( Depth + DepthDeviationSlow ) )
        or ( Universal:depth < ( Depth - DepthDeviationSlow ) )
      )

      aggregate dive {
        run in parallel

        aggregate ThrusterDive {
          run while ( FastSpeed > 0.0 meter_per_second )

          behavior Guidance:Mass {
            run in parallel

            set position = MassDefault
          }

          # behavior Guidance:Buoyancy {
          #   run in parallel

          #   set position = BuoyancyNeutral
          # }

          behavior Guidance:SetSpeed {
            run in parallel

            set speed = FastSpeed
          }
        }

        behavior Guidance:Pitch {
          run in parallel

          set depth = Depth
        }
      }
    }

    aggregate MaintainDepthSlow {
      """
      Cruise slow at the target depth.
      """

      run while (
        ( not isNaN ( SlowSpeed ) )
        and ( DiveMode == MaintainDepth )
        and ( Universal:depth <= ( Depth + DepthDeviationSlow ) )
        and ( Universal:depth >= ( Depth - DepthDeviationSlow ) )
      )

      behavior Guidance:SetSpeed {
        run in parallel

        set speed = SlowSpeed
      }

      # Let's make sure the vertical control depth deadband doesn't interfere with our mission
      # level version of the deadband. And we'll add an extra 3m so we don't trigger any
      # faults inside vertical control when attempting to regain the commanded depth.
      assign in parallel Control:VerticalControl.depthDeadband = ( DepthDeviationSlow + 3 m )

      behavior Guidance:Buoyancy {
        run in parallel

        set position = NaN cc
      }

      behavior Guidance:Pitch {
        run in parallel

        set depth = Depth
      }
    }
  }

  # Start mission sequence

  call id="StartingMission" refId="SurfaceComms"

  aggregate Lap {
    run in sequence repeat=Repeat

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

      call refId="DiveCmd"
    }

    aggregate Wpt1 {
      run in sequence

      behavior Guidance:Waypoint {
        run in sequence

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

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

        behavior Guidance:Waypoint {
          run in sequence

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


2025-03-12T00:46:46.930Z,1741740406.930 [CommandExec](IMPORTANT): Loaded ./Missions/Science/sci2_noyo_optim.tl id=sci2_noyo_optim
2025-03-12T00:47:00.150Z,1741740420.150 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2025-03-12T00:47:00.150Z,1741740420.150 [Default:CheckIn:C.Wait] Stopped
2025-03-12T00:47:00.150Z,1741740420.150 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2025-03-12T00:47:00.150Z,1741740420.150 [Default:CheckIn:D] Running Loop=1
2025-03-12T00:47:00.558Z,1741740420.558 [Default:CheckIn:D] Stopped
2025-03-12T00:47:00.558Z,1741740420.558 [Default:CheckIn:E] Running Loop=1
2025-03-12T00:47:00.976Z,1741740420.976 [Default:CheckIn:E](IMPORTANT): Default mission has been running for  8.603287 min 
2025-03-12T00:47:00.976Z,1741740420.976 [Default:CheckIn:E] Stopped
2025-03-12T00:47:00.976Z,1741740420.976 [Default:CheckIn](INFO): Completed Default:CheckIn
2025-03-12T00:47:00.976Z,1741740420.976 [Default:CheckIn] Stopped
2025-03-12T00:47:00.976Z,1741740420.976 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-03-12T00:47:00.976Z,1741740420.976 [Default:CheckIn](INFO): Running loop #2
2025-03-12T00:47:00.977Z,1741740420.977 [Default:CheckIn] Running Loop=2
2025-03-12T00:47:00.977Z,1741740420.977 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-03-12T00:47:00.977Z,1741740420.977 [Default:CheckIn:Read_GPS] Running Loop=1
2025-03-12T00:47:02.954Z,1741740422.954 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,004702.00,A,3648.05467,N,12149.57228,W,0.292,106.84,120325,,,A*74
2025-03-12T00:47:02.956Z,1741740422.956 [NAL9602](INFO): GPS fix at 20250312T004702: (36.800911, -121.826205)
2025-03-12T00:47:03.014Z,1741740423.014 [Default:CheckIn:Read_GPS] Stopped
2025-03-12T00:47:03.015Z,1741740423.015 [Default:CheckIn:Read_Iridium] Running Loop=1
2025-03-12T00:47:12.025Z,1741740432.025 [CommandExec](IMPORTANT): got command set sci2_noyo_optim.MissionTimeout 1 hour
2025-03-12T00:47:12.075Z,1741740432.075 [CommandExec](IMPORTANT): got command set sci2_noyo_optim.NeedCommsTime 30 minute
2025-03-12T00:47:12.075Z,1741740432.075 [CommandExec](IMPORTANT): got command set sci2_noyo_optim.Depth 15 meter
2025-03-12T00:47:12.076Z,1741740432.076 [CommandExec](IMPORTANT): got command set sci2_noyo_optim.Lat1 36.797 degree
2025-03-12T00:47:12.077Z,1741740432.077 [CommandExec](IMPORTANT): got command set sci2_noyo_optim.Lon1 -121.847 degree
2025-03-12T00:47:14.522Z,1741740434.522 [DataOverHttps](INFO): Sending 73 bytes from file Logs/20250311T232940/Courier0012.lzma
2025-03-12T00:47:15.524Z,1741740435.524 [DataOverHttps](INFO): Moved sent file to Logs/20250311T232940/Courier0012.lzma.bak
2025-03-12T00:47:15.524Z,1741740435.524 [DataOverHttps](INFO): SBD MOMSN=24181161
2025-03-12T00:47:43.856Z,1741740463.856 [CommandExec](IMPORTANT): got command set sci2_noyo_optim.ApproachDepth 10 meter
2025-03-12T00:47:43.857Z,1741740463.857 [CommandExec](IMPORTANT): got command set sci2_noyo_optim.SlowSpeed NaN meter_per_second
2025-03-12T00:47:43.859Z,1741740463.859 [CommandExec](IMPORTANT): got command set sci2_noyo_optim.MinAltitude 10 meter
2025-03-12T00:47:43.860Z,1741740463.860 [CommandExec](IMPORTANT): got command set sci2_noyo_optim.MaxDepth 40 meter
2025-03-12T00:47:43.861Z,1741740463.861 [CommandExec](IMPORTANT): got command run
2025-03-12T00:47:43.875Z,1741740463.875 [CommandExec](IMPORTANT): Running 
2025-03-12T00:47:44.096Z,1741740464.096 [Default] Stopped
2025-03-12T00:47:44.096Z,1741740464.096 [Default](DEBUG): Aggregate::uninitialize Default
2025-03-12T00:47:44.096Z,1741740464.096 [Default:B.GoToSurface] Stopped
2025-03-12T00:47:44.096Z,1741740464.096 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-03-12T00:47:44.096Z,1741740464.096 [Default:CheckIn] Stopped
2025-03-12T00:47:44.096Z,1741740464.096 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-03-12T00:47:44.096Z,1741740464.096 [Default:CheckIn:Read_Iridium] Stopped
2025-03-12T00:47:44.096Z,1741740464.096 [MissionManager](IMPORTANT): Started mission sci2_noyo_optim
2025-03-12T00:47:44.096Z,1741740464.096 [sci2_noyo_optim] Running Loop=1
2025-03-12T00:47:44.097Z,1741740464.097 [sci2_noyo_optim](DEBUG): Aggregate::initialize sci2_noyo_optim
2025-03-12T00:47:44.097Z,1741740464.097 [sci2_noyo_optim:Science] Running Loop=1
2025-03-12T00:47:44.097Z,1741740464.097 [sci2_noyo_optim:Science](DEBUG): Aggregate::initialize sci2_noyo_optim:Science
2025-03-12T00:47:44.097Z,1741740464.097 [sci2_noyo_optim:Science:A] Running Loop=1
2025-03-12T00:47:44.097Z,1741740464.097 [sci2_noyo_optim:Science:B] Running Loop=1
2025-03-12T00:47:44.097Z,1741740464.097 [sci2_noyo_optim:Science:C] Running Loop=1
2025-03-12T00:47:44.097Z,1741740464.097 [sci2_noyo_optim:Science:D] Running Loop=1
2025-03-12T00:47:44.097Z,1741740464.097 [sci2_noyo_optim:Science:E] Running Loop=1
2025-03-12T00:47:44.097Z,1741740464.097 [sci2_noyo_optim:Science:F] Running Loop=1
2025-03-12T00:47:44.097Z,1741740464.097 [sci2_noyo_optim:Science:Read_Oil] Running Loop=1
2025-03-12T00:47:44.097Z,1741740464.097 [sci2_noyo_optim:Science:PeakDetectChl] Running Loop=1
2025-03-12T00:47:44.097Z,1741740464.097 [sci2_noyo_optim:Science:PeakDetectChl](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:PeakDetectChl
2025-03-12T00:47:44.098Z,1741740464.098 [sci2_noyo_optim:Science:PeakDetectChl:A] Running Loop=1
2025-03-12T00:47:44.098Z,1741740464.098 [sci2_noyo_optim:Science:EdgeDetectChl] Running Loop=1
2025-03-12T00:47:44.098Z,1741740464.098 [sci2_noyo_optim:Science:EdgeDetectChl](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:EdgeDetectChl
2025-03-12T00:47:44.122Z,1741740464.122 [sci2_noyo_optim:Science:EdgeDetectChl:A] Running Loop=1
2025-03-12T00:47:44.122Z,1741740464.122 [sci2_noyo_optim:Science:HighestChlPeakReport] Running Loop=1
2025-03-12T00:47:44.122Z,1741740464.122 [sci2_noyo_optim:Science:HighestChlPeakReport](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:HighestChlPeakReport
2025-03-12T00:47:44.123Z,1741740464.123 [sci2_noyo_optim:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-03-12T00:47:44.123Z,1741740464.123 [sci2_noyo_optim:Science:HighestChlPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-03-12T00:47:44.124Z,1741740464.124 [sci2_noyo_optim:Science:PeakDetectNO3] Running Loop=1
2025-03-12T00:47:44.124Z,1741740464.124 [sci2_noyo_optim:Science:PeakDetectNO3](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:PeakDetectNO3
2025-03-12T00:47:44.124Z,1741740464.124 [sci2_noyo_optim:Science:PeakDetectNO3:A] Running Loop=1
2025-03-12T00:47:44.124Z,1741740464.124 [sci2_noyo_optim:Science:PeakDetectOil] Running Loop=1
2025-03-12T00:47:44.124Z,1741740464.124 [sci2_noyo_optim:Science:PeakDetectOil](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:PeakDetectOil
2025-03-12T00:47:44.124Z,1741740464.124 [sci2_noyo_optim:Science:PeakDetectOil:A] Running Loop=1
2025-03-12T00:47:44.124Z,1741740464.124 [sci2_noyo_optim:Science:HighestOilPeakReport] Running Loop=1
2025-03-12T00:47:44.124Z,1741740464.124 [sci2_noyo_optim:Science:HighestOilPeakReport](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:HighestOilPeakReport
2025-03-12T00:47:44.125Z,1741740464.125 [sci2_noyo_optim:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-03-12T00:47:44.125Z,1741740464.125 [sci2_noyo_optim:Science:HighestOilPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-03-12T00:47:44.125Z,1741740464.125 [sci2_noyo_optim:Science:PeakDetectFDOM] Running Loop=1
2025-03-12T00:47:44.125Z,1741740464.125 [sci2_noyo_optim:Science:PeakDetectFDOM](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:PeakDetectFDOM
2025-03-12T00:47:44.125Z,1741740464.125 [sci2_noyo_optim:Science:PeakDetectFDOM:A] Running Loop=1
2025-03-12T00:47:44.125Z,1741740464.125 [sci2_noyo_optim:Science:PeakDetectSalinity] Running Loop=1
2025-03-12T00:47:44.125Z,1741740464.125 [sci2_noyo_optim:Science:PeakDetectSalinity](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:PeakDetectSalinity
2025-03-12T00:47:44.126Z,1741740464.126 [sci2_noyo_optim:Science:PeakDetectSalinity:A] Running Loop=1
2025-03-12T00:47:44.126Z,1741740464.126 [sci2_noyo_optim:Science:HighestSaltPeakReport] Running Loop=1
2025-03-12T00:47:44.126Z,1741740464.126 [sci2_noyo_optim:Science:HighestSaltPeakReport](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:HighestSaltPeakReport
2025-03-12T00:47:44.126Z,1741740464.126 [sci2_noyo_optim:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-03-12T00:47:44.126Z,1741740464.126 [sci2_noyo_optim:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-03-12T00:47:44.127Z,1741740464.127 [sci2_noyo_optim:Science:PeakDetectPlanktivoreLMavgROI] Running Loop=1
2025-03-12T00:47:44.127Z,1741740464.127 [sci2_noyo_optim:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:PeakDetectPlanktivoreLMavgROI
2025-03-12T00:47:44.127Z,1741740464.127 [sci2_noyo_optim:Science:PeakDetectPlanktivoreLMavgROI:A] Running Loop=1
2025-03-12T00:47:44.127Z,1741740464.127 [sci2_noyo_optim:Science:EdgeDetectPlanktivoreLMavgROI] Running Loop=1
2025-03-12T00:47:44.127Z,1741740464.127 [sci2_noyo_optim:Science:EdgeDetectPlanktivoreLMavgROI](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:EdgeDetectPlanktivoreLMavgROI
2025-03-12T00:47:44.127Z,1741740464.127 [sci2_noyo_optim:Science:EdgeDetectPlanktivoreLMavgROI:A] Running Loop=1
2025-03-12T00:47:44.127Z,1741740464.127 [sci2_noyo_optim:Science:PeakDetectPlanktivoreHMavgROI] Running Loop=1
2025-03-12T00:47:44.127Z,1741740464.127 [sci2_noyo_optim:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:PeakDetectPlanktivoreHMavgROI
2025-03-12T00:47:44.127Z,1741740464.127 [sci2_noyo_optim:Science:PeakDetectPlanktivoreHMavgROI:A] Running Loop=1
2025-03-12T00:47:44.128Z,1741740464.128 [sci2_noyo_optim:Science:PeakDetectPlanktivoreDiatoms] Running Loop=1
2025-03-12T00:47:44.128Z,1741740464.128 [sci2_noyo_optim:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:PeakDetectPlanktivoreDiatoms
2025-03-12T00:47:44.128Z,1741740464.128 [sci2_noyo_optim:Science:PeakDetectPlanktivoreDiatoms:A] Running Loop=1
2025-03-12T00:47:44.128Z,1741740464.128 [sci2_noyo_optim:Science:PeakDetectPlanktivoreDinoflagellates] Running Loop=1
2025-03-12T00:47:44.128Z,1741740464.128 [sci2_noyo_optim:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:PeakDetectPlanktivoreDinoflagellates
2025-03-12T00:47:44.128Z,1741740464.128 [sci2_noyo_optim:Science:PeakDetectPlanktivoreDinoflagellates:A] Running Loop=1
2025-03-12T00:47:44.128Z,1741740464.128 [sci2_noyo_optim:Science:ChlThreshTrigger] Running Loop=1
2025-03-12T00:47:44.128Z,1741740464.128 [sci2_noyo_optim:Science:ChlThreshTrigger](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:ChlThreshTrigger
2025-03-12T00:47:44.128Z,1741740464.128 [sci2_noyo_optim:Science:ChlThreshTrigger:A.ValueDetect] Running Loop=1
2025-03-12T00:47:44.128Z,1741740464.128 [sci2_noyo_optim:Science:ChlThreshTrigger:A.ValueDetect](INFO): Initialize.
2025-03-12T00:47:44.129Z,1741740464.129 [sci2_noyo_optim:Science:OceanCurrent] Running Loop=1
2025-03-12T00:47:44.129Z,1741740464.129 [sci2_noyo_optim:Science:OceanCurrent](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:OceanCurrent
2025-03-12T00:47:44.129Z,1741740464.129 [sci2_noyo_optim:Science:OceanCurrent:A.] Running Loop=1
2025-03-12T00:47:44.129Z,1741740464.129 [sci2_noyo_optim:Science:OceanCurrent:A.](INFO): Initializing CurrentEstimator.
2025-03-12T00:47:44.129Z,1741740464.129 [sci2_noyo_optim:StandardEnvelopes] Running Loop=1
2025-03-12T00:47:44.130Z,1741740464.130 [sci2_noyo_optim:StandardEnvelopes](DEBUG): Aggregate::initialize sci2_noyo_optim:StandardEnvelopes
2025-03-12T00:47:44.130Z,1741740464.130 [sci2_noyo_optim:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-03-12T00:47:44.130Z,1741740464.130 [sci2_noyo_optim:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-03-12T00:47:44.142Z,1741740464.142 [sci2_noyo_optim:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-03-12T00:47:44.142Z,1741740464.142 [sci2_noyo_optim:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-03-12T00:47:44.142Z,1741740464.142 [sci2_noyo_optim:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-03-12T00:47:44.143Z,1741740464.143 [sci2_noyo_optim:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-03-12T00:47:44.143Z,1741740464.143 [sci2_noyo_optim:BackseatDriver] Running Loop=1
2025-03-12T00:47:44.143Z,1741740464.143 [sci2_noyo_optim:BackseatDriver](DEBUG): Aggregate::initialize sci2_noyo_optim:BackseatDriver
2025-03-12T00:47:44.143Z,1741740464.143 [sci2_noyo_optim:BackseatDriver:A.BackseatDriver] Running Loop=1
2025-03-12T00:47:44.143Z,1741740464.143 [sci2_noyo_optim:J] Running Loop=1
2025-03-12T00:47:44.143Z,1741740464.143 [sci2_noyo_optim:PowerOnly] Running Loop=1
2025-03-12T00:47:44.143Z,1741740464.143 [sci2_noyo_optim:PowerOnly](DEBUG): Aggregate::initialize sci2_noyo_optim:PowerOnly
2025-03-12T00:47:44.143Z,1741740464.143 [sci2_noyo_optim:PowerOnly:A] Running Loop=1
2025-03-12T00:47:44.143Z,1741740464.143 [sci2_noyo_optim:PowerOnly:B] Running Loop=1
2025-03-12T00:47:44.143Z,1741740464.143 [sci2_noyo_optim:PowerOnly:C] Running Loop=1
2025-03-12T00:47:44.143Z,1741740464.143 [sci2_noyo_optim:PowerOnly:D] Running Loop=1
2025-03-12T00:47:44.143Z,1741740464.143 [sci2_noyo_optim:PowerOnly:E.Wait] Running Loop=1
2025-03-12T00:47:44.144Z,1741740464.144 [sci2_noyo_optim:PowerOnly:E.Wait](DEBUG): Initialize Wait Component.
2025-03-12T00:47:44.144Z,1741740464.144 [sci2_noyo_optim:L.Buoyancy] Running Loop=1
2025-03-12T00:47:44.144Z,1741740464.144 [sci2_noyo_optim:L.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-03-12T00:47:44.144Z,1741740464.144 [sci2_noyo_optim:C] Running Loop=1
2025-03-12T00:47:44.145Z,1741740464.145 [sci2_noyo_optim:L.Buoyancy] Running Loop=1
2025-03-12T00:47:44.145Z,1741740464.145 [sci2_noyo_optim:PowerOnly] Running Loop=1
2025-03-12T00:47:44.145Z,1741740464.145 [sci2_noyo_optim:PowerOnly:D] Stopped
2025-03-12T00:47:44.145Z,1741740464.145 [sci2_noyo_optim:PowerOnly:C] Stopped
2025-03-12T00:47:44.145Z,1741740464.145 [sci2_noyo_optim:PowerOnly:B] Stopped
2025-03-12T00:47:44.145Z,1741740464.145 [sci2_noyo_optim:PowerOnly:A] Stopped
2025-03-12T00:47:44.146Z,1741740464.146 [sci2_noyo_optim:J] Running Loop=1
2025-03-12T00:47:44.146Z,1741740464.146 [sci2_noyo_optim:BackseatDriver] Running Loop=1
2025-03-12T00:47:44.150Z,1741740464.150 [sci2_noyo_optim:BackseatDriver:A.BackseatDriver](INFO): Initializing backseat
2025-03-12T00:47:44.219Z,1741740464.219 [sci2_noyo_optim:C] Stopped
2025-03-12T00:47:44.219Z,1741740464.219 [sci2_noyo_optim:D] Running Loop=1
2025-03-12T00:47:44.219Z,1741740464.219 [sci2_noyo_optim:StandardEnvelopes] Running Loop=1
2025-03-12T00:47:44.219Z,1741740464.219 [sci2_noyo_optim:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-03-12T00:47:44.219Z,1741740464.219 [sci2_noyo_optim:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-03-12T00:47:44.220Z,1741740464.220 [sci2_noyo_optim:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-03-12T00:47:44.220Z,1741740464.220 [sci2_noyo_optim:Science] Running Loop=1
2025-03-12T00:47:44.221Z,1741740464.221 [sci2_noyo_optim:Science:ChlThreshTrigger] Stopped
2025-03-12T00:47:44.221Z,1741740464.221 [sci2_noyo_optim:Science:ChlThreshTrigger](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:ChlThreshTrigger
2025-03-12T00:47:44.221Z,1741740464.221 [sci2_noyo_optim:Science:ChlThreshTrigger:A.ValueDetect] Stopped
2025-03-12T00:47:44.221Z,1741740464.221 [sci2_noyo_optim:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Uninitialize.
2025-03-12T00:47:44.222Z,1741740464.222 [sci2_noyo_optim:Science:PeakDetectPlanktivoreDinoflagellates] Stopped
2025-03-12T00:47:44.222Z,1741740464.222 [sci2_noyo_optim:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:PeakDetectPlanktivoreDinoflagellates
2025-03-12T00:47:44.222Z,1741740464.222 [sci2_noyo_optim:Science:PeakDetectPlanktivoreDinoflagellates:A] Stopped
2025-03-12T00:47:44.224Z,1741740464.224 [sci2_noyo_optim:Science:PeakDetectPlanktivoreDiatoms] Stopped
2025-03-12T00:47:44.225Z,1741740464.225 [sci2_noyo_optim:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:PeakDetectPlanktivoreDiatoms
2025-03-12T00:47:44.225Z,1741740464.225 [sci2_noyo_optim:Science:PeakDetectPlanktivoreDiatoms:A] Stopped
2025-03-12T00:47:44.225Z,1741740464.225 [sci2_noyo_optim:Science:PeakDetectPlanktivoreHMavgROI] Stopped
2025-03-12T00:47:44.225Z,1741740464.225 [sci2_noyo_optim:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:PeakDetectPlanktivoreHMavgROI
2025-03-12T00:47:44.225Z,1741740464.225 [sci2_noyo_optim:Science:PeakDetectPlanktivoreHMavgROI:A] Stopped
2025-03-12T00:47:44.225Z,1741740464.225 [sci2_noyo_optim:Science:EdgeDetectPlanktivoreLMavgROI] Stopped
2025-03-12T00:47:44.225Z,1741740464.225 [sci2_noyo_optim:Science:EdgeDetectPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:EdgeDetectPlanktivoreLMavgROI
2025-03-12T00:47:44.225Z,1741740464.225 [sci2_noyo_optim:Science:EdgeDetectPlanktivoreLMavgROI:A] Stopped
2025-03-12T00:47:44.225Z,1741740464.225 [sci2_noyo_optim:Science:PeakDetectPlanktivoreLMavgROI] Stopped
2025-03-12T00:47:44.225Z,1741740464.225 [sci2_noyo_optim:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:PeakDetectPlanktivoreLMavgROI
2025-03-12T00:47:44.225Z,1741740464.225 [sci2_noyo_optim:Science:PeakDetectPlanktivoreLMavgROI:A] Stopped
2025-03-12T00:47:44.225Z,1741740464.225 [sci2_noyo_optim:Science:HighestSaltPeakReport] Stopped
2025-03-12T00:47:44.225Z,1741740464.225 [sci2_noyo_optim:Science:HighestSaltPeakReport](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:HighestSaltPeakReport
2025-03-12T00:47:44.226Z,1741740464.226 [sci2_noyo_optim:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Stopped
2025-03-12T00:47:44.226Z,1741740464.226 [sci2_noyo_optim:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-03-12T00:47:44.226Z,1741740464.226 [sci2_noyo_optim:Science:PeakDetectSalinity] Stopped
2025-03-12T00:47:44.242Z,1741740464.242 [sci2_noyo_optim:Science:PeakDetectSalinity](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:PeakDetectSalinity
2025-03-12T00:47:44.246Z,1741740464.246 [sci2_noyo_optim:Science:PeakDetectSalinity:A] Stopped
2025-03-12T00:47:44.246Z,1741740464.246 [sci2_noyo_optim:Science:PeakDetectFDOM] Stopped
2025-03-12T00:47:44.246Z,1741740464.246 [sci2_noyo_optim:Science:PeakDetectFDOM](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:PeakDetectFDOM
2025-03-12T00:47:44.246Z,1741740464.246 [sci2_noyo_optim:Science:PeakDetectFDOM:A] Stopped
2025-03-12T00:47:44.246Z,1741740464.246 [sci2_noyo_optim:Science:HighestOilPeakReport] Stopped
2025-03-12T00:47:44.247Z,1741740464.247 [sci2_noyo_optim:Science:HighestOilPeakReport](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:HighestOilPeakReport
2025-03-12T00:47:44.247Z,1741740464.247 [sci2_noyo_optim:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Stopped
2025-03-12T00:47:44.247Z,1741740464.247 [sci2_noyo_optim:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-03-12T00:47:44.247Z,1741740464.247 [sci2_noyo_optim:Science:PeakDetectOil] Stopped
2025-03-12T00:47:44.247Z,1741740464.247 [sci2_noyo_optim:Science:PeakDetectOil](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:PeakDetectOil
2025-03-12T00:47:44.247Z,1741740464.247 [sci2_noyo_optim:Science:PeakDetectOil:A] Stopped
2025-03-12T00:47:44.247Z,1741740464.247 [sci2_noyo_optim:Science:PeakDetectNO3] Stopped
2025-03-12T00:47:44.247Z,1741740464.247 [sci2_noyo_optim:Science:PeakDetectNO3](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:PeakDetectNO3
2025-03-12T00:47:44.247Z,1741740464.247 [sci2_noyo_optim:Science:PeakDetectNO3:A] Stopped
2025-03-12T00:47:44.247Z,1741740464.247 [sci2_noyo_optim:Science:HighestChlPeakReport] Stopped
2025-03-12T00:47:44.247Z,1741740464.247 [sci2_noyo_optim:Science:HighestChlPeakReport](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:HighestChlPeakReport
2025-03-12T00:47:44.247Z,1741740464.247 [sci2_noyo_optim:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Stopped
2025-03-12T00:47:44.247Z,1741740464.247 [sci2_noyo_optim:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-03-12T00:47:44.247Z,1741740464.247 [sci2_noyo_optim:Science:EdgeDetectChl] Stopped
2025-03-12T00:47:44.248Z,1741740464.248 [sci2_noyo_optim:Science:EdgeDetectChl](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:EdgeDetectChl
2025-03-12T00:47:44.248Z,1741740464.248 [sci2_noyo_optim:Science:EdgeDetectChl:A] Stopped
2025-03-12T00:47:44.248Z,1741740464.248 [sci2_noyo_optim:Science:PeakDetectChl] Stopped
2025-03-12T00:47:44.248Z,1741740464.248 [sci2_noyo_optim:Science:PeakDetectChl](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:PeakDetectChl
2025-03-12T00:47:44.248Z,1741740464.248 [sci2_noyo_optim:Science:PeakDetectChl:A] Stopped
2025-03-12T00:47:44.248Z,1741740464.248 [sci2_noyo_optim:Science:OceanCurrent:A.] Running Loop=1
2025-03-12T00:47:44.258Z,1741740464.258 [BackseatComponent](INFO): Powering up
2025-03-12T00:47:44.259Z,1741740464.259 [BackseatComponent](INFO): Subscribing to LCM channels.
2025-03-12T00:47:44.285Z,1741740464.285 [sci2_noyo_optim:Science:Read_Oil] Stopped
2025-03-12T00:47:44.285Z,1741740464.285 [sci2_noyo_optim:Science:F] Stopped
2025-03-12T00:47:44.285Z,1741740464.285 [sci2_noyo_optim:Science:E] Running Loop=1
2025-03-12T00:47:44.287Z,1741740464.287 [sci2_noyo_optim:Science:E](DEBUG): Initialize ReadDataComponent to sense mass_concentration_of_chlorophyll_in_sea_water
2025-03-12T00:47:44.287Z,1741740464.287 [sci2_noyo_optim:Science:D] Stopped
2025-03-12T00:47:44.287Z,1741740464.287 [sci2_noyo_optim:Science:C] Running Loop=1
2025-03-12T00:47:44.288Z,1741740464.288 [sci2_noyo_optim:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_temperature
2025-03-12T00:47:44.288Z,1741740464.288 [sci2_noyo_optim:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_salinity
2025-03-12T00:47:44.288Z,1741740464.288 [sci2_noyo_optim:Science:B] Running Loop=1
2025-03-12T00:47:44.289Z,1741740464.289 [sci2_noyo_optim:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_temperature
2025-03-12T00:47:44.290Z,1741740464.290 [sci2_noyo_optim:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_salinity
2025-03-12T00:47:44.307Z,1741740464.307 [sci2_noyo_optim:Science:A] Stopped
2025-03-12T00:47:44.388Z,1741740464.388 [DataOverHttps](INFO): Sending 564 bytes from file Logs/20250311T232940/Express0013.lzma
2025-03-12T00:47:44.407Z,1741740464.407 [WetLabsBB2FL](INFO): Powering up
2025-03-12T00:47:44.570Z,1741740464.570 [sci2_noyo_optim:D] Stopped
2025-03-12T00:47:44.571Z,1741740464.571 [sci2_noyo_optim:E] Running Loop=1
2025-03-12T00:47:44.918Z,1741740464.918 [sci2_noyo_optim:E] Stopped
2025-03-12T00:47:44.919Z,1741740464.919 [sci2_noyo_optim:G] Running Loop=1
2025-03-12T00:47:45.318Z,1741740465.318 [sci2_noyo_optim:G] Stopped
2025-03-12T00:47:45.319Z,1741740465.319 [sci2_noyo_optim:H] Running Loop=1
2025-03-12T00:47:45.384Z,1741740465.384 [DataOverHttps](INFO): Moved sent file to Logs/20250311T232940/Express0013.lzma.bak
2025-03-12T00:47:45.384Z,1741740465.384 [DataOverHttps](INFO): SBD MOMSN=24181182
2025-03-12T00:47:45.786Z,1741740465.786 [sci2_noyo_optim:H] Stopped
2025-03-12T00:47:45.787Z,1741740465.787 [sci2_noyo_optim:StartingMission] Running Loop=1
2025-03-12T00:47:45.787Z,1741740465.787 [sci2_noyo_optim:StartingMission](DEBUG): Aggregate::initialize sci2_noyo_optim:StartingMission
2025-03-12T00:47:46.091Z,1741740466.091 [sci2_noyo_optim:SurfaceComms] Running Loop=1
2025-03-12T00:47:46.091Z,1741740466.091 [sci2_noyo_optim:SurfaceComms](DEBUG): Aggregate::initialize sci2_noyo_optim:SurfaceComms
2025-03-12T00:47:46.091Z,1741740466.091 [sci2_noyo_optim:SurfaceComms:A] Running Loop=1
2025-03-12T00:47:46.091Z,1741740466.091 [sci2_noyo_optim:SurfaceComms:A] Stopped
2025-03-12T00:47:46.092Z,1741740466.092 [sci2_noyo_optim:SurfaceComms:B] Running Loop=1
2025-03-12T00:47:46.092Z,1741740466.092 [sci2_noyo_optim:SurfaceComms:B](DEBUG): Aggregate::initialize sci2_noyo_optim:SurfaceComms:B
2025-03-12T00:47:46.566Z,1741740466.566 [sci2_noyo_optim:NeedComms] Running Loop=1
2025-03-12T00:47:46.566Z,1741740466.566 [sci2_noyo_optim:NeedComms](DEBUG): Aggregate::initialize sci2_noyo_optim:NeedComms
2025-03-12T00:47:46.566Z,1741740466.566 [sci2_noyo_optim:NeedComms:B.GoToSurface] Running Loop=1
2025-03-12T00:47:46.567Z,1741740466.567 [sci2_noyo_optim:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-03-12T00:47:46.567Z,1741740466.567 [sci2_noyo_optim:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-03-12T00:47:46.567Z,1741740466.567 [sci2_noyo_optim:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-03-12T00:47:46.568Z,1741740466.568 [sci2_noyo_optim:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-03-12T00:47:46.568Z,1741740466.568 [sci2_noyo_optim:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-03-12T00:47:46.568Z,1741740466.568 [sci2_noyo_optim:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-03-12T00:47:46.569Z,1741740466.569 [sci2_noyo_optim:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-03-12T00:47:46.569Z,1741740466.569 [sci2_noyo_optim:NeedComms:A] Running Loop=1
2025-03-12T00:47:46.578Z,1741740466.578 [sci2_noyo_optim:NeedComms:A](INFO): last time_fix was:  1741740422.000000 second since 1970/01/01T00:00:00Z 
2025-03-12T00:47:46.579Z,1741740466.579 [sci2_noyo_optim:NeedComms:A] Stopped
2025-03-12T00:47:46.652Z,1741740466.652 [CTD_Seabird](ERROR): Pressure reading out of range: -10.100000 decibar
2025-03-12T00:47:46.654Z,1741740466.654 [CTD_Seabird](INFO): some bad data, not updating bins
2025-03-12T00:47:46.975Z,1741740466.975 [sci2_noyo_optim:NeedComms:C] Running Loop=1
2025-03-12T00:47:47.357Z,1741740467.357 [sci2_noyo_optim:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-03-12T00:47:47.658Z,1741740467.658 [CTD_Seabird](ERROR): Salinity reading out of range: 255.262009 psu
2025-03-12T00:47:47.660Z,1741740467.660 [CTD_Seabird](INFO): some bad data, not updating bins
2025-03-12T00:48:42.127Z,1741740522.127 [BackseatComponent](IMPORTANT): ikshana: running backseat application.
2025-03-12T00:48:44.833Z,1741740524.833 [BackseatComponent](INFO): Created universal data reader for depth with code: 6
2025-03-12T00:48:44.833Z,1741740524.833 [BackseatComponent](INFO): Requesting data from depth (6). Requested size is: 1
2025-03-12T00:48:55.980Z,1741740535.980 [NAL9602](INFO): SBD MO Status=0, MOMSN=18477, MT Status=0, MTMSN=0
2025-03-12T00:48:55.980Z,1741740535.980 [NAL9602](INFO): No messages in MT queue
2025-03-12T00:48:57.182Z,1741740537.182 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,004856.00,A,3648.05336,N,12149.56176,W,0.408,109.24,120325,,,A*70
2025-03-12T00:48:57.185Z,1741740537.185 [NAL9602](INFO): GPS fix at 20250312T004856: (36.800889, -121.826029)
2025-03-12T00:48:57.198Z,1741740537.198 [sci2_noyo_optim:NeedComms:C] Stopped
2025-03-12T00:48:57.199Z,1741740537.199 [sci2_noyo_optim:NeedComms:D] Running Loop=1
2025-03-12T00:48:57.628Z,1741740537.628 [sci2_noyo_optim:NeedComms:D](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-03-12T00:49:04.387Z,1741740544.387 [DataOverHttps](INFO): Sending 72 bytes from file Logs/20250311T232940/Courier0018.lzma
2025-03-12T00:49:05.388Z,1741740545.388 [DataOverHttps](INFO): Moved sent file to Logs/20250311T232940/Courier0018.lzma.bak
2025-03-12T00:49:05.388Z,1741740545.388 [DataOverHttps](INFO): SBD MOMSN=24181224
2025-03-12T00:49:23.018Z,1741740563.018 [DataOverHttps](INFO): Sending 39 bytes from file Logs/20250311T232940/Express0016.lzma
2025-03-12T00:49:24.020Z,1741740564.020 [DataOverHttps](INFO): Moved sent file to Logs/20250311T232940/Express0016.lzma.bak
2025-03-12T00:49:24.020Z,1741740564.020 [DataOverHttps](INFO): SBD MOMSN=24181228
2025-03-12T00:49:29.507Z,1741740569.507 [NAL9602](INFO): Not Powering down - fast GPS
2025-03-12T00:49:45.683Z,1741740585.683 [DataOverHttps](INFO): Sending 608 bytes from file Logs/20250311T232940/Express0019.lzma
2025-03-12T00:49:46.684Z,1741740586.684 [DataOverHttps](INFO): Moved sent file to Logs/20250311T232940/Express0019.lzma.bak
2025-03-12T00:49:46.684Z,1741740586.684 [DataOverHttps](INFO): SBD MOMSN=24181230
2025-03-12T00:49:47.934Z,1741740587.934 [sci2_noyo_optim:NeedComms:D] Stopped
2025-03-12T00:49:47.935Z,1741740587.935 [sci2_noyo_optim:NeedComms:E] Running Loop=1
2025-03-12T00:49:48.195Z,1741740588.195 [sci2_noyo_optim:NeedComms:E](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-03-12T00:49:49.785Z,1741740589.785 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,004949.00,A,3648.05407,N,12149.55590,W,0.428,97.85,120325,,,A*4A
2025-03-12T00:49:49.787Z,1741740589.787 [NAL9602](INFO): GPS fix at 20250312T004949: (36.800901, -121.825932)
2025-03-12T00:49:49.854Z,1741740589.854 [sci2_noyo_optim:NeedComms:E] Stopped
2025-03-12T00:49:49.855Z,1741740589.855 [sci2_noyo_optim:NeedComms](INFO): Completed sci2_noyo_optim:NeedComms
2025-03-12T00:49:49.855Z,1741740589.855 [sci2_noyo_optim:NeedComms] Stopped
2025-03-12T00:49:49.855Z,1741740589.855 [sci2_noyo_optim:NeedComms](DEBUG): Aggregate::uninitialize sci2_noyo_optim:NeedComms
2025-03-12T00:49:49.855Z,1741740589.855 [sci2_noyo_optim:NeedComms:B.GoToSurface] Stopped
2025-03-12T00:49:49.856Z,1741740589.856 [sci2_noyo_optim:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-03-12T00:49:50.310Z,1741740590.310 [sci2_noyo_optim:SurfaceComms:B](INFO): Completed sci2_noyo_optim:SurfaceComms:B
2025-03-12T00:49:50.310Z,1741740590.310 [sci2_noyo_optim:SurfaceComms:B] Stopped
2025-03-12T00:49:50.314Z,1741740590.314 [sci2_noyo_optim:SurfaceComms:B](DEBUG): Aggregate::uninitialize sci2_noyo_optim:SurfaceComms:B
2025-03-12T00:49:50.314Z,1741740590.314 [sci2_noyo_optim:SurfaceComms:C] Running Loop=1
2025-03-12T00:49:50.629Z,1741740590.629 [sci2_noyo_optim:SurfaceComms:C] Stopped
2025-03-12T00:49:50.629Z,1741740590.629 [sci2_noyo_optim:SurfaceComms](INFO): Completed sci2_noyo_optim:SurfaceComms
2025-03-12T00:49:50.629Z,1741740590.629 [sci2_noyo_optim:SurfaceComms] Stopped
2025-03-12T00:49:50.629Z,1741740590.629 [sci2_noyo_optim:SurfaceComms](DEBUG): Aggregate::uninitialize sci2_noyo_optim:SurfaceComms
2025-03-12T00:49:51.040Z,1741740591.040 [sci2_noyo_optim:StartingMission](INFO): Completed sci2_noyo_optim:StartingMission
2025-03-12T00:49:51.040Z,1741740591.040 [sci2_noyo_optim:StartingMission] Stopped
2025-03-12T00:49:51.040Z,1741740591.040 [sci2_noyo_optim:StartingMission](DEBUG): Aggregate::uninitialize sci2_noyo_optim:StartingMission
2025-03-12T00:49:51.040Z,1741740591.040 [sci2_noyo_optim:Lap] Running Loop=1
2025-03-12T00:49:51.040Z,1741740591.040 [sci2_noyo_optim:Lap](DEBUG): Aggregate::initialize sci2_noyo_optim:Lap
2025-03-12T00:49:51.040Z,1741740591.040 [sci2_noyo_optim:Lap:Dive] Running Loop=1
2025-03-12T00:49:51.040Z,1741740591.040 [sci2_noyo_optim:Lap:Dive](DEBUG): Aggregate::initialize sci2_noyo_optim:Lap:Dive
2025-03-12T00:49:51.040Z,1741740591.040 [sci2_noyo_optim:Lap:Dive:A] Running Loop=1
2025-03-12T00:49:51.041Z,1741740591.041 [sci2_noyo_optim:Lap:Dive:A](DEBUG): Aggregate::initialize sci2_noyo_optim:Lap:Dive:A
2025-03-12T00:49:51.041Z,1741740591.041 [sci2_noyo_optim:Lap:Wpt1] Running Loop=1
2025-03-12T00:49:51.041Z,1741740591.041 [sci2_noyo_optim:Lap:Wpt1](DEBUG): Aggregate::initialize sci2_noyo_optim:Lap:Wpt1
2025-03-12T00:49:51.041Z,1741740591.041 [sci2_noyo_optim:Lap:Wpt1:A.Waypoint] Running Loop=1
2025-03-12T00:49:51.041Z,1741740591.041 [sci2_noyo_optim:Lap:Wpt1:A.Waypoint](DEBUG): Initialize WaypointComponent.
2025-03-12T00:49:51.046Z,1741740591.046 [sci2_noyo_optim:Lap:Wpt1:A.Waypoint](IMPORTANT): Navigating to waypoint: 36.797001,-121.847000
2025-03-12T00:49:51.416Z,1741740591.416 [sci2_noyo_optim:Lap:Wpt1:A.Waypoint](INFO): Navigating to waypoint: 36.797001,-121.847000
2025-03-12T00:49:51.417Z,1741740591.417 [sci2_noyo_optim:Lap:Dive] Running Loop=1
2025-03-12T00:49:51.417Z,1741740591.417 [sci2_noyo_optim:DiveCmd] Running Loop=1
2025-03-12T00:49:51.417Z,1741740591.417 [sci2_noyo_optim:DiveCmd](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd
2025-03-12T00:49:51.417Z,1741740591.417 [sci2_noyo_optim:DiveCmd:InitialDive] Running Loop=1
2025-03-12T00:49:51.417Z,1741740591.417 [sci2_noyo_optim:DiveCmd:InitialDive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:InitialDive
2025-03-12T00:49:51.417Z,1741740591.417 [sci2_noyo_optim:DiveCmd:InitialDive:dive] Running Loop=1
2025-03-12T00:49:51.417Z,1741740591.417 [sci2_noyo_optim:DiveCmd:InitialDive:dive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:InitialDive:dive
2025-03-12T00:49:51.418Z,1741740591.418 [sci2_noyo_optim:DiveCmd:InitialDive:dive:A] Running Loop=1
2025-03-12T00:49:51.418Z,1741740591.418 [sci2_noyo_optim:DiveCmd:InitialDive:dive:B] Running Loop=1
2025-03-12T00:49:51.418Z,1741740591.418 [sci2_noyo_optim:DiveCmd:InitialDive:dive:C.Mass] Running Loop=1
2025-03-12T00:49:51.418Z,1741740591.418 [sci2_noyo_optim:DiveCmd:InitialDive:dive:C.Mass](DEBUG): Initialize.
2025-03-12T00:49:51.422Z,1741740591.422 [sci2_noyo_optim:DiveCmd:InitialDive:dive:D] Running Loop=1
2025-03-12T00:49:51.422Z,1741740591.422 [sci2_noyo_optim:DiveCmd:SettleAtDepth] Running Loop=1
2025-03-12T00:49:51.422Z,1741740591.422 [sci2_noyo_optim:DiveCmd:SettleAtDepth](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:SettleAtDepth
2025-03-12T00:49:51.423Z,1741740591.423 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive] Running Loop=1
2025-03-12T00:49:51.423Z,1741740591.423 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:SettleAtDepth:dive
2025-03-12T00:49:51.423Z,1741740591.423 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:B.Pitch] Running Loop=1
2025-03-12T00:49:51.423Z,1741740591.423 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:B.Pitch](DEBUG): Initialize.
2025-03-12T00:49:51.423Z,1741740591.423 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:A] Running Loop=1
2025-03-12T00:49:51.423Z,1741740591.423 [sci2_noyo_optim:DiveCmd:MaintainDepth] Running Loop=1
2025-03-12T00:49:51.423Z,1741740591.423 [sci2_noyo_optim:DiveCmd:MaintainDepth](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepth
2025-03-12T00:49:51.423Z,1741740591.423 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive] Running Loop=1
2025-03-12T00:49:51.423Z,1741740591.423 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive
2025-03-12T00:49:51.424Z,1741740591.424 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive] Running Loop=1
2025-03-12T00:49:51.424Z,1741740591.424 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive
2025-03-12T00:49:51.424Z,1741740591.424 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass] Running Loop=1
2025-03-12T00:49:51.424Z,1741740591.424 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass](DEBUG): Initialize.
2025-03-12T00:49:51.424Z,1741740591.424 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed] Running Loop=1
2025-03-12T00:49:51.424Z,1741740591.424 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed](DEBUG): Initialize.
2025-03-12T00:49:51.424Z,1741740591.424 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:B.Pitch] Running Loop=1
2025-03-12T00:49:51.424Z,1741740591.424 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:B.Pitch](DEBUG): Initialize.
2025-03-12T00:49:51.424Z,1741740591.424 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow] Running Loop=1
2025-03-12T00:49:51.425Z,1741740591.425 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepthSlow
2025-03-12T00:49:51.425Z,1741740591.425 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:A.SetSpeed] Running Loop=1
2025-03-12T00:49:51.425Z,1741740591.425 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:A.SetSpeed](DEBUG): Initialize.
2025-03-12T00:49:51.425Z,1741740591.425 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:B] Running Loop=1
2025-03-12T00:49:51.425Z,1741740591.425 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:C.Buoyancy] Running Loop=1
2025-03-12T00:49:51.425Z,1741740591.425 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:C.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-03-12T00:49:51.425Z,1741740591.425 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:D.Pitch] Running Loop=1
2025-03-12T00:49:51.425Z,1741740591.425 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:D.Pitch](DEBUG): Initialize.
2025-03-12T00:49:51.430Z,1741740591.430 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow] Stopped
2025-03-12T00:49:51.430Z,1741740591.430 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepthSlow
2025-03-12T00:49:51.430Z,1741740591.430 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:A.SetSpeed] Stopped
2025-03-12T00:49:51.430Z,1741740591.430 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:A.SetSpeed](DEBUG): Uninitialize.
2025-03-12T00:49:51.431Z,1741740591.431 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:B] Stopped
2025-03-12T00:49:51.431Z,1741740591.431 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:C.Buoyancy] Stopped
2025-03-12T00:49:51.431Z,1741740591.431 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-03-12T00:49:51.431Z,1741740591.431 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:D.Pitch] Stopped
2025-03-12T00:49:51.431Z,1741740591.431 [sci2_noyo_optim:DiveCmd:MaintainDepth] Running Loop=1
2025-03-12T00:49:51.431Z,1741740591.431 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive] Running Loop=1
2025-03-12T00:49:51.431Z,1741740591.431 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:B.Pitch] Running Loop=1
2025-03-12T00:49:51.431Z,1741740591.431 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive] Running Loop=1
2025-03-12T00:49:51.432Z,1741740591.432 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed] Running Loop=1
2025-03-12T00:49:51.432Z,1741740591.432 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass] Running Loop=1
2025-03-12T00:49:51.432Z,1741740591.432 [sci2_noyo_optim:DiveCmd:SettleAtDepth] Stopped
2025-03-12T00:49:51.432Z,1741740591.432 [sci2_noyo_optim:DiveCmd:SettleAtDepth](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:SettleAtDepth
2025-03-12T00:49:51.432Z,1741740591.432 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive] Stopped
2025-03-12T00:49:51.433Z,1741740591.433 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:SettleAtDepth:dive
2025-03-12T00:49:51.433Z,1741740591.433 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:A] Stopped
2025-03-12T00:49:51.433Z,1741740591.433 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:B.Pitch] Stopped
2025-03-12T00:49:51.433Z,1741740591.433 [sci2_noyo_optim:DiveCmd:InitialDive] Running Loop=1
2025-03-12T00:49:51.433Z,1741740591.433 [sci2_noyo_optim:DiveCmd:InitialDive:dive:D](INFO): Waiting for  1.000000 min while pumping down to neutral.
2025-03-12T00:49:51.433Z,1741740591.433 [sci2_noyo_optim:DiveCmd:InitialDive:dive:D] Stopped
2025-03-12T00:49:51.434Z,1741740591.434 [sci2_noyo_optim:DiveCmd:InitialDive:dive:E.Wait] Running Loop=1
2025-03-12T00:49:51.434Z,1741740591.434 [sci2_noyo_optim:DiveCmd:InitialDive:dive:E.Wait](DEBUG): Initialize Wait Component.
2025-03-12T00:49:51.434Z,1741740591.434 [sci2_noyo_optim:DiveCmd:InitialDive:dive:C.Mass] Running Loop=1
2025-03-12T00:49:51.459Z,1741740591.459 [sci2_noyo_optim:DiveCmd:InitialDive:dive:B] Running Loop=1
2025-03-12T00:49:51.460Z,1741740591.460 [sci2_noyo_optim:DiveCmd:InitialDive:dive:A] Running Loop=1
2025-03-12T00:50:03.261Z,1741740603.261 [NAL9602](INFO): SBD MO Status=0, MOMSN=18478, MT Status=0, MTMSN=0
2025-03-12T00:50:03.261Z,1741740603.261 [NAL9602](INFO): No messages in MT queue
2025-03-12T00:50:34.013Z,1741740634.013 [NAL9602](INFO): Not Powering down - fast GPS
2025-03-12T00:50:52.168Z,1741740652.168 [sci2_noyo_optim:DiveCmd:InitialDive:dive:E.Wait](INFO): Done Waiting.
2025-03-12T00:50:52.169Z,1741740652.169 [sci2_noyo_optim:DiveCmd:InitialDive:dive:E.Wait] Stopped
2025-03-12T00:50:52.169Z,1741740652.169 [sci2_noyo_optim:DiveCmd:InitialDive:dive:E.Wait](DEBUG): Uninitialize Wait Component.
2025-03-12T00:50:52.169Z,1741740652.169 [sci2_noyo_optim:DiveCmd:InitialDive:dive:F] Running Loop=1
2025-03-12T00:50:52.541Z,1741740652.541 [sci2_noyo_optim:DiveCmd:InitialDive:dive:F](INFO): Moving to  10.000000 m 
2025-03-12T00:50:52.541Z,1741740652.541 [sci2_noyo_optim:DiveCmd:InitialDive:dive:F] Stopped
2025-03-12T00:50:52.541Z,1741740652.541 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth] Running Loop=1
2025-03-12T00:50:52.541Z,1741740652.541 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth
2025-03-12T00:50:52.541Z,1741740652.541 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:A.SetSpeed] Running Loop=1
2025-03-12T00:50:52.541Z,1741740652.541 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:A.SetSpeed](DEBUG): Initialize.
2025-03-12T00:50:52.542Z,1741740652.542 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:B.Pitch] Running Loop=1
2025-03-12T00:50:52.542Z,1741740652.542 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:B.Pitch](DEBUG): Initialize.
2025-03-12T00:50:52.959Z,1741740652.959 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:A.SetSpeed] Running Loop=1
2025-03-12T00:51:29.015Z,1741740689.015 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T00:51:32.027Z,1741740692.027 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.249580
2025-03-12T00:51:59.106Z,1741740719.106 [Radio_Surface](INFO): Powering down
2025-03-12T00:52:04.154Z,1741740724.154 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T00:52:05.159Z,1741740725.159 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-03-12T00:53:55.953Z,1741740835.953 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:B.Pitch] Stopped
2025-03-12T00:53:55.954Z,1741740835.954 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth](INFO): Completed sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth
2025-03-12T00:53:55.954Z,1741740835.954 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth] Stopped
2025-03-12T00:53:55.954Z,1741740835.954 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth
2025-03-12T00:53:55.954Z,1741740835.954 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:A.SetSpeed] Stopped
2025-03-12T00:53:55.954Z,1741740835.954 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:A.SetSpeed](DEBUG): Uninitialize.
2025-03-12T00:53:55.954Z,1741740835.954 [sci2_noyo_optim:DiveCmd:InitialDive:dive:H] Running Loop=1
2025-03-12T00:53:56.374Z,1741740836.374 [sci2_noyo_optim:DiveCmd:InitialDive:dive:H] Stopped
2025-03-12T00:53:56.375Z,1741740836.375 [sci2_noyo_optim:DiveCmd:InitialDive:dive](INFO): Completed sci2_noyo_optim:DiveCmd:InitialDive:dive
2025-03-12T00:53:56.375Z,1741740836.375 [sci2_noyo_optim:DiveCmd:InitialDive:dive] Stopped
2025-03-12T00:53:56.375Z,1741740836.375 [sci2_noyo_optim:DiveCmd:InitialDive:dive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:InitialDive:dive
2025-03-12T00:53:56.375Z,1741740836.375 [sci2_noyo_optim:DiveCmd:InitialDive:dive:A] Stopped
2025-03-12T00:53:56.375Z,1741740836.375 [sci2_noyo_optim:DiveCmd:InitialDive:dive:B] Stopped
2025-03-12T00:53:56.376Z,1741740836.376 [sci2_noyo_optim:DiveCmd:InitialDive:dive:C.Mass] Stopped
2025-03-12T00:53:56.376Z,1741740836.376 [sci2_noyo_optim:DiveCmd:InitialDive:dive:C.Mass](DEBUG): Uninitialize.
2025-03-12T00:53:56.376Z,1741740836.376 [sci2_noyo_optim:DiveCmd:InitialDive](INFO): Completed sci2_noyo_optim:DiveCmd:InitialDive
2025-03-12T00:53:56.804Z,1741740836.804 [sci2_noyo_optim:DiveCmd:SettleAtDepth] Running Loop=1
2025-03-12T00:53:56.804Z,1741740836.804 [sci2_noyo_optim:DiveCmd:SettleAtDepth](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:SettleAtDepth
2025-03-12T00:53:56.804Z,1741740836.804 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive] Running Loop=1
2025-03-12T00:53:56.804Z,1741740836.804 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:SettleAtDepth:dive
2025-03-12T00:53:56.804Z,1741740836.804 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:B.Pitch] Running Loop=1
2025-03-12T00:53:56.804Z,1741740836.804 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:B.Pitch](DEBUG): Initialize.
2025-03-12T00:53:56.805Z,1741740836.805 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:A] Running Loop=1
2025-03-12T00:53:56.805Z,1741740836.805 [sci2_noyo_optim:DiveCmd:SettleAtDepth] Running Loop=1
2025-03-12T00:53:56.805Z,1741740836.805 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:B.Pitch] Running Loop=1
2025-03-12T00:53:56.822Z,1741740836.822 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:A](INFO): Reached  10.075612 m , settling for  3.000000 min 
2025-03-12T00:53:56.822Z,1741740836.822 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:A] Stopped
2025-03-12T00:53:56.822Z,1741740836.822 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:C.Wait] Running Loop=1
2025-03-12T00:53:56.822Z,1741740836.822 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:C.Wait](DEBUG): Initialize Wait Component.
2025-03-12T00:54:20.203Z,1741740860.203 [sci2_noyo_optim:DiveCmd:MaintainDepth] Stopped
2025-03-12T00:54:20.203Z,1741740860.203 [sci2_noyo_optim:DiveCmd:MaintainDepth](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepth
2025-03-12T00:54:20.203Z,1741740860.203 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive] Stopped
2025-03-12T00:54:20.203Z,1741740860.203 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive
2025-03-12T00:54:20.204Z,1741740860.204 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive] Stopped
2025-03-12T00:54:20.204Z,1741740860.204 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive
2025-03-12T00:54:20.204Z,1741740860.204 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass] Stopped
2025-03-12T00:54:20.204Z,1741740860.204 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass](DEBUG): Uninitialize.
2025-03-12T00:54:20.204Z,1741740860.204 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed] Stopped
2025-03-12T00:54:20.204Z,1741740860.204 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed](DEBUG): Uninitialize.
2025-03-12T00:54:20.204Z,1741740860.204 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:B.Pitch] Stopped
2025-03-12T00:56:16.541Z,1741740976.541 [Waterlinked](ERROR): only read 1 of 5 data items. Device response::BI,   +38,  
2025-03-12T00:56:57.363Z,1741741017.363 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:C.Wait](INFO): Done Waiting.
2025-03-12T00:56:57.363Z,1741741017.363 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:C.Wait] Stopped
2025-03-12T00:56:57.363Z,1741741017.363 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:C.Wait](DEBUG): Uninitialize Wait Component.
2025-03-12T00:56:57.363Z,1741741017.363 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:D] Running Loop=1
2025-03-12T00:56:57.761Z,1741741017.761 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:D] Stopped
2025-03-12T00:56:57.762Z,1741741017.762 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive](INFO): Completed sci2_noyo_optim:DiveCmd:SettleAtDepth:dive
2025-03-12T00:56:57.762Z,1741741017.762 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive] Stopped
2025-03-12T00:56:57.762Z,1741741017.762 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:SettleAtDepth:dive
2025-03-12T00:56:57.762Z,1741741017.762 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:B.Pitch] Stopped
2025-03-12T00:56:57.762Z,1741741017.762 [sci2_noyo_optim:DiveCmd:SettleAtDepth](INFO): Completed sci2_noyo_optim:DiveCmd:SettleAtDepth
2025-03-12T00:57:17.202Z,1741741037.202 [sci2_noyo_optim:DiveCmd:MaintainDepth] Running Loop=1
2025-03-12T00:57:17.206Z,1741741037.206 [sci2_noyo_optim:DiveCmd:MaintainDepth](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepth
2025-03-12T00:57:17.206Z,1741741037.206 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive] Running Loop=1
2025-03-12T00:57:17.206Z,1741741037.206 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive
2025-03-12T00:57:17.206Z,1741741037.206 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive] Running Loop=1
2025-03-12T00:57:17.206Z,1741741037.206 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive
2025-03-12T00:57:17.207Z,1741741037.207 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass] Running Loop=1
2025-03-12T00:57:17.207Z,1741741037.207 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass](DEBUG): Initialize.
2025-03-12T00:57:17.207Z,1741741037.207 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed] Running Loop=1
2025-03-12T00:57:17.207Z,1741741037.207 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed](DEBUG): Initialize.
2025-03-12T00:57:17.207Z,1741741037.207 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:B.Pitch] Running Loop=1
2025-03-12T00:57:17.207Z,1741741037.207 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:B.Pitch](DEBUG): Initialize.
2025-03-12T00:57:40.218Z,1741741060.218 [sci2_noyo_optim:DiveCmd:MaintainDepth] Stopped
2025-03-12T00:57:40.222Z,1741741060.222 [sci2_noyo_optim:DiveCmd:MaintainDepth](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepth
2025-03-12T00:57:40.222Z,1741741060.222 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive] Stopped
2025-03-12T00:57:40.222Z,1741741060.222 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive
2025-03-12T00:57:40.222Z,1741741060.222 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive] Stopped
2025-03-12T00:57:40.222Z,1741741060.222 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive
2025-03-12T00:57:40.223Z,1741741060.223 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass] Stopped
2025-03-12T00:57:40.223Z,1741741060.223 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass](DEBUG): Uninitialize.
2025-03-12T00:57:40.223Z,1741741060.223 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed] Stopped
2025-03-12T00:57:40.223Z,1741741060.223 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed](DEBUG): Uninitialize.
2025-03-12T00:57:40.223Z,1741741060.223 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:B.Pitch] Stopped
2025-03-12T00:58:42.151Z,1741741122.151 [BackseatComponent](CRITICAL): ikshana: Data dir size (131.27 GB) did not increase within 10 minutes
2025-03-12T00:58:42.151Z,1741741122.151 [BackseatComponent] Data Fault, FailCount= 1
2025-03-12T00:58:42.151Z,1741741122.151 [BackseatComponent](ERROR): Data Fault
2025-03-12T00:58:42.443Z,1741741122.443 [sci2_noyo_optim:BackseatDriver:A.BackseatDriver](INFO): Created data writer for _.data_dir_logging_rate with code: 2169
2025-03-12T00:58:42.473Z,1741741122.473 [CBIT](INFO): Critical error at 20250312T005842
2025-03-12T00:58:42.473Z,1741741122.473 [Supervisor](INFO): Stop Mission called by CBIT::checkCriticals
2025-03-12T00:58:42.479Z,1741741122.479 [CBIT](ERROR): Data Fault in component: BackseatComponent
2025-03-12T00:58:42.562Z,1741741122.562 [BackseatComponent](INFO): Sent LCM shutdown request.
2025-03-12T00:58:42.562Z,1741741122.562 [BackseatComponent](INFO): Shutdown requested. Waiting (18.00 sec to power down.).
2025-03-12T00:58:42.833Z,1741741122.833 [MissionManager](INFO): MissionManager is completed.
2025-03-12T00:58:42.833Z,1741741122.833 [MissionManager](INFO): Uninitializing Mission sci2_noyo_optim
2025-03-12T00:58:42.833Z,1741741122.833 [sci2_noyo_optim] Stopped
2025-03-12T00:58:42.834Z,1741741122.834 [sci2_noyo_optim](DEBUG): Aggregate::uninitialize sci2_noyo_optim
2025-03-12T00:58:42.834Z,1741741122.834 [sci2_noyo_optim:Science] Stopped
2025-03-12T00:58:42.850Z,1741741122.850 [sci2_noyo_optim:Science](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science
2025-03-12T00:58:42.858Z,1741741122.858 [sci2_noyo_optim:Science:B] Stopped
2025-03-12T00:58:42.858Z,1741741122.858 [sci2_noyo_optim:Science:C] Stopped
2025-03-12T00:58:42.858Z,1741741122.858 [sci2_noyo_optim:Science:E] Stopped
2025-03-12T00:58:42.858Z,1741741122.858 [sci2_noyo_optim:Science:OceanCurrent] Stopped
2025-03-12T00:58:42.858Z,1741741122.858 [sci2_noyo_optim:Science:OceanCurrent](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:OceanCurrent
2025-03-12T00:58:42.858Z,1741741122.858 [sci2_noyo_optim:Science:OceanCurrent:A.] Stopped
2025-03-12T00:58:42.858Z,1741741122.858 [sci2_noyo_optim:StandardEnvelopes] Stopped
2025-03-12T00:58:42.859Z,1741741122.859 [sci2_noyo_optim:StandardEnvelopes](DEBUG): Aggregate::uninitialize sci2_noyo_optim:StandardEnvelopes
2025-03-12T00:58:42.859Z,1741741122.859 [sci2_noyo_optim:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-03-12T00:58:42.859Z,1741741122.859 [sci2_noyo_optim:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-03-12T00:58:42.859Z,1741741122.859 [sci2_noyo_optim:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-03-12T00:58:42.859Z,1741741122.859 [sci2_noyo_optim:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-03-12T00:58:42.859Z,1741741122.859 [sci2_noyo_optim:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-03-12T00:58:42.859Z,1741741122.859 [sci2_noyo_optim:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-03-12T00:58:42.859Z,1741741122.859 [sci2_noyo_optim:BackseatDriver] Stopped
2025-03-12T00:58:42.859Z,1741741122.859 [sci2_noyo_optim:BackseatDriver](DEBUG): Aggregate::uninitialize sci2_noyo_optim:BackseatDriver
2025-03-12T00:58:42.859Z,1741741122.859 [sci2_noyo_optim:BackseatDriver:A.BackseatDriver] Stopped
2025-03-12T00:58:42.859Z,1741741122.859 [sci2_noyo_optim:J] Stopped
2025-03-12T00:58:42.859Z,1741741122.859 [sci2_noyo_optim:PowerOnly] Stopped
2025-03-12T00:58:42.860Z,1741741122.860 [sci2_noyo_optim:PowerOnly](DEBUG): Aggregate::uninitialize sci2_noyo_optim:PowerOnly
2025-03-12T00:58:42.860Z,1741741122.860 [sci2_noyo_optim:PowerOnly:E.Wait] Stopped
2025-03-12T00:58:42.860Z,1741741122.860 [sci2_noyo_optim:PowerOnly:E.Wait](DEBUG): Uninitialize Wait Component.
2025-03-12T00:58:42.860Z,1741741122.860 [sci2_noyo_optim:L.Buoyancy] Stopped
2025-03-12T00:58:42.860Z,1741741122.860 [sci2_noyo_optim:L.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-03-12T00:58:42.860Z,1741741122.860 [sci2_noyo_optim:DiveCmd] Stopped
2025-03-12T00:58:42.860Z,1741741122.860 [sci2_noyo_optim:DiveCmd](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd
2025-03-12T00:58:42.860Z,1741741122.860 [sci2_noyo_optim:DiveCmd:InitialDive] Stopped
2025-03-12T00:58:42.860Z,1741741122.860 [sci2_noyo_optim:DiveCmd:InitialDive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:InitialDive
2025-03-12T00:58:42.860Z,1741741122.860 [sci2_noyo_optim:DiveCmd:SettleAtDepth] Stopped
2025-03-12T00:58:42.860Z,1741741122.860 [sci2_noyo_optim:DiveCmd:SettleAtDepth](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:SettleAtDepth
2025-03-12T00:58:42.860Z,1741741122.860 [sci2_noyo_optim:Lap] Stopped
2025-03-12T00:58:42.861Z,1741741122.861 [sci2_noyo_optim:Lap](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Lap
2025-03-12T00:58:42.861Z,1741741122.861 [sci2_noyo_optim:Lap:Dive] Stopped
2025-03-12T00:58:42.861Z,1741741122.861 [sci2_noyo_optim:Lap:Dive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Lap:Dive
2025-03-12T00:58:42.861Z,1741741122.861 [sci2_noyo_optim:Lap:Dive:A] Stopped
2025-03-12T00:58:42.861Z,1741741122.861 [sci2_noyo_optim:Lap:Dive:A](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Lap:Dive:A
2025-03-12T00:58:42.861Z,1741741122.861 [sci2_noyo_optim:Lap:Wpt1] Stopped
2025-03-12T00:58:42.861Z,1741741122.861 [sci2_noyo_optim:Lap:Wpt1](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Lap:Wpt1
2025-03-12T00:58:42.861Z,1741741122.861 [sci2_noyo_optim:Lap:Wpt1:A.Waypoint] Stopped
2025-03-12T00:58:42.861Z,1741741122.861 [sci2_noyo_optim:Lap:Wpt1:A.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-03-12T00:58:43.034Z,1741741123.034 [WetLabsBB2FL](INFO): Powering down
2025-03-12T00:58:43.224Z,1741741123.224 [MissionManager](IMPORTANT): Started mission Default
2025-03-12T00:58:43.225Z,1741741123.225 [Default] Running Loop=1
2025-03-12T00:58:43.225Z,1741741123.225 [Default](DEBUG): Aggregate::initialize Default
2025-03-12T00:58:43.225Z,1741741123.225 [Default:B.GoToSurface] Running Loop=1
2025-03-12T00:58:43.225Z,1741741123.225 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-03-12T00:58:43.225Z,1741741123.225 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-03-12T00:58:43.226Z,1741741123.226 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-03-12T00:58:43.226Z,1741741123.226 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-03-12T00:58:43.227Z,1741741123.227 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-03-12T00:58:43.227Z,1741741123.227 [Default:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-03-12T00:58:43.228Z,1741741123.228 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-03-12T00:58:43.228Z,1741741123.228 [Default:A.Wait] Running Loop=1
2025-03-12T00:58:43.228Z,1741741123.228 [Default:A.Wait](DEBUG): Initialize Wait Component.
2025-03-12T00:58:43.943Z,1741741123.943 [Radio_Surface](INFO): Powering up
2025-03-12T00:58:49.822Z,1741741129.822 [DataOverHttps](INFO): Radio surface powered ON.
2025-03-12T00:58:56.606Z,1741741136.606 [Default:A.Wait](INFO): Done Waiting.
2025-03-12T00:58:56.606Z,1741741136.606 [Default:A.Wait] Stopped
2025-03-12T00:58:56.607Z,1741741136.607 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2025-03-12T00:59:00.763Z,1741741140.763 [BackseatComponent](INFO): Powering down and starting shutdown timer (18.00 sec).
2025-03-12T00:59:00.764Z,1741741140.764 [BackseatComponent](INFO): Unsubscribing from LCM channels.
2025-03-12T00:59:00.765Z,1741741140.765 [LcmUniversalReporter](INFO): Deactivating messaging.
2025-03-12T00:59:19.630Z,1741741159.630 [CBIT](INFO): Clearing failed state for component BackseatComponent
2025-03-12T00:59:19.630Z,1741741159.630 [BackseatComponent] No Fault, FailCount= 0
2025-03-12T00:59:19.754Z,1741741159.754 [BackseatComponent](INFO): Powering up
2025-03-12T00:59:19.755Z,1741741159.755 [BackseatComponent](INFO): Subscribing to LCM channels.
2025-03-12T00:59:19.948Z,1741741159.948 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T00:59:32.143Z,1741741172.143 [Default:CheckIn] Running Loop=1
2025-03-12T00:59:32.143Z,1741741172.143 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-03-12T00:59:32.143Z,1741741172.143 [Default:CheckIn:Read_GPS] Running Loop=1
2025-03-12T00:59:32.666Z,1741741172.666 [Waterlinked](INFO): Powering down
2025-03-12T00:59:40.643Z,1741741180.643 [BackseatComponent](INFO): Sent LCM shutdown request.
2025-03-12T00:59:40.644Z,1741741180.644 [BackseatComponent](INFO): Shutdown requested. Waiting (18.00 sec to power down.).
2025-03-12T00:59:55.086Z,1741741195.086 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T00:59:58.802Z,1741741198.802 [BackseatComponent](INFO): Powering down and starting shutdown timer (18.00 sec).
2025-03-12T00:59:58.803Z,1741741198.803 [BackseatComponent](INFO): Unsubscribing from LCM channels.
2025-03-12T00:59:58.803Z,1741741198.803 [LcmUniversalReporter](INFO): Deactivating messaging.
2025-03-12T01:00:30.242Z,1741741230.242 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T01:00:54.616Z,1741741254.616 [NAL9602](INFO): SBD MO Status=0, MOMSN=18479, MT Status=0, MTMSN=0
2025-03-12T01:00:54.617Z,1741741254.617 [NAL9602](INFO): No messages in MT queue
2025-03-12T01:00:55.833Z,1741741255.833 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,010055.00,A,3648.02494,N,12149.66671,W,0.292,96.33,120325,,,A*41
2025-03-12T01:00:55.836Z,1741741255.836 [NAL9602](INFO): GPS fix at 20250312T010055: (36.800416, -121.827778)
2025-03-12T01:00:55.866Z,1741741255.866 [Default:CheckIn:Read_GPS] Stopped
2025-03-12T01:00:55.866Z,1741741255.866 [Default:CheckIn:Read_Iridium] Running Loop=1
2025-03-12T01:01:05.382Z,1741741265.382 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T01:01:21.773Z,1741741281.773 [NAL9602](INFO): SBD MO Status=1, MOMSN=18480, MT Status=0, MTMSN=0
2025-03-12T01:01:21.822Z,1741741281.822 [NAL9602](INFO): Sent 181 bytes from file Logs/20250311T232940/Courier0021.lzma
2025-03-12T01:01:21.823Z,1741741281.823 [NAL9602](INFO): Packets left to send: 0
2025-03-12T01:01:34.769Z,1741741294.769 [NAL9602](INFO): SBD MO Status=1, MOMSN=18481, MT Status=0, MTMSN=0
2025-03-12T01:01:34.826Z,1741741294.826 [NAL9602](INFO): Sent 332 bytes from file Logs/20250311T232940/Express0022.lzma
2025-03-12T01:01:34.826Z,1741741294.826 [NAL9602](INFO): Packets left to send: 1
2025-03-12T01:01:40.522Z,1741741300.522 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T01:01:44.965Z,1741741304.965 [NAL9602](INFO): SBD MO Status=1, MOMSN=18482, MT Status=0, MTMSN=0
2025-03-12T01:01:45.022Z,1741741305.022 [NAL9602](INFO): Sent 21 bytes from file Logs/20250311T232940/Express0022.lzma
2025-03-12T01:01:45.022Z,1741741305.022 [NAL9602](INFO): Packets left to send: 0
2025-03-12T01:01:56.275Z,1741741316.275 [NAL9602](INFO): SBD MO Status=0, MOMSN=18483, MT Status=0, MTMSN=0
2025-03-12T01:01:56.367Z,1741741316.367 [Default:CheckIn:Read_Iridium] Stopped
2025-03-12T01:01:56.368Z,1741741316.368 [Default:CheckIn:C.Wait] Running Loop=1
2025-03-12T01:01:56.368Z,1741741316.368 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2025-03-12T01:02:14.165Z,1741741334.165 [DataOverHttps](IMPORTANT): SBD MTMSN=20250312T010213
2025-03-12T01:02:14.168Z,1741741334.168 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.004172
2025-03-12T01:02:21.710Z,1741741341.710 [DataOverHttps](INFO): Received command: sched asap "load Science/sci2_noyo_optim.tl;set sci2_noyo_optim.MissionTimeout 1 h;set sci2_noyo_optim.NeedCommsTime 30 min;set sci2_noyo_optim.Depth 15 m;set sci2_noyo_optim.Lat1 36.797 degree;set sci2_noyo_optim.Lon1 -121.847 degree" 31c7i 1 2
2025-03-12T01:02:21.807Z,1741741341.807 [CommandExec](IMPORTANT): got command schedule asap "load Science/sci2_noyo_optim.tl;set sci2_noyo_optim.MissionTimeout 1 h;set sci2_noyo_optim.NeedCommsTime 30 min;set sci2_noyo_optim.Depth 15 m;set sci2_noyo_optim.Lat1 36.797 degree;set sci2_noyo_optim.Lon1 -121.847 degree" 31c7i 1 2.000000
2025-03-12T01:02:21.807Z,1741741341.807 [CommandExec](IMPORTANT): Scheduling command #1 of 2 with id=31c7i
2025-03-12T01:02:21.808Z,1741741341.808 [CommandExec](IMPORTANT): Scheduled #3 (#1 of 2 with id='31c7i'): "load Science/sci2_noyo_optim.tl;set sci2_noyo_optim.MissionTimeout 1 h;set sci2_noyo_optim.NeedCommsTime 30 min;set sci2_noyo_optim.Depth 15 m;set sci2_noyo_optim.Lat1 36.797 degree;set sci2_noyo_optim.Lon1 -121.847 degree", ASAP
2025-03-12T01:02:22.712Z,1741741342.712 [DataOverHttps](IMPORTANT): SBD MTMSN=20250312T010221
2025-03-12T01:02:27.097Z,1741741347.097 [NAL9602](INFO): Not Powering down - fast GPS
2025-03-12T01:02:30.482Z,1741741350.482 [DataOverHttps](INFO): Received command: sched asap "set sci2_noyo_optim.ApproachDepth 10 m;set sci2_noyo_optim.SlowSpeed NaN m/s;set sci2_noyo_optim.MinAltitude 10 m;set sci2_noyo_optim.MaxDepth 40 m;run" 31c7i 2 2
2025-03-12T01:02:30.554Z,1741741350.554 [CommandExec](IMPORTANT): got command schedule asap "set sci2_noyo_optim.ApproachDepth 10 m;set sci2_noyo_optim.SlowSpeed NaN m/s;set sci2_noyo_optim.MinAltitude 10 m;set sci2_noyo_optim.MaxDepth 40 m;run" 31c7i 2 2.000000
2025-03-12T01:02:30.555Z,1741741350.555 [CommandExec](IMPORTANT): Scheduling command #2 of 2 with id=31c7i
2025-03-12T01:02:30.556Z,1741741350.556 [CommandExec](IMPORTANT): Scheduled #4 (#2 of 2 with id='31c7i'): "set sci2_noyo_optim.ApproachDepth 10 m;set sci2_noyo_optim.SlowSpeed NaN m/s;set sci2_noyo_optim.MinAltitude 10 m;set sci2_noyo_optim.MaxDepth 40 m;run", ASAP
2025-03-12T01:02:30.731Z,1741741350.731 [CommandExec](IMPORTANT): got command load ./Missions/Science/sci2_noyo_optim.tl
2025-03-12T01:02:30.732Z,1741741350.732 [MissionManager](INFO): Loading Mission from file: ./Missions/Science/sci2_noyo_optim.tl
2025-03-12T01:02:30.732Z,1741741350.732 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Science/sci2_noyo_optim.tl
2025-03-12T01:02:30.736Z,1741741350.736 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Science/sci2_noyo_optim.tl
2025-03-12T01:02:34.825Z,1741741354.825 [MissionManager](DEBUG): TethyslAPI: ./Missions/Science/sci2_noyo_optim.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Mission Id="sci2_noyo_optim">
    <DefineArg Name="MissionTimeout">
        <Units:hour />
        <Value>2</Value>
    </DefineArg>
    <DefineArg Name="NeedCommsTime">
        <Units:minute />
        <Value>60</Value>
    </DefineArg>
    <DefineArg Name="Depth">
        <Units:meter />
        <Value>35</Value>
    </DefineArg>
    <DefineArg Name="Repeat">
        <Units:count />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="Lat1">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lat2">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lat3">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lat4">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lat5">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lat6">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lat7">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lat8">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lon1">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lon2">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lon3">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lon4">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lon5">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lon6">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lon7">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lon8">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="FastSpeed">
        <Units:meter_per_second />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="ApproachDepth">
        <Units:meter />
        <Value>30</Value>
    </DefineArg>
    <DefineArg Name="ApproachSpeed">
        <Units:meter_per_second />
        <Value>0.7</Value>
    </DefineArg>
    <DefineArg Name="ApproachDepthRate">
        <Units:meter_per_second />
        <Value>0.05</Value>
    </DefineArg>
    <DefineArg Name="ApproachPitchLimit">
        <Units:degree />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="ApproachDepthTimeout">
        <Units:minute />
        <Value>15</Value>
    </DefineArg>
    <DefineArg Name="ApproachSettleTimePreDive">
        <Units:minute />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="ApproachSettleTimePostDive">
        <Units:minute />
        <Value>3</Value>
    </DefineArg>
    <DefineArg Name="kpDepth">
        <Units:radian_per_meter />
        <Value>0.07</Value>
    </DefineArg>
    <DefineArg Name="SlowSpeed">
        <Units:meter_per_second />
        <Value>0.25</Value>
    </DefineArg>
    <DefineArg Name="DepthDeviationSlow">
        <Units:meter />
        <Value>3</Value>
    </DefineArg>
    <DefineArg Name="BuoyancyNeutral">
        <Control:VerticalControl.buoyancyNeutral />
    </DefineArg>
    <DefineArg Name="MassDefault">
        <Control:VerticalControl.massDefault />
    </DefineArg>
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>2</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>50</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:kilometer />
        <Value>2</Value>
    </DefineArg>
    <DefineOutput Name="DiveMode">
        <Units:count />
        <Value>0</Value>
    </DefineOutput>
    <DefineOutput Name="DoingComms">
        <Units:count />
        <Value>0</Value>
    </DefineOutput>
    <DefineOutput Name="InitialDive">
        <Units:count />
        <Value>1</Value>
    </DefineOutput>
    <DefineOutput Name="SettleAtDepth">
        <Units:count />
        <Value>2</Value>
    </DefineOutput>
    <DefineOutput Name="MaintainDepth">
        <Units:count />
        <Value>3</Value>
    </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="MissionTimeout" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="NeedComms:WaitForPitchUp" />
        <Units:minute />
        <Value>0</Value>
    </Assign>
    <Insert Filename="Insert/BackseatDriver.tl" />
    <Assign>
        <Parallel />
        <Arg Name="BackseatDriver:EnableBackseat" />
        <True />
    </Assign>
    <Insert Filename="Insert/PowerOnly.tl" />
    <Guidance:Buoyancy>
        <Parallel />
        <Setting>
            <Guidance:Buoyancy.position />
            <Arg Name="BuoyancyNeutral" />
        </Setting>
    </Guidance:Buoyancy>
    <Aggregate Id="SurfaceComms">
        <When>
            <Called />
            <Or>
                <Elapsed>
                    <Universal:time_fix />
                </Elapsed>
                <Gt>
                    <Arg Name="NeedCommsTime" />
                </Gt>
            </Or>
        </When>
        <Assign>
            <Sequence />
            <Arg Name="DiveMode" />
            <Arg Name="DoingComms" />
        </Assign>
        <Call RefId="NeedComms" />
        <Assign>
            <Sequence />
            <Arg Name="DiveMode" />
            <Arg Name="InitialDive" />
        </Assign>
    </Aggregate>
    <Aggregate Id="DiveCmd">
        <When>
            <Called />
        </When>
        <Aggregate Id="InitialDive">
            <While>
                <Arg Name="DiveMode" />
                <Eq>
                    <Arg Name="InitialDive" />
                </Eq>
            </While>
            <Aggregate Id="dive">
                <Sequence />
                <Assign>
                    <Parallel />
                    <Control:VerticalControl.pitchLimit />
                    <Arg Name="ApproachPitchLimit" />
                </Assign>
                <Assign>
                    <Parallel />
                    <Control:VerticalControl.kpDepth />
                    <Arg Name="kpDepth" />
                </Assign>
                <Guidance:Mass>
                    <Parallel />
                    <Setting>
                        <Guidance:Mass.position />
                        <Arg Name="MassDefault" />
                    </Setting>
                </Guidance:Mass>
                <Syslog Severity="Info">
                    Waiting for 
                    <Arg Name="ApproachSettleTimePreDive" />
                    <Units:minute />
                    while pumping down to neutral.
                </Syslog>
                <Guidance:Wait>
                    <Sequence />
                    <Setting>
                        <Guidance:Wait.duration />
                        <Arg Name="ApproachSettleTimePreDive" />
                    </Setting>
                </Guidance:Wait>
                <Syslog>
                    Moving to 
                    <Arg Name="ApproachDepth" />
                    <Units:meter />
                </Syslog>
                <Aggregate Id="ApproachDepth">
                    <Sequence />
                    <Guidance:SetSpeed>
                        <Parallel />
                        <Setting>
                            <Guidance:SetSpeed.speed />
                            <Arg Name="ApproachSpeed" />
                        </Setting>
                    </Guidance:SetSpeed>
                    <Guidance:Pitch>
                        <Sequence />
                        <Timeout Duration="ApproachDepthTimeout">
                            <Syslog Severity="Important">
                                Timed out while trying to reach target depth at current depth of 
                                <Universal:depth />
                                <Units:meter />
                            </Syslog>
                            <Guidance:Execute>
                                <Sequence />
                                <Setting>
                                    <Guidance:Execute.command />
                                    <String>stop</String>
                                </Setting>
                            </Guidance:Execute>
                        </Timeout>
                        <Setting>
                            <Guidance:Pitch.depth />
                            <Arg Name="ApproachDepth" />
                        </Setting>
                        <Setting>
                            <Guidance:Pitch.depthRate />
                            <Arg Name="ApproachDepthRate" />
                        </Setting>
                    </Guidance:Pitch>
                </Aggregate>
                <Assign>
                    <Sequence />
                    <Arg Name="DiveMode" />
                    <Arg Name="SettleAtDepth" />
                </Assign>
            </Aggregate>
        </Aggregate>
        <Aggregate Id="SettleAtDepth">
            <While>
                <Arg Name="DiveMode" />
                <Eq>
                    <Arg Name="SettleAtDepth" />
                </Eq>
            </While>
            <Aggregate Id="dive">
                <Sequence />
                <Syslog Severity="Info">
                    Reached 
                    <Universal:depth />
                    <Units:meter />
                    , settling for 
                    <Arg Name="ApproachSettleTimePostDive" />
                    <Units:minute />
                </Syslog>
                <Guidance:Pitch>
                    <Parallel />
                    <Setting>
                        <Guidance:Pitch.depth />
                        <Arg Name="Depth" />
                    </Setting>
                </Guidance:Pitch>
                <Guidance:Wait>
                    <Sequence />
                    <Setting>
                        <Guidance:Wait.duration />
                        <Arg Name="ApproachSettleTimePostDive" />
                    </Setting>
                </Guidance:Wait>
                <Assign>
                    <Sequence />
                    <Arg Name="DiveMode" />
                    <Arg Name="MaintainDepth" />
                </Assign>
            </Aggregate>
        </Aggregate>
        <Aggregate Id="MaintainDepth">
            <While>
                <Arg Name="DiveMode" />
                <Eq>
                    <Arg Name="MaintainDepth" />
                </Eq>
                <And>
                    <Universal:depth />
                    <Gt>
                        <Arg Name="Depth" />
                        <Add>
                            <Arg Name="DepthDeviationSlow" />
                        </Add>
                    </Gt>
                </And>
                <Or>
                    <Universal:depth />
                    <Lt>
                        <Arg Name="Depth" />
                        <Sub>
                            <Arg Name="DepthDeviationSlow" />
                        </Sub>
                    </Lt>
                </Or>
            </While>
            <Aggregate Id="dive">
                <Parallel />
                <Aggregate Id="ThrusterDive">
                    <While>
                        <Arg Name="FastSpeed" />
                        <Gt>
                            <Units:meter_per_second />
                            <Value>0.0</Value>
                        </Gt>
                    </While>
                    <Guidance:Mass>
                        <Parallel />
                        <Setting>
                            <Guidance:Mass.position />
                            <Arg Name="MassDefault" />
                        </Setting>
                    </Guidance:Mass>
                    <Guidance:SetSpeed>
                        <Parallel />
                        <Setting>
                            <Guidance:SetSpeed.speed />
                            <Arg Name="FastSpeed" />
                        </Setting>
                    </Guidance:SetSpeed>
                </Aggregate>
                <Guidance:Pitch>
                    <Parallel />
                    <Setting>
                        <Guidance:Pitch.depth />
                        <Arg Name="Depth" />
                    </Setting>
                </Guidance:Pitch>
            </Aggregate>
        </Aggregate>
        <Aggregate Id="MaintainDepthSlow">
            <While>
                <Not>
                    <IsNaN>
                        <Arg Name="SlowSpeed" />
                    </IsNaN>
                </Not>
                <And>
                    <Arg Name="DiveMode" />
                    <Eq>
                        <Arg Name="MaintainDepth" />
                    </Eq>
                </And>
                <And>
                    <Universal:depth />
                    <Le>
                        <Arg Name="Depth" />
                        <Add>
                            <Arg Name="DepthDeviationSlow" />
                        </Add>
                    </Le>
                </And>
                <And>
                    <Universal:depth />
                    <Ge>
                        <Arg Name="Depth" />
                        <Sub>
                            <Arg Name="DepthDeviationSlow" />
                        </Sub>
                    </Ge>
                </And>
            </While>
            <Guidance:SetSpeed>
                <Parallel />
                <Setting>
                    <Guidance:SetSpeed.speed />
                    <Arg Name="SlowSpeed" />
                </Setting>
            </Guidance:SetSpeed>
            <Assign>
                <Parallel />
                <Control:VerticalControl.depthDeadband />
                <Arg Name="DepthDeviationSlow" />
                <Add>
                    <Units:meter />
                    <Value>3</Value>
                </Add>
            </Assign>
            <Guidance:Buoyancy>
                <Parallel />
                <Setting>
                    <Guidance:Buoyancy.position />
                    <Units:cubic_centimeter />
                    <Value>NaN</Value>
                </Setting>
            </Guidance:Buoyancy>
            <Guidance:Pitch>
                <Parallel />
                <Setting>
                    <Guidance:Pitch.depth />
                    <Arg Name="Depth" />
                </Setting>
            </Guidance:Pitch>
        </Aggregate>
    </Aggregate>
    <Call RefId="SurfaceComms" Id="StartingMission" />
    <Aggregate Id="Lap">
        <Sequence Repeat="Repeat" />
        <Aggregate Id="Dive">
            <While>
                <Not>
                    <Arg Name="DiveMode" />
                    <Eq>
                        <Arg Name="DoingComms" />
                    </Eq>
                </Not>
            </While>
            <Call RefId="DiveCmd" />
        </Aggregate>
        <Aggregate Id="Wpt1">
            <Sequence />
            <Guidance:Waypoint>
                <Sequence />
                <Setting>
                    <Guidance:Waypoint.latitude />
                    <Arg Name="Lat1" />
                </Setting>
                <Setting>
                    <Guidance:Waypoint.longitude />
                    <Arg Name="Lon1" />
                </Setting>
            </Guidance:Waypoint>
        </Aggregate>
        <Aggregate Id="Wpt2">
            <Sequence />
            <Guidance:Waypoint>
                <Sequence />
                <Setting>
                    <Guidance:Waypoint.latitude />
                    <Arg Name="Lat2" />
                </Setting>
                <Setting>
                    <Guidance:Waypoint.longitude />
                    <Arg Name="Lon2" />
                </Setting>
            </Guidance:Waypoint>
        </Aggregate>
        <Aggregate Id="Wpt3">
            <Sequence />
            <Guidance:Waypoint>
                <Sequence />
                <Setting>
                    <Guidance:Waypoint.latitude />
                    <Arg Name="Lat3" />
                </Setting>
                <Setting>
                    <Guidance:Waypoint.longitude />
                    <Arg Name="Lon3" />
                </Setting>
            </Guidance:Waypoint>
        </Aggregate>
        <Aggregate Id="Wpt4">
            <Sequence />
            <Guidance:Waypoint>
                <Sequence />
                <Setting>
                    <Guidance:Waypoint.latitude />
                    <Arg Name="Lat4" />
                </Setting>
                <Setting>
                    <Guidance:Waypoint.longitude />
                    <Arg Name="Lon4" />
                </Setting>
            </Guidance:Waypoint>
        </Aggregate>
        <Aggregate Id="Wpt5">
            <Sequence />
            <Guidance:Waypoint>
                <Sequence />
                <Setting>
                    <Guidance:Waypoint.latitude />
                    <Arg Name="Lat5" />
                </Setting>
                <Setting>
                    <Guidance:Waypoint.longitude />
                    <Arg Name="Lon5" />
                </Setting>
            </Guidance:Waypoint>
        </Aggregate>
        <Aggregate Id="Wpt6">
            <Sequence />
            <Guidance:Waypoint>
                <Sequence />
                <Setting>
                    <Guidance:Waypoint.latitude />
                    <Arg Name="Lat6" />
                </Setting>
                <Setting>
                    <Guidance:Waypoint.longitude />
                    <Arg Name="Lon6" />
                </Setting>
            </Guidance:Waypoint>
        </Aggregate>
        <Aggregate Id="Wpt7">
            <Sequence />
            <Guidance:Waypoint>
                <Sequence />
                <Setting>
                    <Guidance:Waypoint.latitude />
                    <Arg Name="Lat7" />
                </Setting>
                <Setting>
                    <Guidance:Waypoint.longitude />
                    <Arg Name="Lon7" />
                </Setting>
            </Guidance:Waypoint>
        </Aggregate>
    </Aggregate>
</Mission>

2025-03-12T01:02:34.836Z,1741741354.836 [MissionManager](INFO): DefineArg sci2_noyo_optim.MissionTimeout = 2.000000 h
2025-03-12T01:02:34.839Z,1741741354.839 [MissionManager](INFO): DefineArg sci2_noyo_optim.NeedCommsTime = 60.000000 min
2025-03-12T01:02:34.842Z,1741741354.842 [MissionManager](INFO): DefineArg sci2_noyo_optim.Depth = 35.000000 m
2025-03-12T01:02:34.844Z,1741741354.844 [MissionManager](INFO): DefineArg sci2_noyo_optim.Repeat = 1.000000 count
2025-03-12T01:02:34.846Z,1741741354.846 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lat1 = nan arcdeg
2025-03-12T01:02:34.849Z,1741741354.849 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lat2 = nan arcdeg
2025-03-12T01:02:34.851Z,1741741354.851 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lat3 = nan arcdeg
2025-03-12T01:02:34.858Z,1741741354.858 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lat4 = nan arcdeg
2025-03-12T01:02:34.860Z,1741741354.860 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lat5 = nan arcdeg
2025-03-12T01:02:34.862Z,1741741354.862 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lat6 = nan arcdeg
2025-03-12T01:02:34.864Z,1741741354.864 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lat7 = nan arcdeg
2025-03-12T01:02:34.905Z,1741741354.905 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lat8 = nan arcdeg
2025-03-12T01:02:34.907Z,1741741354.907 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lon1 = nan arcdeg
2025-03-12T01:02:34.909Z,1741741354.909 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lon2 = nan arcdeg
2025-03-12T01:02:34.911Z,1741741354.911 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lon3 = nan arcdeg
2025-03-12T01:02:34.913Z,1741741354.913 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lon4 = nan arcdeg
2025-03-12T01:02:34.931Z,1741741354.931 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lon5 = nan arcdeg
2025-03-12T01:02:34.933Z,1741741354.933 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lon6 = nan arcdeg
2025-03-12T01:02:34.936Z,1741741354.936 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lon7 = nan arcdeg
2025-03-12T01:02:34.953Z,1741741354.953 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lon8 = nan arcdeg
2025-03-12T01:02:34.956Z,1741741354.956 [MissionManager](INFO): DefineArg sci2_noyo_optim.FastSpeed = 1.000000 m/s
2025-03-12T01:02:34.958Z,1741741354.958 [MissionManager](INFO): DefineArg sci2_noyo_optim.ApproachDepth = 30.000000 m
2025-03-12T01:02:34.960Z,1741741354.960 [MissionManager](INFO): DefineArg sci2_noyo_optim.ApproachSpeed = 0.700000 m/s
2025-03-12T01:02:34.978Z,1741741354.978 [MissionManager](INFO): DefineArg sci2_noyo_optim.ApproachDepthRate = 0.050000 m/s
2025-03-12T01:02:34.980Z,1741741354.980 [MissionManager](INFO): DefineArg sci2_noyo_optim.ApproachPitchLimit = 20.000000 arcdeg
2025-03-12T01:02:34.983Z,1741741354.983 [MissionManager](INFO): DefineArg sci2_noyo_optim.ApproachDepthTimeout = 15.000000 min
2025-03-12T01:02:34.985Z,1741741354.985 [MissionManager](INFO): DefineArg sci2_noyo_optim.ApproachSettleTimePreDive = 1.000000 min
2025-03-12T01:02:35.003Z,1741741355.003 [MissionManager](INFO): DefineArg sci2_noyo_optim.ApproachSettleTimePostDive = 3.000000 min
2025-03-12T01:02:35.005Z,1741741355.005 [MissionManager](INFO): DefineArg sci2_noyo_optim.kpDepth = 0.070000 rad/m
2025-03-12T01:02:35.008Z,1741741355.008 [MissionManager](INFO): DefineArg sci2_noyo_optim.SlowSpeed = 0.250000 m/s
2025-03-12T01:02:35.022Z,1741741355.022 [MissionManager](INFO): DefineArg sci2_noyo_optim.DepthDeviationSlow = 3.000000 m
2025-03-12T01:02:35.025Z,1741741355.025 [MissionManager](INFO): DefineArg sci2_noyo_optim.BuoyancyNeutral = 277.341827 cc
2025-03-12T01:02:35.032Z,1741741355.032 [MissionManager](INFO): DefineArg sci2_noyo_optim.MassDefault = 0.980754 cm
2025-03-12T01:02:35.038Z,1741741355.038 [MissionManager](INFO): DefineArg sci2_noyo_optim.MinAltitude = 2.000000 m
2025-03-12T01:02:35.041Z,1741741355.041 [MissionManager](INFO): DefineArg sci2_noyo_optim.MaxDepth = 50.000000 m
2025-03-12T01:02:35.079Z,1741741355.079 [MissionManager](INFO): DefineArg sci2_noyo_optim.MinOffshore = 2.000000 km
2025-03-12T01:02:35.082Z,1741741355.082 [MissionManager](INFO): DefineOutput sci2_noyo_optim.DiveMode = 0.000000 count
2025-03-12T01:02:35.088Z,1741741355.088 [MissionManager](INFO): DefineOutput sci2_noyo_optim.DoingComms = 0.000000 count
2025-03-12T01:02:35.098Z,1741741355.098 [MissionManager](INFO): DefineOutput sci2_noyo_optim.InitialDive = 1.000000 count
2025-03-12T01:02:35.120Z,1741741355.120 [MissionManager](INFO): DefineOutput sci2_noyo_optim.SettleAtDepth = 2.000000 count
2025-03-12T01:02:35.131Z,1741741355.131 [MissionManager](INFO): DefineOutput sci2_noyo_optim.MaintainDepth = 3.000000 count
2025-03-12T01:02:35.132Z,1741741355.132 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/Science.tl
2025-03-12T01:02:35.132Z,1741741355.132 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/Science.tl
2025-03-12T01:02:35.151Z,1741741355.151 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/Science.tl
2025-03-12T01:02:37.775Z,1741741357.775 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/Science.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="Science">
    <DefineArg Name="PeakDetectChlActive">
        <False />
    </DefineArg>
    <DefineArg Name="EdgeDetectChlActive">
        <False />
    </DefineArg>
    <DefineArg Name="TimeWindowPeakReport">
        <Units:minute />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="HighestChlPeakReportActive">
        <False />
    </DefineArg>
    <DefineArg Name="HighestSaltPeakReportActive">
        <False />
    </DefineArg>
    <DefineArg Name="HighestOilPeakReportActive">
        <False />
    </DefineArg>
    <DefineArg Name="PatchTracking">
        <False />
    </DefineArg>
    <DefineArg Name="FilterWidthHorizontal">
        <Units:count />
        <Value>3</Value>
    </DefineArg>
    <DefineArg Name="NumProfilesSlidingwindow">
        <Units:count />
        <Value>100</Value>
    </DefineArg>
    <DefineArg Name="OffPeakFractionHorizontal">
        <Units:percent />
        <Value>80</Value>
    </DefineArg>
    <DefineArg Name="PeakDetectNO3Active">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectOilActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectFDOMActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectSalinityActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreLMavgROIActive">
        <False />
    </DefineArg>
    <DefineArg Name="EdgeDetectPlanktivoreLMavgROIActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreHMavgROIActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreDiatomsActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreDinoflagellatesActive">
        <False />
    </DefineArg>
    <DefineArg Name="UpwardDerivativeOfTemperatureActive">
        <False />
    </DefineArg>
    <DefineArg Name="EnabledAanderaaO2">
        <Science:Aanderaa_O2.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledNeilBrown">
        <Science:CTD_NeilBrown.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledSeabird">
        <Science:CTD_Seabird.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledWetLabsBB2FL">
        <Science:WetLabsBB2FL.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledWetLabsSeaOWL_UV_A">
        <Science:WetLabsSeaOWL_UV_A.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledWetLabsUBAT">
        <Science:WetLabsUBAT.loadAtStartup />
    </DefineArg>
    <DefineArg Name="LowPassWindowLength">
        <Units:count />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="MedianFilterLen">
        <Units:count />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="ShallowBound">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="DeepBound">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="DepChangeThreshForAttitudeFlip">
        <Units:meter />
        <Value>2.0</Value>
    </DefineArg>
    <DefineArg Name="OffPeakFractionVertical">
        <Units:percent />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="ChlPeakThresh">
        <Units:microgram_per_liter />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="ChlThreshTriggerActive">
        <False />
    </DefineArg>
    <DefineArg Name="ChlLowerThresh">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="ChlUpperThresh">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="NumProfilesThresh">
        <Units:count />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="PlanktivoreLMavgROIPeakThresh">
        <Units:count_per_second />
        <Value>0</Value>
    </DefineArg>
    <DefineOutput Name="GoDown">
        <True />
    </DefineOutput>
    <DefineOutput Name="PeakChl">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChl">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChlDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChlTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChlLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChlLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3">
        <Units:micromole_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3Depth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3Latitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3Longitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOil">
        <Units:kilogram_per_cubic_meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOilDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOilLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOilLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOM">
        <Units:part_per_billion />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSalt">
        <Units:practical_salinity_unit />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROI">
        <Units:count_per_second />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROIDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROITemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROILatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROILongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROI">
        <Units:count_per_second />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROIDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROITemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROILatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROILongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROI">
        <Units:count_per_second />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROIDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROITemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROILatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROILongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatoms">
        <Units:count_per_milliliter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellates">
        <Units:count_per_milliliter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChl">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlDistance">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSalt">
        <Units:practical_salinity_unit />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltDistance">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOil">
        <Units:practical_salinity_unit />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilDistance">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="TriggeredOnChl">
        <False />
    </DefineOutput>
    <DefineOutput Name="ChlTriggering">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <Parallel />
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledAanderaaO2" />
        </While>
        <Universal:mass_concentration_of_oxygen_in_sea_water />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledNeilBrown" />
            <Or>
                <Arg Name="EnabledSeabird" />
            </Or>
        </While>
        <Universal:sea_water_temperature />
        <Universal:sea_water_salinity />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledSeabird" />
        </While>
        <Science:CTD_Seabird.sea_water_temperature />
        <Science:CTD_Seabird.sea_water_salinity />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledNeilBrown" />
            <Or>
                <Arg Name="EnabledSeabird" />
            </Or>
            <And>
                <Arg Name="UpwardDerivativeOfTemperatureActive" />
            </And>
        </While>
        <Universal:upward_derivative_of_sea_water_temperature />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledWetLabsBB2FL" />
            <Or>
                <Arg Name="PeakDetectChlActive" />
            </Or>
        </While>
        <Universal:mass_concentration_of_chlorophyll_in_sea_water />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledWetLabsUBAT" />
        </While>
        <Science:WetLabsUBAT.average_bioluminescence />
    </ReadData>
    <ReadData Id="Read_Oil" Strategy="MinError">
        <While>
            <Arg Name="EnabledWetLabsSeaOWL_UV_A" />
            <Or>
                <Arg Name="PeakDetectOilActive" />
            </Or>
        </While>
        <Universal:mass_concentration_of_petroleum_hydrocarbons_in_sea_water />
    </ReadData>
    <Aggregate Id="OceanCurrent">
        <Sequence />
        <Estimation:CurrentEstimator>
            <Parallel />
        </Estimation:CurrentEstimator>
    </Aggregate>
    <Aggregate Id="PeakDetectChl">
        <While>
            <Arg Name="PeakDetectChlActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:mass_concentration_of_chlorophyll_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakChl">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakChlDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakChlTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakChlLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakChlLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakChl" />
            <Arg Name="PeakChlDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="EdgeDetectChl">
        <While>
            <Arg Name="EdgeDetectChlActive" />
        </While>
        <Syslog Severity="Debug">EdgeDetectVsDepth</Syslog>
        <Trigger:EdgeDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:EdgeDetectVsDepth.detect />
                <Universal:mass_concentration_of_chlorophyll_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFraction />
                <Arg Name="OffPeakFractionVertical" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.peakThresh />
                <Arg Name="ChlPeakThresh" />
            </Setting>
            <OutputArg Name="GoDown">
                <Trigger:EdgeDetectVsDepth.goDown />
            </OutputArg>
            <OutputArg Name="PeakChl">
                <Trigger:EdgeDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakChlDepth">
                <Trigger:EdgeDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakChlTemperature">
                <Trigger:EdgeDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakChlLatitude">
                <Trigger:EdgeDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakChlLongitude">
                <Trigger:EdgeDetectVsDepth.peakLongitude />
            </OutputArg>
            <OutputArg Name="EdgeChl">
                <Trigger:EdgeDetectVsDepth.edgeDetect />
            </OutputArg>
            <OutputArg Name="EdgeChlDepth">
                <Trigger:EdgeDetectVsDepth.edgeDepth />
            </OutputArg>
            <OutputArg Name="EdgeChlTemperature">
                <Trigger:EdgeDetectVsDepth.edgeTemperature />
            </OutputArg>
            <OutputArg Name="EdgeChlLatitude">
                <Trigger:EdgeDetectVsDepth.edgeLatitude />
            </OutputArg>
            <OutputArg Name="EdgeChlLongitude">
                <Trigger:EdgeDetectVsDepth.edgeLongitude />
            </OutputArg>
        </Trigger:EdgeDetectVsDepth>
        <Syslog Severity="Info">
            GoDown, ChlPeakThresh, PeakChl, PeakChlDepth, EdgeChl, EdgeChlDepth = 
            <Arg Name="GoDown" />
            <Units:bool />
            , 
            <Arg Name="ChlPeakThresh" />
            <Units:microgram_per_liter />
            , 
            <Arg Name="PeakChl" />
            <Units:microgram_per_liter />
            , 
            <Arg Name="PeakChlDepth" />
            <Units:meter />
            , 
            <Arg Name="EdgeChl" />
            <Units:microgram_per_liter />
            , 
            <Arg Name="EdgeChlDepth" />
            <Units:meter />
        </Syslog>
        <SendData Service="Express">
            <Arg Name="PeakChl" />
            <Arg Name="PeakChlDepth" />
            <Arg Name="EdgeChl" />
            <Arg Name="EdgeChlDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="HighestChlPeakReport">
        <While>
            <Arg Name="HighestChlPeakReportActive" />
        </While>
        <Trigger:PeakDetectHorizontal>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectHorizontal.detectFrom />
                <Arg Name="PeakChl" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.depthFrom />
                <Arg Name="PeakChlDepth" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.latitudeFrom />
                <Arg Name="PeakChlLatitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.longitudeFrom />
                <Arg Name="PeakChlLongitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.patchTracking />
                <Arg Name="PatchTracking" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.filterWidth />
                <Arg Name="FilterWidthHorizontal" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.numProfilesSlidingwindow />
                <Arg Name="NumProfilesSlidingwindow" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.offPeakFraction />
                <Arg Name="OffPeakFractionHorizontal" />
            </Setting>
            <OutputArg Name="PatchChl">
                <Trigger:PeakDetectHorizontal.peakDetect />
            </OutputArg>
            <OutputArg Name="PatchChlDepth">
                <Trigger:PeakDetectHorizontal.peakDepth />
            </OutputArg>
            <OutputArg Name="PatchChlLatitude">
                <Trigger:PeakDetectHorizontal.peakLatitude />
            </OutputArg>
            <OutputArg Name="PatchChlLongitude">
                <Trigger:PeakDetectHorizontal.peakLongitude />
            </OutputArg>
            <OutputArg Name="PatchChlDistance">
                <Trigger:PeakDetectHorizontal.peakDistance />
            </OutputArg>
        </Trigger:PeakDetectHorizontal>
    </Aggregate>
    <Aggregate Id="PeakDetectNO3">
        <While>
            <Arg Name="PeakDetectNO3Active" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:mole_concentration_of_nitrate_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <OutputArg Name="PeakNO3">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakNO3Depth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakNO3Latitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakNO3Longitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakNO3" />
            <Arg Name="PeakNO3Depth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectOil">
        <While>
            <Arg Name="PeakDetectOilActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:mass_concentration_of_petroleum_hydrocarbons_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <OutputArg Name="PeakOil">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakOilDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakOilLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakOilLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakOil" />
            <Arg Name="PeakOilDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="HighestOilPeakReport">
        <While>
            <Arg Name="HighestOilPeakReportActive" />
        </While>
        <Trigger:PeakDetectHorizontal>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectHorizontal.detectFrom />
                <Arg Name="PeakOil" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.depthFrom />
                <Arg Name="PeakOilDepth" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.latitudeFrom />
                <Arg Name="PeakOilLatitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.longitudeFrom />
                <Arg Name="PeakOilLongitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.patchTracking />
                <Arg Name="PatchTracking" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.filterWidth />
                <Arg Name="FilterWidthHorizontal" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.numProfilesSlidingwindow />
                <Arg Name="NumProfilesSlidingwindow" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.offPeakFraction />
                <Arg Name="OffPeakFractionHorizontal" />
            </Setting>
            <OutputArg Name="PatchOil">
                <Trigger:PeakDetectHorizontal.peakDetect />
            </OutputArg>
            <OutputArg Name="PatchOilDepth">
                <Trigger:PeakDetectHorizontal.peakDepth />
            </OutputArg>
            <OutputArg Name="PatchOilLatitude">
                <Trigger:PeakDetectHorizontal.peakLatitude />
            </OutputArg>
            <OutputArg Name="PatchOilLongitude">
                <Trigger:PeakDetectHorizontal.peakLongitude />
            </OutputArg>
            <OutputArg Name="PatchOilDistance">
                <Trigger:PeakDetectHorizontal.peakDistance />
            </OutputArg>
        </Trigger:PeakDetectHorizontal>
    </Aggregate>
    <Aggregate Id="PeakDetectFDOM">
        <While>
            <Arg Name="PeakDetectFDOMActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:concentration_of_colored_dissolved_organic_matter_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <OutputArg Name="PeakFDOM">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakFDOMDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakFDOMTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakFDOMLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakFDOMLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakFDOM" />
            <Arg Name="PeakFDOMDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectSalinity">
        <While>
            <Arg Name="PeakDetectSalinityActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:sea_water_salinity />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakSalt">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakSaltDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakSaltTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakSaltLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakSaltLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakSalt" />
            <Arg Name="PeakSaltDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="HighestSaltPeakReport">
        <While>
            <Arg Name="HighestSaltPeakReportActive" />
        </While>
        <Trigger:PeakDetectHorizontal>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectHorizontal.detectFrom />
                <Arg Name="PeakSalt" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.depthFrom />
                <Arg Name="PeakSaltDepth" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.latitudeFrom />
                <Arg Name="PeakSaltLatitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.longitudeFrom />
                <Arg Name="PeakSaltLongitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.patchTracking />
                <Arg Name="PatchTracking" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.filterWidth />
                <Arg Name="FilterWidthHorizontal" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.numProfilesSlidingwindow />
                <Arg Name="NumProfilesSlidingwindow" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.offPeakFraction />
                <Arg Name="OffPeakFractionHorizontal" />
            </Setting>
            <OutputArg Name="PatchSalt">
                <Trigger:PeakDetectHorizontal.peakDetect />
            </OutputArg>
            <OutputArg Name="PatchSaltDepth">
                <Trigger:PeakDetectHorizontal.peakDepth />
            </OutputArg>
            <OutputArg Name="PatchSaltLatitude">
                <Trigger:PeakDetectHorizontal.peakLatitude />
            </OutputArg>
            <OutputArg Name="PatchSaltLongitude">
                <Trigger:PeakDetectHorizontal.peakLongitude />
            </OutputArg>
            <OutputArg Name="PatchSaltDistance">
                <Trigger:PeakDetectHorizontal.peakDistance />
            </OutputArg>
        </Trigger:PeakDetectHorizontal>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreLMavgROI">
        <While>
            <Arg Name="PeakDetectPlanktivoreLMavgROIActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_LM_AvgRois</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreLMavgROI">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROIDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROITemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROILatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROILongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreLMavgROI" />
            <Arg Name="PeakPlanktivoreLMavgROIDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="EdgeDetectPlanktivoreLMavgROI">
        <While>
            <Arg Name="EdgeDetectPlanktivoreLMavgROIActive" />
        </While>
        <Syslog Severity="Debug">EdgeDetectVsDepth</Syslog>
        <Trigger:EdgeDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:EdgeDetectVsDepth.detect />
                <String>_.planktivore_LM_AvgRois</String>
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFraction />
                <Arg Name="OffPeakFractionVertical" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.peakThresh />
                <Arg Name="PlanktivoreLMavgROIPeakThresh" />
            </Setting>
            <OutputArg Name="GoDown">
                <Trigger:EdgeDetectVsDepth.goDown />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROI">
                <Trigger:EdgeDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROIDepth">
                <Trigger:EdgeDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROITemperature">
                <Trigger:EdgeDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROILatitude">
                <Trigger:EdgeDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROILongitude">
                <Trigger:EdgeDetectVsDepth.peakLongitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROI">
                <Trigger:EdgeDetectVsDepth.edgeDetect />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROIDepth">
                <Trigger:EdgeDetectVsDepth.edgeDepth />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROITemperature">
                <Trigger:EdgeDetectVsDepth.edgeTemperature />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROILatitude">
                <Trigger:EdgeDetectVsDepth.edgeLatitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROILongitude">
                <Trigger:EdgeDetectVsDepth.edgeLongitude />
            </OutputArg>
        </Trigger:EdgeDetectVsDepth>
        <Syslog Severity="Important">
            GoDown, PlanktivoreLMavgROIPeakThresh, PeakPlanktivoreLMavgROI, PeakPlanktivoreLMavgROIDepth, EdgePlanktivoreLMavgROI, EdgePlanktivoreLMavgROIDepth = 
            <Arg Name="GoDown" />
            <Units:bool />
            , 
            <Arg Name="PlanktivoreLMavgROIPeakThresh" />
            <Units:microgram_per_liter />
            , 
            <Arg Name="PeakPlanktivoreLMavgROI" />
            <Units:microgram_per_liter />
            , 
            <Arg Name="PeakPlanktivoreLMavgROIDepth" />
            <Units:meter />
            , 
            <Arg Name="EdgePlanktivoreLMavgROI" />
            <Units:microgram_per_liter />
            , 
            <Arg Name="EdgePlanktivoreLMavgROIDepth" />
            <Units:meter />
        </Syslog>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreLMavgROI" />
            <Arg Name="PeakPlanktivoreLMavgROIDepth" />
            <Arg Name="EdgePlanktivoreLMavgROI" />
            <Arg Name="EdgePlanktivoreLMavgROIDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreHMavgROI">
        <While>
            <Arg Name="PeakDetectPlanktivoreHMavgROIActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_HM_AvgRois</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreHMavgROI">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROIDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROITemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROILatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROILongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreHMavgROI" />
            <Arg Name="PeakPlanktivoreHMavgROIDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreDiatoms">
        <While>
            <Arg Name="PeakDetectPlanktivoreDiatomsActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_diatoms</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreDiatoms">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreDiatoms" />
            <Arg Name="PeakPlanktivoreDiatomsDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreDinoflagellates">
        <While>
            <Arg Name="PeakDetectPlanktivoreDinoflagellatesActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_dinoflagellates</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreDinoflagellates">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreDinoflagellates" />
            <Arg Name="PeakPlanktivoreDinoflagellatesDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="ChlThreshTrigger">
        <While>
            <Arg Name="ChlThreshTriggerActive" />
        </While>
        <Trigger:ValueDetect>
            <Sequence />
            <Setting>
                <Trigger:ValueDetect.detect />
                <Arg Name="PeakChl" />
            </Setting>
            <Setting>
                <Trigger:ValueDetect.lowerThreshold />
                <Arg Name="ChlLowerThresh" />
            </Setting>
            <Setting>
                <Trigger:ValueDetect.upperThreshold />
                <Arg Name="ChlUpperThresh" />
            </Setting>
            <Setting>
                <Trigger:ValueDetect.numProfilesThreshold />
                <Arg Name="NumProfilesThresh" />
            </Setting>
            <OutputArg Name="ChlTriggering">
                <Trigger:ValueDetect.outputValue />
            </OutputArg>
        </Trigger:ValueDetect>
        <Assign>
            <Sequence />
            <Arg Name="TriggeredOnChl" />
            <True />
        </Assign>
        <Syslog Severity="Important">
            Triggered. PeakChl values on 
            <Arg Name="NumProfilesThresh" />
            <Units:count />
             consecutive yo-yo profiles fall in [
            <Arg Name="ChlLowerThresh" />
            <Units:microgram_per_liter />
            <Arg Name="ChlUpperThresh" />
            <Units:microgram_per_liter />
            ] (NaN bound is ignored).
        </Syslog>
    </Aggregate>
</Aggregate>

2025-03-12T01:02:37.806Z,1741741357.806 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.PeakDetectChlActive = 0 bool
2025-03-12T01:02:37.807Z,1741741357.807 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.EdgeDetectChlActive = 0 bool
2025-03-12T01:02:37.809Z,1741741357.809 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.TimeWindowPeakReport = nan min
2025-03-12T01:02:37.811Z,1741741357.811 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.HighestChlPeakReportActive = 0 bool
2025-03-12T01:02:37.813Z,1741741357.813 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.HighestSaltPeakReportActive = 0 bool
2025-03-12T01:02:37.815Z,1741741357.815 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.HighestOilPeakReportActive = 0 bool
2025-03-12T01:02:37.817Z,1741741357.817 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.PatchTracking = 0 bool
2025-03-12T01:02:37.819Z,1741741357.819 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.FilterWidthHorizontal = 3.000000 count
2025-03-12T01:02:37.821Z,1741741357.821 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.NumProfilesSlidingwindow = 100.000000 count
2025-03-12T01:02:37.823Z,1741741357.823 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.OffPeakFractionHorizontal = 80.000000 %
2025-03-12T01:02:37.825Z,1741741357.825 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.PeakDetectNO3Active = 0 bool
2025-03-12T01:02:37.827Z,1741741357.827 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.PeakDetectOilActive = 0 bool
2025-03-12T01:02:37.829Z,1741741357.829 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.PeakDetectFDOMActive = 0 bool
2025-03-12T01:02:37.831Z,1741741357.831 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.PeakDetectSalinityActive = 0 bool
2025-03-12T01:02:37.833Z,1741741357.833 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.PeakDetectPlanktivoreLMavgROIActive = 0 bool
2025-03-12T01:02:37.835Z,1741741357.835 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.EdgeDetectPlanktivoreLMavgROIActive = 0 bool
2025-03-12T01:02:37.837Z,1741741357.837 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.PeakDetectPlanktivoreHMavgROIActive = 0 bool
2025-03-12T01:02:37.839Z,1741741357.839 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.PeakDetectPlanktivoreDiatomsActive = 0 bool
2025-03-12T01:02:37.841Z,1741741357.841 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.PeakDetectPlanktivoreDinoflagellatesActive = 0 bool
2025-03-12T01:02:37.911Z,1741741357.911 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2025-03-12T01:02:37.913Z,1741741357.913 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.EnabledAanderaaO2 = 0 bool
2025-03-12T01:02:37.935Z,1741741357.935 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.EnabledNeilBrown = 0 bool
2025-03-12T01:02:37.938Z,1741741357.938 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.EnabledSeabird = 1 bool
2025-03-12T01:02:37.956Z,1741741357.956 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.EnabledWetLabsBB2FL = 1 bool
2025-03-12T01:02:37.967Z,1741741357.967 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.EnabledWetLabsSeaOWL_UV_A = 0 bool
2025-03-12T01:02:37.970Z,1741741357.970 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.EnabledWetLabsUBAT = 0 bool
2025-03-12T01:02:37.980Z,1741741357.980 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.LowPassWindowLength = 20.000000 count
2025-03-12T01:02:37.991Z,1741741357.991 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.MedianFilterLen = 5.000000 count
2025-03-12T01:02:37.993Z,1741741357.993 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.ShallowBound = nan m
2025-03-12T01:02:38.004Z,1741741358.004 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.DeepBound = nan m
2025-03-12T01:02:38.011Z,1741741358.011 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.DepChangeThreshForAttitudeFlip = 2.000000 m
2025-03-12T01:02:38.014Z,1741741358.014 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.OffPeakFractionVertical = nan %
2025-03-12T01:02:38.020Z,1741741358.020 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.ChlPeakThresh = 0.000000 ug/l
2025-03-12T01:02:38.026Z,1741741358.026 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.ChlThreshTriggerActive = 0 bool
2025-03-12T01:02:38.028Z,1741741358.028 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.ChlLowerThresh = nan ug/l
2025-03-12T01:02:38.039Z,1741741358.039 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.ChlUpperThresh = nan ug/l
2025-03-12T01:02:38.041Z,1741741358.041 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.NumProfilesThresh = 5.000000 count
2025-03-12T01:02:38.053Z,1741741358.053 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.PlanktivoreLMavgROIPeakThresh = 0.000000 count/s
2025-03-12T01:02:38.063Z,1741741358.063 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.GoDown = 1 bool
2025-03-12T01:02:38.066Z,1741741358.066 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakChl = nan ug/l
2025-03-12T01:02:38.068Z,1741741358.068 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakChlDepth = nan m
2025-03-12T01:02:38.074Z,1741741358.074 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakChlTemperature = nan degC
2025-03-12T01:02:38.080Z,1741741358.080 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakChlLatitude = nan arcdeg
2025-03-12T01:02:38.086Z,1741741358.086 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakChlLongitude = nan arcdeg
2025-03-12T01:02:38.089Z,1741741358.089 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.EdgeChl = nan ug/l
2025-03-12T01:02:38.095Z,1741741358.095 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.EdgeChlDepth = nan m
2025-03-12T01:02:38.097Z,1741741358.097 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.EdgeChlTemperature = nan degC
2025-03-12T01:02:38.105Z,1741741358.105 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.EdgeChlLatitude = nan arcdeg
2025-03-12T01:02:38.119Z,1741741358.119 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.EdgeChlLongitude = nan arcdeg
2025-03-12T01:02:38.121Z,1741741358.121 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakNO3 = nan umol/l
2025-03-12T01:02:38.124Z,1741741358.124 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakNO3Depth = nan m
2025-03-12T01:02:38.130Z,1741741358.130 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakNO3Latitude = nan arcdeg
2025-03-12T01:02:38.132Z,1741741358.132 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakNO3Longitude = nan arcdeg
2025-03-12T01:02:38.143Z,1741741358.143 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakOil = nan kg/m3
2025-03-12T01:02:38.145Z,1741741358.145 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakOilDepth = nan m
2025-03-12T01:02:38.152Z,1741741358.152 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakOilLatitude = nan arcdeg
2025-03-12T01:02:38.158Z,1741741358.158 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakOilLongitude = nan arcdeg
2025-03-12T01:02:38.160Z,1741741358.160 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakFDOM = nan ppb
2025-03-12T01:02:38.163Z,1741741358.163 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakFDOMDepth = nan m
2025-03-12T01:02:38.165Z,1741741358.165 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakFDOMTemperature = nan degC
2025-03-12T01:02:38.176Z,1741741358.176 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakFDOMLatitude = nan arcdeg
2025-03-12T01:02:38.182Z,1741741358.182 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakFDOMLongitude = nan arcdeg
2025-03-12T01:02:38.184Z,1741741358.184 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakSalt = nan psu
2025-03-12T01:02:38.191Z,1741741358.191 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakSaltDepth = nan m
2025-03-12T01:02:38.193Z,1741741358.193 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakSaltTemperature = nan degC
2025-03-12T01:02:38.216Z,1741741358.216 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakSaltLatitude = nan arcdeg
2025-03-12T01:02:38.222Z,1741741358.222 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakSaltLongitude = nan arcdeg
2025-03-12T01:02:38.225Z,1741741358.225 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreLMavgROI = nan count/s
2025-03-12T01:02:38.239Z,1741741358.239 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreLMavgROIDepth = nan m
2025-03-12T01:02:38.241Z,1741741358.241 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreLMavgROITemperature = nan degC
2025-03-12T01:02:38.251Z,1741741358.251 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreLMavgROILatitude = nan arcdeg
2025-03-12T01:02:38.254Z,1741741358.254 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreLMavgROILongitude = nan arcdeg
2025-03-12T01:02:38.256Z,1741741358.256 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.EdgePlanktivoreLMavgROI = nan count/s
2025-03-12T01:02:38.307Z,1741741358.307 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.EdgePlanktivoreLMavgROIDepth = nan m
2025-03-12T01:02:38.309Z,1741741358.309 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.EdgePlanktivoreLMavgROITemperature = nan degC
2025-03-12T01:02:38.328Z,1741741358.328 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.EdgePlanktivoreLMavgROILatitude = nan arcdeg
2025-03-12T01:02:38.337Z,1741741358.337 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.EdgePlanktivoreLMavgROILongitude = nan arcdeg
2025-03-12T01:02:38.339Z,1741741358.339 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreHMavgROI = nan count/s
2025-03-12T01:02:38.342Z,1741741358.342 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreHMavgROIDepth = nan m
2025-03-12T01:02:38.352Z,1741741358.352 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreHMavgROITemperature = nan degC
2025-03-12T01:02:38.357Z,1741741358.357 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreHMavgROILatitude = nan arcdeg
2025-03-12T01:02:38.372Z,1741741358.372 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreHMavgROILongitude = nan arcdeg
2025-03-12T01:02:38.382Z,1741741358.382 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreDiatoms = nan count/ml
2025-03-12T01:02:38.385Z,1741741358.385 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreDiatomsDepth = nan m
2025-03-12T01:02:38.391Z,1741741358.391 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreDiatomsTemperature = nan degC
2025-03-12T01:02:38.393Z,1741741358.393 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreDiatomsLatitude = nan arcdeg
2025-03-12T01:02:38.400Z,1741741358.400 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreDiatomsLongitude = nan arcdeg
2025-03-12T01:02:38.407Z,1741741358.407 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreDinoflagellates = nan count/ml
2025-03-12T01:02:38.409Z,1741741358.409 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreDinoflagellatesDepth = nan m
2025-03-12T01:02:38.417Z,1741741358.417 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreDinoflagellatesTemperature = nan degC
2025-03-12T01:02:38.434Z,1741741358.434 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreDinoflagellatesLatitude = nan arcdeg
2025-03-12T01:02:38.436Z,1741741358.436 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreDinoflagellatesLongitude = nan arcdeg
2025-03-12T01:02:38.447Z,1741741358.447 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchChl = nan ug/l
2025-03-12T01:02:38.449Z,1741741358.449 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchChlDepth = nan m
2025-03-12T01:02:38.464Z,1741741358.464 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchChlLatitude = nan arcdeg
2025-03-12T01:02:38.470Z,1741741358.470 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchChlLongitude = nan arcdeg
2025-03-12T01:02:38.473Z,1741741358.473 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchChlDistance = nan m
2025-03-12T01:02:38.475Z,1741741358.475 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchSalt = nan psu
2025-03-12T01:02:38.477Z,1741741358.477 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchSaltDepth = nan m
2025-03-12T01:02:38.492Z,1741741358.492 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchSaltLatitude = nan arcdeg
2025-03-12T01:02:38.494Z,1741741358.494 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchSaltLongitude = nan arcdeg
2025-03-12T01:02:38.496Z,1741741358.496 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchSaltDistance = nan m
2025-03-12T01:02:38.517Z,1741741358.517 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchOil = nan psu
2025-03-12T01:02:38.519Z,1741741358.519 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchOilDepth = nan m
2025-03-12T01:02:38.522Z,1741741358.522 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchOilLatitude = nan arcdeg
2025-03-12T01:02:38.524Z,1741741358.524 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchOilLongitude = nan arcdeg
2025-03-12T01:02:38.548Z,1741741358.548 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchOilDistance = nan m
2025-03-12T01:02:38.556Z,1741741358.556 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.TriggeredOnChl = 0 bool
2025-03-12T01:02:38.558Z,1741741358.558 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.ChlTriggering = nan ug/l
2025-03-12T01:02:38.595Z,1741741358.595 [sci2_noyo_optim:Science:PeakDetectChl:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-03-12T01:02:38.629Z,1741741358.629 [sci2_noyo_optim:Science:EdgeDetectChl:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-03-12T01:02:38.677Z,1741741358.677 [sci2_noyo_optim:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-03-12T01:02:38.751Z,1741741358.751 [sci2_noyo_optim:Science:PeakDetectNO3:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-03-12T01:02:38.791Z,1741741358.791 [sci2_noyo_optim:Science:PeakDetectOil:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-03-12T01:02:38.809Z,1741741358.809 [sci2_noyo_optim:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-03-12T01:02:38.830Z,1741741358.830 [sci2_noyo_optim:Science:PeakDetectFDOM:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-03-12T01:02:38.873Z,1741741358.873 [sci2_noyo_optim:Science:PeakDetectSalinity:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-03-12T01:02:38.915Z,1741741358.915 [sci2_noyo_optim:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-03-12T01:02:38.952Z,1741741358.952 [sci2_noyo_optim:Science:PeakDetectPlanktivoreLMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-03-12T01:02:38.989Z,1741741358.989 [sci2_noyo_optim:Science:EdgeDetectPlanktivoreLMavgROI:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-03-12T01:02:39.042Z,1741741359.042 [sci2_noyo_optim:Science:PeakDetectPlanktivoreHMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-03-12T01:02:39.126Z,1741741359.126 [sci2_noyo_optim:Science:PeakDetectPlanktivoreDiatoms:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-03-12T01:02:39.166Z,1741741359.166 [sci2_noyo_optim:Science:PeakDetectPlanktivoreDinoflagellates:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-03-12T01:02:39.194Z,1741741359.194 [sci2_noyo_optim:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Construct ValueDetect.
2025-03-12T01:02:39.205Z,1741741359.205 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-03-12T01:02:39.205Z,1741741359.205 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-03-12T01:02:39.210Z,1741741359.210 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-03-12T01:02:39.312Z,1741741359.312 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/StandardEnvelopes.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="StandardEnvelopes">
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="MaxDepthIgnore">
        <Units:meter />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>200</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:meter />
        <Value>2000</Value>
    </DefineArg>
    <Parallel />
    <Guidance:AltitudeEnvelope>
        <Parallel />
        <Setting>
            <Guidance:AltitudeEnvelope.minAltitude />
            <Arg Name="MinAltitude" />
        </Setting>
        <Setting>
            <Guidance:AltitudeEnvelope.maxDepthIgnore />
            <Arg Name="MaxDepthIgnore" />
        </Setting>
    </Guidance:AltitudeEnvelope>
    <Guidance:DepthEnvelope>
        <Parallel />
        <Setting>
            <Guidance:DepthEnvelope.maxDepth />
            <Arg Name="MaxDepth" />
        </Setting>
    </Guidance:DepthEnvelope>
    <Guidance:OffshoreEnvelope>
        <Parallel />
        <Setting>
            <Guidance:OffshoreEnvelope.minOffshore />
            <Arg Name="MinOffshore" />
        </Setting>
    </Guidance:OffshoreEnvelope>
</Aggregate>

2025-03-12T01:02:39.316Z,1741741359.316 [MissionManager](INFO): DefineArg sci2_noyo_optim:StandardEnvelopes.MinAltitude = 5.000000 m
2025-03-12T01:02:39.318Z,1741741359.318 [MissionManager](INFO): DefineArg sci2_noyo_optim:StandardEnvelopes.MaxDepthIgnore = 0.000000 m
2025-03-12T01:02:39.320Z,1741741359.320 [MissionManager](INFO): DefineArg sci2_noyo_optim:StandardEnvelopes.MaxDepth = 200.000000 m
2025-03-12T01:02:39.322Z,1741741359.322 [MissionManager](INFO): DefineArg sci2_noyo_optim:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-03-12T01:02:39.323Z,1741741359.323 [sci2_noyo_optim:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-03-12T01:02:39.329Z,1741741359.329 [sci2_noyo_optim:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-03-12T01:02:39.362Z,1741741359.362 [sci2_noyo_optim:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-03-12T01:02:39.371Z,1741741359.371 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl
2025-03-12T01:02:39.371Z,1741741359.371 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl
2025-03-12T01:02:39.373Z,1741741359.373 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl
2025-03-12T01:02:39.618Z,1741741359.618 [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>

2025-03-12T01:02:39.623Z,1741741359.623 [MissionManager](INFO): DefineArg sci2_noyo_optim:NeedComms.DiveInterval = 1.000000 h
2025-03-12T01:02:39.625Z,1741741359.625 [MissionManager](INFO): DefineArg sci2_noyo_optim:NeedComms.WaitForPitchUp = 10.000000 min
2025-03-12T01:02:39.627Z,1741741359.627 [MissionManager](INFO): DefineArg sci2_noyo_optim:NeedComms.SurfacePitch = 20.000000 arcdeg
2025-03-12T01:02:39.629Z,1741741359.629 [MissionManager](INFO): DefineArg sci2_noyo_optim:NeedComms.SurfaceDepthRate = nan m/s
2025-03-12T01:02:39.632Z,1741741359.632 [MissionManager](INFO): DefineArg sci2_noyo_optim:NeedComms.SurfaceSpeed = 1.000000 m/s
2025-03-12T01:02:39.634Z,1741741359.634 [MissionManager](INFO): DefineArg sci2_noyo_optim:NeedComms.SurfacingTimeout = 1000.000000 s
2025-03-12T01:02:39.641Z,1741741359.641 [MissionManager](INFO): DefineArg sci2_noyo_optim:NeedComms.GPSTimeout = 7.000000 min
2025-03-12T01:02:39.672Z,1741741359.672 [MissionManager](INFO): DefineArg sci2_noyo_optim:NeedComms.CommsTimeout = 30.000000 min
2025-03-12T01:02:39.685Z,1741741359.685 [sci2_noyo_optim:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2025-03-12T01:02:39.713Z,1741741359.713 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2025-03-12T01:02:39.714Z,1741741359.714 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2025-03-12T01:02:39.715Z,1741741359.715 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2025-03-12T01:02:39.734Z,1741741359.734 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/BackseatDriver.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="BackseatDriver">
    <DefineArg Name="EnableBackseat">
        <False />
    </DefineArg>
    <Parallel />
    <Guidance:BackseatDriver>
        <Sequence />
        <Setting>
            <Guidance:BackseatDriver.powerBackseat />
            <Arg Name="EnableBackseat" />
        </Setting>
    </Guidance:BackseatDriver>
</Aggregate>

2025-03-12T01:02:39.737Z,1741741359.737 [MissionManager](INFO): DefineArg sci2_noyo_optim:BackseatDriver.EnableBackseat = 0 bool
2025-03-12T01:02:39.740Z,1741741359.740 [sci2_noyo_optim:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2025-03-12T01:02:39.744Z,1741741359.744 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2025-03-12T01:02:39.744Z,1741741359.744 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2025-03-12T01:02:39.745Z,1741741359.745 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2025-03-12T01:02:39.865Z,1741741359.865 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/PowerOnly.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="PowerOnly">
    <DefineArg Name="SampleAll">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad1">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad2">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad3">
        <False />
    </DefineArg>
    <DefineArg Name="EnabledPowerOnly">
        <Sensor:PowerOnly.loadAtStartup />
    </DefineArg>
    <Parallel />
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleAll" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.samplePowerOnly />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad1" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad1 />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad2" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad2 />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad3" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad3 />
    </ReadData>
    <Guidance:Wait>
        <Sequence />
        <Setting>
            <Guidance:Wait.duration />
            <Units:hour />
            <Value>99999</Value>
        </Setting>
    </Guidance:Wait>
</Aggregate>

2025-03-12T01:02:39.869Z,1741741359.869 [MissionManager](INFO): DefineArg sci2_noyo_optim:PowerOnly.SampleAll = 0 bool
2025-03-12T01:02:39.871Z,1741741359.871 [MissionManager](INFO): DefineArg sci2_noyo_optim:PowerOnly.SampleLoad1 = 0 bool
2025-03-12T01:02:39.873Z,1741741359.873 [MissionManager](INFO): DefineArg sci2_noyo_optim:PowerOnly.SampleLoad2 = 0 bool
2025-03-12T01:02:39.875Z,1741741359.875 [MissionManager](INFO): DefineArg sci2_noyo_optim:PowerOnly.SampleLoad3 = 0 bool
2025-03-12T01:02:39.877Z,1741741359.877 [MissionManager](INFO): DefineArg sci2_noyo_optim:PowerOnly.EnabledPowerOnly = 1 bool
2025-03-12T01:02:39.885Z,1741741359.885 [sci2_noyo_optim:PowerOnly:E.Wait](DEBUG): Construct Wait.
2025-03-12T01:02:39.887Z,1741741359.887 [sci2_noyo_optim:L.Buoyancy](DEBUG): Construct Buoyancy.
2025-03-12T01:02:39.964Z,1741741359.964 [sci2_noyo_optim:DiveCmd:InitialDive:dive:C.Mass](DEBUG): Construct.
2025-03-12T01:02:39.976Z,1741741359.976 [sci2_noyo_optim:DiveCmd:InitialDive:dive:E.Wait](DEBUG): Construct Wait.
2025-03-12T01:02:39.987Z,1741741359.987 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:A.SetSpeed](DEBUG): Construct.
2025-03-12T01:02:39.992Z,1741741359.992 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:B.Pitch](DEBUG): Construct.
2025-03-12T01:02:40.009Z,1741741360.009 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:B.Pitch:A_Timeout:B.Execute](DEBUG): Construct Execute.
2025-03-12T01:02:40.031Z,1741741360.031 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:B.Pitch](DEBUG): Construct.
2025-03-12T01:02:40.040Z,1741741360.040 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:C.Wait](DEBUG): Construct Wait.
2025-03-12T01:02:40.052Z,1741741360.052 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass](DEBUG): Construct.
2025-03-12T01:02:40.055Z,1741741360.055 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed](DEBUG): Construct.
2025-03-12T01:02:40.057Z,1741741360.057 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:B.Pitch](DEBUG): Construct.
2025-03-12T01:02:40.065Z,1741741360.065 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:A.SetSpeed](DEBUG): Construct.
2025-03-12T01:02:40.078Z,1741741360.078 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:C.Buoyancy](DEBUG): Construct Buoyancy.
2025-03-12T01:02:40.081Z,1741741360.081 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:D.Pitch](DEBUG): Construct.
2025-03-12T01:02:40.089Z,1741741360.089 [sci2_noyo_optim:Lap:Wpt1:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T01:02:40.095Z,1741741360.095 [sci2_noyo_optim:Lap:Wpt2:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T01:02:40.100Z,1741741360.100 [sci2_noyo_optim:Lap:Wpt3:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T01:02:40.106Z,1741741360.106 [sci2_noyo_optim:Lap:Wpt4:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T01:02:40.111Z,1741741360.111 [sci2_noyo_optim:Lap:Wpt5:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T01:02:40.116Z,1741741360.116 [sci2_noyo_optim:Lap:Wpt6:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T01:02:40.121Z,1741741360.121 [sci2_noyo_optim:Lap:Wpt7:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T01:02:40.186Z,1741741360.186 [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 sci2_noyo_optim {
  """
  Vehicle transits to the specified waypoints at the commanded depth
  (flat-and-level, no yoyos) with science, Optim camera, and multiray
  lights on.
  """

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

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

    Depth = 35 meter
      """
      Depth of flat and level flight during the mission.
      """

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

    Lat[1..8] = NaN degree
      """
      Latitude of waypoint {$}. If nan, waypoint is skipped.
      """

    Lon[1..8] = NaN degree
      """
      Longitude of waypoint {$}. If nan, waypoint is skipped.
      """

    FastSpeed = 1 meter_per_second
      """
      Speed while transiting to waypoint.
      """

    ApproachDepth = 30 meter
      """
      Depth for initial descent form the surface.
      """

    ApproachSpeed = 0.7 meter_per_second
      """
      Speed while descending to target depth.
      """

    ApproachDepthRate = 0.05 meter_per_second
      """
      Descent depth rate (Positive depth rate means going down).
      """

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

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

    ApproachSettleTimePreDive = 1 minute
      """
      Time duration for the vehicle to pump down the VBS *BEFORE* leaving the
      surface.
      """

    ApproachSettleTimePostDive = 3 minute
      """
      Time duration for the vehicle to settle *AFTER* reaching the target
      depth.
      """

    kpDepth = 0.07 radian_per_meter
      """
      Dive loop proportional gain (applied only while the vehicle is
      descending to target depth).
      """

    SlowSpeed = 0.25 meter_per_second
      """
      Set this to something other than Nan if slow speed filming with a
      wide depth deadband is desired.
      """

    DepthDeviationSlow = 3 meter
      """
      Allowable +/- deviation from depth during slow flight. Needs a SlowSpeed
      to be set.
      """

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

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

    MinAltitude = 2 meter
      """
      Minimum height above the sea floor for the entire mission.
      """

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

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

  output {
    DiveMode = 0 count
      """
      Mission variable (don't change). The mission sets this variable to
      switch between dive modes. Initialized to DoingComms.
      """

    DoingComms = 0 count
      """
      Mission variable (don't change). The mission will run in this to mode
      when doing surface comms.
      """

    InitialDive = 1 count
      """
      Mission variable (don't change). The mission will run in this mode after
      surface comms are done to dive the vehicle to the approach depth.
      """

    SettleAtDepth = 2 count
      """
      Mission variable (don't change). The mission will run in this mode to
      settle the vehicle at the target depth.
      """

    MaintainDepth = 3 count
      """
      Mission variable (don't change). The mission will run in this mode to
      maintain the vehicle at the target depth.
      """
  }

  # Mission timeout

  timeout duration=MissionTimeout

  # Science!

  insert Insert/Science.tl {
    """
    Run the science sensors.
    """
  }

  # 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 = MissionTimeout

  assign in sequence NeedComms:WaitForPitchUp = 0 minute

  insert Insert/BackseatDriver.tl
  assign in parallel BackseatDriver:EnableBackseat = true

  insert Insert/PowerOnly.tl

  behavior Guidance:Buoyancy {
    run in parallel

    set position = BuoyancyNeutral
  }

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

    assign in sequence DiveMode = DoingComms

    call refId="NeedComms"

    assign in sequence DiveMode = InitialDive
  }

  aggregate DiveCmd {
    """
    Called when the vehicle should be underwater. Arbitrates between 4
    dive modes: 1) descend from the surface to initial depth. 2) settle
    at target depth using the VB. 3) cruise at target depth and go slow
    while within depth deviation bounds if a slow speed is set.
    """

    run when ( called )

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

      run while ( DiveMode == InitialDive )

      aggregate dive {
        run in sequence

        assign in parallel Control:VerticalControl.pitchLimit = ApproachPitchLimit

        assign in parallel Control:VerticalControl.kpDepth = kpDepth

        behavior Guidance:Mass {
          run in parallel

          set position = MassDefault
        }

        # behavior Guidance:Buoyancy {
        #   run in parallel

        #   set position = BuoyancyNeutral
        # }

        syslog info "Waiting for "
             + ApproachSettleTimePreDive~minute + "while pumping down to neutral."

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

          run in sequence

          set duration = ApproachSettleTimePreDive
        }

        syslog "Moving to " + ApproachDepth~meter

        aggregate ApproachDepth {
          run in sequence

          behavior Guidance:SetSpeed {
            run in parallel

            set speed = ApproachSpeed
          }

          behavior Guidance:Pitch {
            run in sequence

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

              behavior Guidance:Execute {
                run in sequence

                set command = "stop"
              }
            }

            set depth = ApproachDepth
            set depthRate = ApproachDepthRate
          }
        }

        assign in sequence DiveMode = SettleAtDepth
      }
    }

    aggregate SettleAtDepth {
      """
      Take a few more moments here to make sure the vehicle is settled
      at the target depth.
      """

      run while ( DiveMode == SettleAtDepth )

      aggregate dive {
        run in sequence

        syslog info "Reached " + Universal:depth~meter + ", settling for "
             + ApproachSettleTimePostDive~minute

        behavior Guidance:Pitch {
          run in parallel

          set depth = Depth
        }

        behavior Guidance:Wait {
          run in sequence

          set duration = ApproachSettleTimePostDive
        }

        assign in sequence DiveMode = MaintainDepth
      }
    }

    aggregate MaintainDepth {
      """
      Cruise at the target depth.
      """

      run while (
        DiveMode == MaintainDepth
        and ( Universal:depth > ( Depth + DepthDeviationSlow ) )
        or ( Universal:depth < ( Depth - DepthDeviationSlow ) )
      )

      aggregate dive {
        run in parallel

        aggregate ThrusterDive {
          run while ( FastSpeed > 0.0 meter_per_second )

          behavior Guidance:Mass {
            run in parallel

            set position = MassDefault
          }

          # behavior Guidance:Buoyancy {
          #   run in parallel

          #   set position = BuoyancyNeutral
          # }

          behavior Guidance:SetSpeed {
            run in parallel

            set speed = FastSpeed
          }
        }

        behavior Guidance:Pitch {
          run in parallel

          set depth = Depth
        }
      }
    }

    aggregate MaintainDepthSlow {
      """
      Cruise slow at the target depth.
      """

      run while (
        ( not isNaN ( SlowSpeed ) )
        and ( DiveMode == MaintainDepth )
        and ( Universal:depth <= ( Depth + DepthDeviationSlow ) )
        and ( Universal:depth >= ( Depth - DepthDeviationSlow ) )
      )

      behavior Guidance:SetSpeed {
        run in parallel

        set speed = SlowSpeed
      }

      # Let's make sure the vertical control depth deadband doesn't interfere with our mission
      # level version of the deadband. And we'll add an extra 3m so we don't trigger any
      # faults inside vertical control when attempting to regain the commanded depth.
      assign in parallel Control:VerticalControl.depthDeadband = ( DepthDeviationSlow + 3 m )

      behavior Guidance:Buoyancy {
        run in parallel

        set position = NaN cc
      }

      behavior Guidance:Pitch {
        run in parallel

        set depth = Depth
      }
    }
  }

  # Start mission sequence

  call id="StartingMission" refId="SurfaceComms"

  aggregate Lap {
    run in sequence repeat=Repeat

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

      call refId="DiveCmd"
    }

    aggregate Wpt1 {
      run in sequence

      behavior Guidance:Waypoint {
        run in sequence

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

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

        behavior Guidance:Waypoint {
          run in sequence

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


2025-03-12T01:02:40.187Z,1741741360.187 [CommandExec](IMPORTANT): Loaded ./Missions/Science/sci2_noyo_optim.tl id=sci2_noyo_optim
2025-03-12T01:02:59.441Z,1741741379.441 [CommandExec](IMPORTANT): got command set sci2_noyo_optim.MissionTimeout 1 hour
2025-03-12T01:02:59.442Z,1741741379.442 [CommandExec](IMPORTANT): got command set sci2_noyo_optim.NeedCommsTime 30 minute
2025-03-12T01:02:59.443Z,1741741379.443 [CommandExec](IMPORTANT): got command set sci2_noyo_optim.Depth 15 meter
2025-03-12T01:02:59.443Z,1741741379.443 [CommandExec](IMPORTANT): got command set sci2_noyo_optim.Lat1 36.797 degree
2025-03-12T01:02:59.444Z,1741741379.444 [CommandExec](IMPORTANT): got command set sci2_noyo_optim.Lon1 -121.847 degree
2025-03-12T01:03:19.391Z,1741741399.391 [CommandExec](IMPORTANT): got command set sci2_noyo_optim.ApproachDepth 10 meter
2025-03-12T01:03:19.392Z,1741741399.392 [CommandExec](IMPORTANT): got command set sci2_noyo_optim.SlowSpeed NaN meter_per_second
2025-03-12T01:03:19.393Z,1741741399.393 [CommandExec](IMPORTANT): got command set sci2_noyo_optim.MinAltitude 10 meter
2025-03-12T01:03:19.393Z,1741741399.393 [CommandExec](IMPORTANT): got command set sci2_noyo_optim.MaxDepth 40 meter
2025-03-12T01:03:19.394Z,1741741399.394 [CommandExec](IMPORTANT): got command run
2025-03-12T01:03:19.400Z,1741741399.400 [CommandExec](IMPORTANT): Running 
2025-03-12T01:03:19.530Z,1741741399.530 [Default] Stopped
2025-03-12T01:03:19.530Z,1741741399.530 [Default](DEBUG): Aggregate::uninitialize Default
2025-03-12T01:03:19.530Z,1741741399.530 [Default:B.GoToSurface] Stopped
2025-03-12T01:03:19.530Z,1741741399.530 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-03-12T01:03:19.530Z,1741741399.530 [Default:CheckIn] Stopped
2025-03-12T01:03:19.530Z,1741741399.530 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-03-12T01:03:19.530Z,1741741399.530 [Default:CheckIn:C.Wait] Stopped
2025-03-12T01:03:19.531Z,1741741399.531 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2025-03-12T01:03:19.531Z,1741741399.531 [MissionManager](IMPORTANT): Started mission sci2_noyo_optim
2025-03-12T01:03:19.531Z,1741741399.531 [sci2_noyo_optim] Running Loop=1
2025-03-12T01:03:19.531Z,1741741399.531 [sci2_noyo_optim](DEBUG): Aggregate::initialize sci2_noyo_optim
2025-03-12T01:03:19.531Z,1741741399.531 [sci2_noyo_optim:Science] Running Loop=1
2025-03-12T01:03:19.531Z,1741741399.531 [sci2_noyo_optim:Science](DEBUG): Aggregate::initialize sci2_noyo_optim:Science
2025-03-12T01:03:19.531Z,1741741399.531 [sci2_noyo_optim:Science:A] Running Loop=1
2025-03-12T01:03:19.531Z,1741741399.531 [sci2_noyo_optim:Science:B] Running Loop=1
2025-03-12T01:03:19.531Z,1741741399.531 [sci2_noyo_optim:Science:C] Running Loop=1
2025-03-12T01:03:19.532Z,1741741399.532 [sci2_noyo_optim:Science:D] Running Loop=1
2025-03-12T01:03:19.532Z,1741741399.532 [sci2_noyo_optim:Science:E] Running Loop=1
2025-03-12T01:03:19.532Z,1741741399.532 [sci2_noyo_optim:Science:F] Running Loop=1
2025-03-12T01:03:19.532Z,1741741399.532 [sci2_noyo_optim:Science:Read_Oil] Running Loop=1
2025-03-12T01:03:19.532Z,1741741399.532 [sci2_noyo_optim:Science:PeakDetectChl] Running Loop=1
2025-03-12T01:03:19.532Z,1741741399.532 [sci2_noyo_optim:Science:PeakDetectChl](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:PeakDetectChl
2025-03-12T01:03:19.532Z,1741741399.532 [sci2_noyo_optim:Science:PeakDetectChl:A] Running Loop=1
2025-03-12T01:03:19.532Z,1741741399.532 [sci2_noyo_optim:Science:EdgeDetectChl] Running Loop=1
2025-03-12T01:03:19.532Z,1741741399.532 [sci2_noyo_optim:Science:EdgeDetectChl](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:EdgeDetectChl
2025-03-12T01:03:19.532Z,1741741399.532 [sci2_noyo_optim:Science:EdgeDetectChl:A] Running Loop=1
2025-03-12T01:03:19.532Z,1741741399.532 [sci2_noyo_optim:Science:HighestChlPeakReport] Running Loop=1
2025-03-12T01:03:19.533Z,1741741399.533 [sci2_noyo_optim:Science:HighestChlPeakReport](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:HighestChlPeakReport
2025-03-12T01:03:19.533Z,1741741399.533 [sci2_noyo_optim:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-03-12T01:03:19.533Z,1741741399.533 [sci2_noyo_optim:Science:HighestChlPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-03-12T01:03:19.533Z,1741741399.533 [sci2_noyo_optim:Science:PeakDetectNO3] Running Loop=1
2025-03-12T01:03:19.533Z,1741741399.533 [sci2_noyo_optim:Science:PeakDetectNO3](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:PeakDetectNO3
2025-03-12T01:03:19.533Z,1741741399.533 [sci2_noyo_optim:Science:PeakDetectNO3:A] Running Loop=1
2025-03-12T01:03:19.533Z,1741741399.533 [sci2_noyo_optim:Science:PeakDetectOil] Running Loop=1
2025-03-12T01:03:19.534Z,1741741399.534 [sci2_noyo_optim:Science:PeakDetectOil](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:PeakDetectOil
2025-03-12T01:03:19.534Z,1741741399.534 [sci2_noyo_optim:Science:PeakDetectOil:A] Running Loop=1
2025-03-12T01:03:19.534Z,1741741399.534 [sci2_noyo_optim:Science:HighestOilPeakReport] Running Loop=1
2025-03-12T01:03:19.534Z,1741741399.534 [sci2_noyo_optim:Science:HighestOilPeakReport](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:HighestOilPeakReport
2025-03-12T01:03:19.534Z,1741741399.534 [sci2_noyo_optim:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-03-12T01:03:19.534Z,1741741399.534 [sci2_noyo_optim:Science:HighestOilPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-03-12T01:03:19.535Z,1741741399.535 [sci2_noyo_optim:Science:PeakDetectFDOM] Running Loop=1
2025-03-12T01:03:19.535Z,1741741399.535 [sci2_noyo_optim:Science:PeakDetectFDOM](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:PeakDetectFDOM
2025-03-12T01:03:19.535Z,1741741399.535 [sci2_noyo_optim:Science:PeakDetectFDOM:A] Running Loop=1
2025-03-12T01:03:19.535Z,1741741399.535 [sci2_noyo_optim:Science:PeakDetectSalinity] Running Loop=1
2025-03-12T01:03:19.535Z,1741741399.535 [sci2_noyo_optim:Science:PeakDetectSalinity](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:PeakDetectSalinity
2025-03-12T01:03:19.535Z,1741741399.535 [sci2_noyo_optim:Science:PeakDetectSalinity:A] Running Loop=1
2025-03-12T01:03:19.535Z,1741741399.535 [sci2_noyo_optim:Science:HighestSaltPeakReport] Running Loop=1
2025-03-12T01:03:19.535Z,1741741399.535 [sci2_noyo_optim:Science:HighestSaltPeakReport](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:HighestSaltPeakReport
2025-03-12T01:03:19.536Z,1741741399.536 [sci2_noyo_optim:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-03-12T01:03:19.536Z,1741741399.536 [sci2_noyo_optim:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-03-12T01:03:19.536Z,1741741399.536 [sci2_noyo_optim:Science:PeakDetectPlanktivoreLMavgROI] Running Loop=1
2025-03-12T01:03:19.536Z,1741741399.536 [sci2_noyo_optim:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:PeakDetectPlanktivoreLMavgROI
2025-03-12T01:03:19.536Z,1741741399.536 [sci2_noyo_optim:Science:PeakDetectPlanktivoreLMavgROI:A] Running Loop=1
2025-03-12T01:03:19.536Z,1741741399.536 [sci2_noyo_optim:Science:EdgeDetectPlanktivoreLMavgROI] Running Loop=1
2025-03-12T01:03:19.536Z,1741741399.536 [sci2_noyo_optim:Science:EdgeDetectPlanktivoreLMavgROI](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:EdgeDetectPlanktivoreLMavgROI
2025-03-12T01:03:19.537Z,1741741399.537 [sci2_noyo_optim:Science:EdgeDetectPlanktivoreLMavgROI:A] Running Loop=1
2025-03-12T01:03:19.537Z,1741741399.537 [sci2_noyo_optim:Science:PeakDetectPlanktivoreHMavgROI] Running Loop=1
2025-03-12T01:03:19.537Z,1741741399.537 [sci2_noyo_optim:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:PeakDetectPlanktivoreHMavgROI
2025-03-12T01:03:19.537Z,1741741399.537 [sci2_noyo_optim:Science:PeakDetectPlanktivoreHMavgROI:A] Running Loop=1
2025-03-12T01:03:19.537Z,1741741399.537 [sci2_noyo_optim:Science:PeakDetectPlanktivoreDiatoms] Running Loop=1
2025-03-12T01:03:19.537Z,1741741399.537 [sci2_noyo_optim:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:PeakDetectPlanktivoreDiatoms
2025-03-12T01:03:19.537Z,1741741399.537 [sci2_noyo_optim:Science:PeakDetectPlanktivoreDiatoms:A] Running Loop=1
2025-03-12T01:03:19.537Z,1741741399.537 [sci2_noyo_optim:Science:PeakDetectPlanktivoreDinoflagellates] Running Loop=1
2025-03-12T01:03:19.537Z,1741741399.537 [sci2_noyo_optim:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:PeakDetectPlanktivoreDinoflagellates
2025-03-12T01:03:19.538Z,1741741399.538 [sci2_noyo_optim:Science:PeakDetectPlanktivoreDinoflagellates:A] Running Loop=1
2025-03-12T01:03:19.538Z,1741741399.538 [sci2_noyo_optim:Science:ChlThreshTrigger] Running Loop=1
2025-03-12T01:03:19.538Z,1741741399.538 [sci2_noyo_optim:Science:ChlThreshTrigger](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:ChlThreshTrigger
2025-03-12T01:03:19.538Z,1741741399.538 [sci2_noyo_optim:Science:ChlThreshTrigger:A.ValueDetect] Running Loop=1
2025-03-12T01:03:19.538Z,1741741399.538 [sci2_noyo_optim:Science:ChlThreshTrigger:A.ValueDetect](INFO): Initialize.
2025-03-12T01:03:19.539Z,1741741399.539 [sci2_noyo_optim:Science:OceanCurrent] Running Loop=1
2025-03-12T01:03:19.539Z,1741741399.539 [sci2_noyo_optim:Science:OceanCurrent](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:OceanCurrent
2025-03-12T01:03:19.539Z,1741741399.539 [sci2_noyo_optim:Science:OceanCurrent:A.] Running Loop=1
2025-03-12T01:03:19.539Z,1741741399.539 [sci2_noyo_optim:Science:OceanCurrent:A.](INFO): Initializing CurrentEstimator.
2025-03-12T01:03:19.539Z,1741741399.539 [sci2_noyo_optim:StandardEnvelopes] Running Loop=1
2025-03-12T01:03:19.539Z,1741741399.539 [sci2_noyo_optim:StandardEnvelopes](DEBUG): Aggregate::initialize sci2_noyo_optim:StandardEnvelopes
2025-03-12T01:03:19.539Z,1741741399.539 [sci2_noyo_optim:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-03-12T01:03:19.539Z,1741741399.539 [sci2_noyo_optim:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-03-12T01:03:19.539Z,1741741399.539 [sci2_noyo_optim:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-03-12T01:03:19.540Z,1741741399.540 [sci2_noyo_optim:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-03-12T01:03:19.540Z,1741741399.540 [sci2_noyo_optim:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-03-12T01:03:19.540Z,1741741399.540 [sci2_noyo_optim:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-03-12T01:03:19.540Z,1741741399.540 [sci2_noyo_optim:BackseatDriver] Running Loop=1
2025-03-12T01:03:19.540Z,1741741399.540 [sci2_noyo_optim:BackseatDriver](DEBUG): Aggregate::initialize sci2_noyo_optim:BackseatDriver
2025-03-12T01:03:19.540Z,1741741399.540 [sci2_noyo_optim:BackseatDriver:A.BackseatDriver] Running Loop=1
2025-03-12T01:03:19.540Z,1741741399.540 [sci2_noyo_optim:J] Running Loop=1
2025-03-12T01:03:19.540Z,1741741399.540 [sci2_noyo_optim:PowerOnly] Running Loop=1
2025-03-12T01:03:19.540Z,1741741399.540 [sci2_noyo_optim:PowerOnly](DEBUG): Aggregate::initialize sci2_noyo_optim:PowerOnly
2025-03-12T01:03:19.540Z,1741741399.540 [sci2_noyo_optim:PowerOnly:A] Running Loop=1
2025-03-12T01:03:19.540Z,1741741399.540 [sci2_noyo_optim:PowerOnly:B] Running Loop=1
2025-03-12T01:03:19.541Z,1741741399.541 [sci2_noyo_optim:PowerOnly:C] Running Loop=1
2025-03-12T01:03:19.541Z,1741741399.541 [sci2_noyo_optim:PowerOnly:D] Running Loop=1
2025-03-12T01:03:19.541Z,1741741399.541 [sci2_noyo_optim:PowerOnly:E.Wait] Running Loop=1
2025-03-12T01:03:19.541Z,1741741399.541 [sci2_noyo_optim:PowerOnly:E.Wait](DEBUG): Initialize Wait Component.
2025-03-12T01:03:19.541Z,1741741399.541 [sci2_noyo_optim:L.Buoyancy] Running Loop=1
2025-03-12T01:03:19.541Z,1741741399.541 [sci2_noyo_optim:L.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-03-12T01:03:19.541Z,1741741399.541 [sci2_noyo_optim:C] Running Loop=1
2025-03-12T01:03:19.542Z,1741741399.542 [sci2_noyo_optim:L.Buoyancy] Running Loop=1
2025-03-12T01:03:19.542Z,1741741399.542 [sci2_noyo_optim:PowerOnly] Running Loop=1
2025-03-12T01:03:19.543Z,1741741399.543 [sci2_noyo_optim:PowerOnly:D] Stopped
2025-03-12T01:03:19.543Z,1741741399.543 [sci2_noyo_optim:PowerOnly:C] Stopped
2025-03-12T01:03:19.543Z,1741741399.543 [sci2_noyo_optim:PowerOnly:B] Stopped
2025-03-12T01:03:19.543Z,1741741399.543 [sci2_noyo_optim:PowerOnly:A] Stopped
2025-03-12T01:03:19.543Z,1741741399.543 [sci2_noyo_optim:J] Running Loop=1
2025-03-12T01:03:19.543Z,1741741399.543 [sci2_noyo_optim:BackseatDriver] Running Loop=1
2025-03-12T01:03:19.544Z,1741741399.544 [sci2_noyo_optim:BackseatDriver:A.BackseatDriver](INFO): Initializing backseat
2025-03-12T01:03:19.600Z,1741741399.600 [sci2_noyo_optim:C] Stopped
2025-03-12T01:03:19.601Z,1741741399.601 [sci2_noyo_optim:D] Running Loop=1
2025-03-12T01:03:19.601Z,1741741399.601 [sci2_noyo_optim:StandardEnvelopes] Running Loop=1
2025-03-12T01:03:19.601Z,1741741399.601 [sci2_noyo_optim:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-03-12T01:03:19.601Z,1741741399.601 [sci2_noyo_optim:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-03-12T01:03:19.601Z,1741741399.601 [sci2_noyo_optim:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-03-12T01:03:19.602Z,1741741399.602 [sci2_noyo_optim:Science] Running Loop=1
2025-03-12T01:03:19.603Z,1741741399.603 [sci2_noyo_optim:Science:ChlThreshTrigger] Stopped
2025-03-12T01:03:19.603Z,1741741399.603 [sci2_noyo_optim:Science:ChlThreshTrigger](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:ChlThreshTrigger
2025-03-12T01:03:19.603Z,1741741399.603 [sci2_noyo_optim:Science:ChlThreshTrigger:A.ValueDetect] Stopped
2025-03-12T01:03:19.603Z,1741741399.603 [sci2_noyo_optim:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Uninitialize.
2025-03-12T01:03:19.603Z,1741741399.603 [sci2_noyo_optim:Science:PeakDetectPlanktivoreDinoflagellates] Stopped
2025-03-12T01:03:19.604Z,1741741399.604 [sci2_noyo_optim:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:PeakDetectPlanktivoreDinoflagellates
2025-03-12T01:03:19.604Z,1741741399.604 [sci2_noyo_optim:Science:PeakDetectPlanktivoreDinoflagellates:A] Stopped
2025-03-12T01:03:19.604Z,1741741399.604 [sci2_noyo_optim:Science:PeakDetectPlanktivoreDiatoms] Stopped
2025-03-12T01:03:19.604Z,1741741399.604 [sci2_noyo_optim:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:PeakDetectPlanktivoreDiatoms
2025-03-12T01:03:19.604Z,1741741399.604 [sci2_noyo_optim:Science:PeakDetectPlanktivoreDiatoms:A] Stopped
2025-03-12T01:03:19.604Z,1741741399.604 [sci2_noyo_optim:Science:PeakDetectPlanktivoreHMavgROI] Stopped
2025-03-12T01:03:19.604Z,1741741399.604 [sci2_noyo_optim:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:PeakDetectPlanktivoreHMavgROI
2025-03-12T01:03:19.604Z,1741741399.604 [sci2_noyo_optim:Science:PeakDetectPlanktivoreHMavgROI:A] Stopped
2025-03-12T01:03:19.604Z,1741741399.604 [sci2_noyo_optim:Science:EdgeDetectPlanktivoreLMavgROI] Stopped
2025-03-12T01:03:19.604Z,1741741399.604 [sci2_noyo_optim:Science:EdgeDetectPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:EdgeDetectPlanktivoreLMavgROI
2025-03-12T01:03:19.604Z,1741741399.604 [sci2_noyo_optim:Science:EdgeDetectPlanktivoreLMavgROI:A] Stopped
2025-03-12T01:03:19.604Z,1741741399.604 [sci2_noyo_optim:Science:PeakDetectPlanktivoreLMavgROI] Stopped
2025-03-12T01:03:19.605Z,1741741399.605 [sci2_noyo_optim:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:PeakDetectPlanktivoreLMavgROI
2025-03-12T01:03:19.605Z,1741741399.605 [sci2_noyo_optim:Science:PeakDetectPlanktivoreLMavgROI:A] Stopped
2025-03-12T01:03:19.605Z,1741741399.605 [sci2_noyo_optim:Science:HighestSaltPeakReport] Stopped
2025-03-12T01:03:19.605Z,1741741399.605 [sci2_noyo_optim:Science:HighestSaltPeakReport](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:HighestSaltPeakReport
2025-03-12T01:03:19.605Z,1741741399.605 [sci2_noyo_optim:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Stopped
2025-03-12T01:03:19.605Z,1741741399.605 [sci2_noyo_optim:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-03-12T01:03:19.605Z,1741741399.605 [sci2_noyo_optim:Science:PeakDetectSalinity] Stopped
2025-03-12T01:03:19.605Z,1741741399.605 [sci2_noyo_optim:Science:PeakDetectSalinity](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:PeakDetectSalinity
2025-03-12T01:03:19.605Z,1741741399.605 [sci2_noyo_optim:Science:PeakDetectSalinity:A] Stopped
2025-03-12T01:03:19.605Z,1741741399.605 [sci2_noyo_optim:Science:PeakDetectFDOM] Stopped
2025-03-12T01:03:19.605Z,1741741399.605 [sci2_noyo_optim:Science:PeakDetectFDOM](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:PeakDetectFDOM
2025-03-12T01:03:19.605Z,1741741399.605 [sci2_noyo_optim:Science:PeakDetectFDOM:A] Stopped
2025-03-12T01:03:19.605Z,1741741399.605 [sci2_noyo_optim:Science:HighestOilPeakReport] Stopped
2025-03-12T01:03:19.605Z,1741741399.605 [sci2_noyo_optim:Science:HighestOilPeakReport](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:HighestOilPeakReport
2025-03-12T01:03:19.606Z,1741741399.606 [sci2_noyo_optim:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Stopped
2025-03-12T01:03:19.606Z,1741741399.606 [sci2_noyo_optim:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-03-12T01:03:19.606Z,1741741399.606 [sci2_noyo_optim:Science:PeakDetectOil] Stopped
2025-03-12T01:03:19.610Z,1741741399.610 [sci2_noyo_optim:Science:PeakDetectOil](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:PeakDetectOil
2025-03-12T01:03:19.610Z,1741741399.610 [sci2_noyo_optim:Science:PeakDetectOil:A] Stopped
2025-03-12T01:03:19.610Z,1741741399.610 [sci2_noyo_optim:Science:PeakDetectNO3] Stopped
2025-03-12T01:03:19.610Z,1741741399.610 [sci2_noyo_optim:Science:PeakDetectNO3](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:PeakDetectNO3
2025-03-12T01:03:19.610Z,1741741399.610 [sci2_noyo_optim:Science:PeakDetectNO3:A] Stopped
2025-03-12T01:03:19.610Z,1741741399.610 [sci2_noyo_optim:Science:HighestChlPeakReport] Stopped
2025-03-12T01:03:19.611Z,1741741399.611 [sci2_noyo_optim:Science:HighestChlPeakReport](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:HighestChlPeakReport
2025-03-12T01:03:19.611Z,1741741399.611 [sci2_noyo_optim:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Stopped
2025-03-12T01:03:19.611Z,1741741399.611 [sci2_noyo_optim:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-03-12T01:03:19.611Z,1741741399.611 [sci2_noyo_optim:Science:EdgeDetectChl] Stopped
2025-03-12T01:03:19.611Z,1741741399.611 [sci2_noyo_optim:Science:EdgeDetectChl](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:EdgeDetectChl
2025-03-12T01:03:19.611Z,1741741399.611 [sci2_noyo_optim:Science:EdgeDetectChl:A] Stopped
2025-03-12T01:03:19.611Z,1741741399.611 [sci2_noyo_optim:Science:PeakDetectChl] Stopped
2025-03-12T01:03:19.611Z,1741741399.611 [sci2_noyo_optim:Science:PeakDetectChl](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:PeakDetectChl
2025-03-12T01:03:19.611Z,1741741399.611 [sci2_noyo_optim:Science:PeakDetectChl:A] Stopped
2025-03-12T01:03:19.611Z,1741741399.611 [sci2_noyo_optim:Science:OceanCurrent:A.] Running Loop=1
2025-03-12T01:03:19.611Z,1741741399.611 [sci2_noyo_optim:Science:Read_Oil] Stopped
2025-03-12T01:03:19.611Z,1741741399.611 [sci2_noyo_optim:Science:F] Stopped
2025-03-12T01:03:19.611Z,1741741399.611 [sci2_noyo_optim:Science:E] Running Loop=1
2025-03-12T01:03:19.612Z,1741741399.612 [sci2_noyo_optim:Science:E](DEBUG): Initialize ReadDataComponent to sense mass_concentration_of_chlorophyll_in_sea_water
2025-03-12T01:03:19.612Z,1741741399.612 [sci2_noyo_optim:Science:D] Stopped
2025-03-12T01:03:19.612Z,1741741399.612 [sci2_noyo_optim:Science:C] Running Loop=1
2025-03-12T01:03:19.613Z,1741741399.613 [sci2_noyo_optim:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_temperature
2025-03-12T01:03:19.613Z,1741741399.613 [sci2_noyo_optim:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_salinity
2025-03-12T01:03:19.613Z,1741741399.613 [sci2_noyo_optim:Science:B] Running Loop=1
2025-03-12T01:03:19.614Z,1741741399.614 [sci2_noyo_optim:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_temperature
2025-03-12T01:03:19.614Z,1741741399.614 [sci2_noyo_optim:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_salinity
2025-03-12T01:03:19.614Z,1741741399.614 [sci2_noyo_optim:Science:A] Stopped
2025-03-12T01:03:19.718Z,1741741399.718 [BackseatComponent](INFO): Powering up
2025-03-12T01:03:19.719Z,1741741399.719 [BackseatComponent](INFO): Subscribing to LCM channels.
2025-03-12T01:03:19.776Z,1741741399.776 [WetLabsBB2FL](INFO): Powering up
2025-03-12T01:03:19.947Z,1741741399.947 [sci2_noyo_optim:D] Stopped
2025-03-12T01:03:19.947Z,1741741399.947 [sci2_noyo_optim:E] Running Loop=1
2025-03-12T01:03:20.342Z,1741741400.342 [sci2_noyo_optim:E] Stopped
2025-03-12T01:03:20.343Z,1741741400.343 [sci2_noyo_optim:G] Running Loop=1
2025-03-12T01:03:20.850Z,1741741400.850 [sci2_noyo_optim:G] Stopped
2025-03-12T01:03:20.850Z,1741741400.850 [sci2_noyo_optim:H] Running Loop=1
2025-03-12T01:03:21.146Z,1741741401.146 [sci2_noyo_optim:H] Stopped
2025-03-12T01:03:21.146Z,1741741401.146 [sci2_noyo_optim:StartingMission] Running Loop=1
2025-03-12T01:03:21.147Z,1741741401.147 [sci2_noyo_optim:StartingMission](DEBUG): Aggregate::initialize sci2_noyo_optim:StartingMission
2025-03-12T01:03:21.561Z,1741741401.561 [sci2_noyo_optim:SurfaceComms] Running Loop=1
2025-03-12T01:03:21.562Z,1741741401.562 [sci2_noyo_optim:SurfaceComms](DEBUG): Aggregate::initialize sci2_noyo_optim:SurfaceComms
2025-03-12T01:03:21.562Z,1741741401.562 [sci2_noyo_optim:SurfaceComms:A] Running Loop=1
2025-03-12T01:03:21.562Z,1741741401.562 [sci2_noyo_optim:SurfaceComms:A] Stopped
2025-03-12T01:03:21.562Z,1741741401.562 [sci2_noyo_optim:SurfaceComms:B] Running Loop=1
2025-03-12T01:03:21.562Z,1741741401.562 [sci2_noyo_optim:SurfaceComms:B](DEBUG): Aggregate::initialize sci2_noyo_optim:SurfaceComms:B
2025-03-12T01:03:21.974Z,1741741401.974 [sci2_noyo_optim:NeedComms] Running Loop=1
2025-03-12T01:03:21.974Z,1741741401.974 [sci2_noyo_optim:NeedComms](DEBUG): Aggregate::initialize sci2_noyo_optim:NeedComms
2025-03-12T01:03:21.974Z,1741741401.974 [sci2_noyo_optim:NeedComms:B.GoToSurface] Running Loop=1
2025-03-12T01:03:21.975Z,1741741401.975 [sci2_noyo_optim:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-03-12T01:03:21.975Z,1741741401.975 [sci2_noyo_optim:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-03-12T01:03:21.975Z,1741741401.975 [sci2_noyo_optim:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-03-12T01:03:21.976Z,1741741401.976 [sci2_noyo_optim:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-03-12T01:03:21.976Z,1741741401.976 [sci2_noyo_optim:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-03-12T01:03:21.976Z,1741741401.976 [sci2_noyo_optim:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-03-12T01:03:21.977Z,1741741401.977 [sci2_noyo_optim:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-03-12T01:03:21.977Z,1741741401.977 [sci2_noyo_optim:NeedComms:A] Running Loop=1
2025-03-12T01:03:21.979Z,1741741401.979 [sci2_noyo_optim:NeedComms:A](INFO): last time_fix was:  1741741255.000000 second since 1970/01/01T00:00:00Z 
2025-03-12T01:03:21.979Z,1741741401.979 [sci2_noyo_optim:NeedComms:A] Stopped
2025-03-12T01:03:22.343Z,1741741402.343 [sci2_noyo_optim:NeedComms:C] Running Loop=1
2025-03-12T01:03:22.540Z,1741741402.540 [CTD_Seabird](ERROR): Pressure reading out of range: -10.090000 decibar
2025-03-12T01:03:22.541Z,1741741402.541 [CTD_Seabird](INFO): some bad data, not updating bins
2025-03-12T01:03:22.755Z,1741741402.755 [sci2_noyo_optim:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-03-12T01:03:24.357Z,1741741404.357 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,010323.00,A,3648.02213,N,12149.65512,W,0.700,96.33,120325,,,A*41
2025-03-12T01:03:24.360Z,1741741404.360 [NAL9602](INFO): GPS fix at 20250312T010323: (36.800369, -121.827585)
2025-03-12T01:03:24.374Z,1741741404.374 [sci2_noyo_optim:NeedComms:C] Stopped
2025-03-12T01:03:24.374Z,1741741404.374 [sci2_noyo_optim:NeedComms:D] Running Loop=1
2025-03-12T01:03:24.783Z,1741741404.783 [sci2_noyo_optim:NeedComms:D](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-03-12T01:03:32.035Z,1741741412.035 [NAL9602](INFO): SBD MO Status=0, MOMSN=18484, MT Status=0, MTMSN=0
2025-03-12T01:03:32.035Z,1741741412.035 [NAL9602](INFO): No messages in MT queue
2025-03-12T01:03:32.486Z,1741741412.486 [DataOverHttps](INFO): Sending 73 bytes from file Logs/20250311T232940/Courier0024.lzma
2025-03-12T01:03:33.680Z,1741741413.680 [DataOverHttps](INFO): Moved sent file to Logs/20250311T232940/Courier0024.lzma.bak
2025-03-12T01:03:33.680Z,1741741413.680 [DataOverHttps](INFO): SBD MOMSN=24181276
2025-03-12T01:03:53.007Z,1741741433.007 [DataOverHttps](INFO): Sending 627 bytes from file Logs/20250311T232940/Express0025.lzma
2025-03-12T01:03:54.012Z,1741741434.012 [DataOverHttps](INFO): Moved sent file to Logs/20250311T232940/Express0025.lzma.bak
2025-03-12T01:03:54.012Z,1741741434.012 [DataOverHttps](INFO): SBD MOMSN=24181280
2025-03-12T01:04:02.815Z,1741741442.815 [NAL9602](INFO): Not Powering down - fast GPS
2025-03-12T01:04:10.246Z,1741741450.246 [DataOverHttps](INFO): Sending 62 bytes from file Logs/20250311T232940/Express0028.lzma
2025-03-12T01:04:11.248Z,1741741451.248 [DataOverHttps](INFO): Moved sent file to Logs/20250311T232940/Express0028.lzma.bak
2025-03-12T01:04:11.248Z,1741741451.248 [DataOverHttps](INFO): SBD MOMSN=24181304
2025-03-12T01:04:12.534Z,1741741452.534 [sci2_noyo_optim:NeedComms:D] Stopped
2025-03-12T01:04:12.535Z,1741741452.535 [sci2_noyo_optim:NeedComms:E] Running Loop=1
2025-03-12T01:04:12.954Z,1741741452.954 [sci2_noyo_optim:NeedComms:E](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-03-12T01:04:14.671Z,1741741454.671 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,010413.00,A,3648.02007,N,12149.65155,W,1.225,96.33,120325,,,A*46
2025-03-12T01:04:14.673Z,1741741454.673 [NAL9602](INFO): GPS fix at 20250312T010413: (36.800334, -121.827526)
2025-03-12T01:04:14.694Z,1741741454.694 [sci2_noyo_optim:NeedComms:E] Stopped
2025-03-12T01:04:14.695Z,1741741454.695 [sci2_noyo_optim:NeedComms](INFO): Completed sci2_noyo_optim:NeedComms
2025-03-12T01:04:14.695Z,1741741454.695 [sci2_noyo_optim:NeedComms] Stopped
2025-03-12T01:04:14.695Z,1741741454.695 [sci2_noyo_optim:NeedComms](DEBUG): Aggregate::uninitialize sci2_noyo_optim:NeedComms
2025-03-12T01:04:14.696Z,1741741454.696 [sci2_noyo_optim:NeedComms:B.GoToSurface] Stopped
2025-03-12T01:04:14.696Z,1741741454.696 [sci2_noyo_optim:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-03-12T01:04:15.029Z,1741741455.029 [sci2_noyo_optim:SurfaceComms:B](INFO): Completed sci2_noyo_optim:SurfaceComms:B
2025-03-12T01:04:15.029Z,1741741455.029 [sci2_noyo_optim:SurfaceComms:B] Stopped
2025-03-12T01:04:15.029Z,1741741455.029 [sci2_noyo_optim:SurfaceComms:B](DEBUG): Aggregate::uninitialize sci2_noyo_optim:SurfaceComms:B
2025-03-12T01:04:15.029Z,1741741455.029 [sci2_noyo_optim:SurfaceComms:C] Running Loop=1
2025-03-12T01:04:15.410Z,1741741455.410 [sci2_noyo_optim:SurfaceComms:C] Stopped
2025-03-12T01:04:15.410Z,1741741455.410 [sci2_noyo_optim:SurfaceComms](INFO): Completed sci2_noyo_optim:SurfaceComms
2025-03-12T01:04:15.410Z,1741741455.410 [sci2_noyo_optim:SurfaceComms] Stopped
2025-03-12T01:04:15.410Z,1741741455.410 [sci2_noyo_optim:SurfaceComms](DEBUG): Aggregate::uninitialize sci2_noyo_optim:SurfaceComms
2025-03-12T01:04:15.827Z,1741741455.827 [sci2_noyo_optim:StartingMission](INFO): Completed sci2_noyo_optim:StartingMission
2025-03-12T01:04:15.827Z,1741741455.827 [sci2_noyo_optim:StartingMission] Stopped
2025-03-12T01:04:15.827Z,1741741455.827 [sci2_noyo_optim:StartingMission](DEBUG): Aggregate::uninitialize sci2_noyo_optim:StartingMission
2025-03-12T01:04:15.827Z,1741741455.827 [sci2_noyo_optim:Lap] Running Loop=1
2025-03-12T01:04:15.827Z,1741741455.827 [sci2_noyo_optim:Lap](DEBUG): Aggregate::initialize sci2_noyo_optim:Lap
2025-03-12T01:04:15.827Z,1741741455.827 [sci2_noyo_optim:Lap:Dive] Running Loop=1
2025-03-12T01:04:15.827Z,1741741455.827 [sci2_noyo_optim:Lap:Dive](DEBUG): Aggregate::initialize sci2_noyo_optim:Lap:Dive
2025-03-12T01:04:15.828Z,1741741455.828 [sci2_noyo_optim:Lap:Dive:A] Running Loop=1
2025-03-12T01:04:15.828Z,1741741455.828 [sci2_noyo_optim:Lap:Dive:A](DEBUG): Aggregate::initialize sci2_noyo_optim:Lap:Dive:A
2025-03-12T01:04:15.828Z,1741741455.828 [sci2_noyo_optim:Lap:Wpt1] Running Loop=1
2025-03-12T01:04:15.828Z,1741741455.828 [sci2_noyo_optim:Lap:Wpt1](DEBUG): Aggregate::initialize sci2_noyo_optim:Lap:Wpt1
2025-03-12T01:04:15.828Z,1741741455.828 [sci2_noyo_optim:Lap:Wpt1:A.Waypoint] Running Loop=1
2025-03-12T01:04:15.828Z,1741741455.828 [sci2_noyo_optim:Lap:Wpt1:A.Waypoint](DEBUG): Initialize WaypointComponent.
2025-03-12T01:04:15.829Z,1741741455.829 [sci2_noyo_optim:Lap:Wpt1:A.Waypoint](IMPORTANT): Navigating to waypoint: 36.797001,-121.847000
2025-03-12T01:04:16.200Z,1741741456.200 [sci2_noyo_optim:Lap:Wpt1:A.Waypoint](INFO): Navigating to waypoint: 36.797001,-121.847000
2025-03-12T01:04:16.200Z,1741741456.200 [sci2_noyo_optim:Lap:Dive] Running Loop=1
2025-03-12T01:04:16.200Z,1741741456.200 [sci2_noyo_optim:DiveCmd] Running Loop=1
2025-03-12T01:04:16.201Z,1741741456.201 [sci2_noyo_optim:DiveCmd](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd
2025-03-12T01:04:16.201Z,1741741456.201 [sci2_noyo_optim:DiveCmd:InitialDive] Running Loop=1
2025-03-12T01:04:16.201Z,1741741456.201 [sci2_noyo_optim:DiveCmd:InitialDive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:InitialDive
2025-03-12T01:04:16.201Z,1741741456.201 [sci2_noyo_optim:DiveCmd:InitialDive:dive] Running Loop=1
2025-03-12T01:04:16.201Z,1741741456.201 [sci2_noyo_optim:DiveCmd:InitialDive:dive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:InitialDive:dive
2025-03-12T01:04:16.201Z,1741741456.201 [sci2_noyo_optim:DiveCmd:InitialDive:dive:A] Running Loop=1
2025-03-12T01:04:16.201Z,1741741456.201 [sci2_noyo_optim:DiveCmd:InitialDive:dive:B] Running Loop=1
2025-03-12T01:04:16.201Z,1741741456.201 [sci2_noyo_optim:DiveCmd:InitialDive:dive:C.Mass] Running Loop=1
2025-03-12T01:04:16.201Z,1741741456.201 [sci2_noyo_optim:DiveCmd:InitialDive:dive:C.Mass](DEBUG): Initialize.
2025-03-12T01:04:16.201Z,1741741456.201 [sci2_noyo_optim:DiveCmd:InitialDive:dive:D] Running Loop=1
2025-03-12T01:04:16.202Z,1741741456.202 [sci2_noyo_optim:DiveCmd:SettleAtDepth] Running Loop=1
2025-03-12T01:04:16.202Z,1741741456.202 [sci2_noyo_optim:DiveCmd:SettleAtDepth](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:SettleAtDepth
2025-03-12T01:04:16.206Z,1741741456.206 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive] Running Loop=1
2025-03-12T01:04:16.206Z,1741741456.206 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:SettleAtDepth:dive
2025-03-12T01:04:16.206Z,1741741456.206 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:B.Pitch] Running Loop=1
2025-03-12T01:04:16.206Z,1741741456.206 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:B.Pitch](DEBUG): Initialize.
2025-03-12T01:04:16.207Z,1741741456.207 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:A] Running Loop=1
2025-03-12T01:04:16.207Z,1741741456.207 [sci2_noyo_optim:DiveCmd:MaintainDepth] Running Loop=1
2025-03-12T01:04:16.207Z,1741741456.207 [sci2_noyo_optim:DiveCmd:MaintainDepth](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepth
2025-03-12T01:04:16.207Z,1741741456.207 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive] Running Loop=1
2025-03-12T01:04:16.207Z,1741741456.207 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive
2025-03-12T01:04:16.207Z,1741741456.207 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive] Running Loop=1
2025-03-12T01:04:16.207Z,1741741456.207 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive
2025-03-12T01:04:16.207Z,1741741456.207 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass] Running Loop=1
2025-03-12T01:04:16.207Z,1741741456.207 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass](DEBUG): Initialize.
2025-03-12T01:04:16.207Z,1741741456.207 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed] Running Loop=1
2025-03-12T01:04:16.208Z,1741741456.208 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed](DEBUG): Initialize.
2025-03-12T01:04:16.208Z,1741741456.208 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:B.Pitch] Running Loop=1
2025-03-12T01:04:16.208Z,1741741456.208 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:B.Pitch](DEBUG): Initialize.
2025-03-12T01:04:16.208Z,1741741456.208 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow] Running Loop=1
2025-03-12T01:04:16.208Z,1741741456.208 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepthSlow
2025-03-12T01:04:16.208Z,1741741456.208 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:A.SetSpeed] Running Loop=1
2025-03-12T01:04:16.208Z,1741741456.208 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:A.SetSpeed](DEBUG): Initialize.
2025-03-12T01:04:16.208Z,1741741456.208 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:B] Running Loop=1
2025-03-12T01:04:16.208Z,1741741456.208 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:C.Buoyancy] Running Loop=1
2025-03-12T01:04:16.208Z,1741741456.208 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:C.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-03-12T01:04:16.209Z,1741741456.209 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:D.Pitch] Running Loop=1
2025-03-12T01:04:16.209Z,1741741456.209 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:D.Pitch](DEBUG): Initialize.
2025-03-12T01:04:16.209Z,1741741456.209 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow] Stopped
2025-03-12T01:04:16.209Z,1741741456.209 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepthSlow
2025-03-12T01:04:16.210Z,1741741456.210 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:A.SetSpeed] Stopped
2025-03-12T01:04:16.210Z,1741741456.210 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:A.SetSpeed](DEBUG): Uninitialize.
2025-03-12T01:04:16.210Z,1741741456.210 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:B] Stopped
2025-03-12T01:04:16.210Z,1741741456.210 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:C.Buoyancy] Stopped
2025-03-12T01:04:16.214Z,1741741456.214 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-03-12T01:04:16.214Z,1741741456.214 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:D.Pitch] Stopped
2025-03-12T01:04:16.214Z,1741741456.214 [sci2_noyo_optim:DiveCmd:MaintainDepth] Running Loop=1
2025-03-12T01:04:16.214Z,1741741456.214 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive] Running Loop=1
2025-03-12T01:04:16.214Z,1741741456.214 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:B.Pitch] Running Loop=1
2025-03-12T01:04:16.215Z,1741741456.215 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive] Running Loop=1
2025-03-12T01:04:16.215Z,1741741456.215 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed] Running Loop=1
2025-03-12T01:04:16.215Z,1741741456.215 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass] Running Loop=1
2025-03-12T01:04:16.216Z,1741741456.216 [sci2_noyo_optim:DiveCmd:SettleAtDepth] Stopped
2025-03-12T01:04:16.216Z,1741741456.216 [sci2_noyo_optim:DiveCmd:SettleAtDepth](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:SettleAtDepth
2025-03-12T01:04:16.216Z,1741741456.216 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive] Stopped
2025-03-12T01:04:16.216Z,1741741456.216 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:SettleAtDepth:dive
2025-03-12T01:04:16.216Z,1741741456.216 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:A] Stopped
2025-03-12T01:04:16.216Z,1741741456.216 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:B.Pitch] Stopped
2025-03-12T01:04:16.216Z,1741741456.216 [sci2_noyo_optim:DiveCmd:InitialDive] Running Loop=1
2025-03-12T01:04:16.217Z,1741741456.217 [sci2_noyo_optim:DiveCmd:InitialDive:dive:D](INFO): Waiting for  1.000000 min while pumping down to neutral.
2025-03-12T01:04:16.217Z,1741741456.217 [sci2_noyo_optim:DiveCmd:InitialDive:dive:D] Stopped
2025-03-12T01:04:16.217Z,1741741456.217 [sci2_noyo_optim:DiveCmd:InitialDive:dive:E.Wait] Running Loop=1
2025-03-12T01:04:16.217Z,1741741456.217 [sci2_noyo_optim:DiveCmd:InitialDive:dive:E.Wait](DEBUG): Initialize Wait Component.
2025-03-12T01:04:16.217Z,1741741456.217 [sci2_noyo_optim:DiveCmd:InitialDive:dive:C.Mass] Running Loop=1
2025-03-12T01:04:16.217Z,1741741456.217 [sci2_noyo_optim:DiveCmd:InitialDive:dive:B] Running Loop=1
2025-03-12T01:04:16.218Z,1741741456.218 [sci2_noyo_optim:DiveCmd:InitialDive:dive:A] Running Loop=1
2025-03-12T01:04:18.180Z,1741741458.180 [BackseatComponent](IMPORTANT): ikshana: running backseat application.
2025-03-12T01:04:35.541Z,1741741475.541 [NAL9602](INFO): SBD MO Status=0, MOMSN=18485, MT Status=0, MTMSN=0
2025-03-12T01:04:35.541Z,1741741475.541 [NAL9602](INFO): No messages in MT queue
2025-03-12T01:05:06.333Z,1741741506.333 [NAL9602](INFO): Not Powering down - fast GPS
2025-03-12T01:05:16.799Z,1741741516.799 [sci2_noyo_optim:DiveCmd:InitialDive:dive:E.Wait](INFO): Done Waiting.
2025-03-12T01:05:16.799Z,1741741516.799 [sci2_noyo_optim:DiveCmd:InitialDive:dive:E.Wait] Stopped
2025-03-12T01:05:16.799Z,1741741516.799 [sci2_noyo_optim:DiveCmd:InitialDive:dive:E.Wait](DEBUG): Uninitialize Wait Component.
2025-03-12T01:05:16.799Z,1741741516.799 [sci2_noyo_optim:DiveCmd:InitialDive:dive:F] Running Loop=1
2025-03-12T01:05:17.210Z,1741741517.210 [sci2_noyo_optim:DiveCmd:InitialDive:dive:F](INFO): Moving to  10.000000 m 
2025-03-12T01:05:17.210Z,1741741517.210 [sci2_noyo_optim:DiveCmd:InitialDive:dive:F] Stopped
2025-03-12T01:05:17.210Z,1741741517.210 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth] Running Loop=1
2025-03-12T01:05:17.210Z,1741741517.210 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth
2025-03-12T01:05:17.211Z,1741741517.211 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:A.SetSpeed] Running Loop=1
2025-03-12T01:05:17.211Z,1741741517.211 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:A.SetSpeed](DEBUG): Initialize.
2025-03-12T01:05:17.211Z,1741741517.211 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:B.Pitch] Running Loop=1
2025-03-12T01:05:17.211Z,1741741517.211 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:B.Pitch](DEBUG): Initialize.
2025-03-12T01:05:17.601Z,1741741517.601 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:A.SetSpeed] Running Loop=1
2025-03-12T01:05:53.474Z,1741741553.474 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T01:05:56.491Z,1741741556.491 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.238674
2025-03-12T01:06:18.122Z,1741741578.122 [Radio_Surface](INFO): Powering down
2025-03-12T01:06:28.618Z,1741741588.618 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T01:06:29.625Z,1741741589.625 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-03-12T01:06:46.159Z,1741741606.159 [DAT](INFO): DAT read: Rx Time:01:06:45.5344

2025-03-12T01:06:46.160Z,1741741606.160 [DAT](INFO): Rx dataTimestamp_ set to:1741741606.159412
2025-03-12T01:06:46.160Z,1741741606.160 [DAT](INFO): DAT read: 

2025-03-12T01:06:46.161Z,1741741606.161 [DAT](INFO): DAT read: $Packet for address 0

2025-03-12T01:06:46.161Z,1741741606.161 [DAT](INFO): received a packet notification
2025-03-12T01:08:17.012Z,1741741697.012 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:B.Pitch] Stopped
2025-03-12T01:08:17.013Z,1741741697.013 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth](INFO): Completed sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth
2025-03-12T01:08:17.013Z,1741741697.013 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth] Stopped
2025-03-12T01:08:17.013Z,1741741697.013 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth
2025-03-12T01:08:17.013Z,1741741697.013 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:A.SetSpeed] Stopped
2025-03-12T01:08:17.013Z,1741741697.013 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:A.SetSpeed](DEBUG): Uninitialize.
2025-03-12T01:08:17.013Z,1741741697.013 [sci2_noyo_optim:DiveCmd:InitialDive:dive:H] Running Loop=1
2025-03-12T01:08:17.435Z,1741741697.435 [sci2_noyo_optim:DiveCmd:InitialDive:dive:H] Stopped
2025-03-12T01:08:17.436Z,1741741697.436 [sci2_noyo_optim:DiveCmd:InitialDive:dive](INFO): Completed sci2_noyo_optim:DiveCmd:InitialDive:dive
2025-03-12T01:08:17.436Z,1741741697.436 [sci2_noyo_optim:DiveCmd:InitialDive:dive] Stopped
2025-03-12T01:08:17.436Z,1741741697.436 [sci2_noyo_optim:DiveCmd:InitialDive:dive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:InitialDive:dive
2025-03-12T01:08:17.436Z,1741741697.436 [sci2_noyo_optim:DiveCmd:InitialDive:dive:A] Stopped
2025-03-12T01:08:17.436Z,1741741697.436 [sci2_noyo_optim:DiveCmd:InitialDive:dive:B] Stopped
2025-03-12T01:08:17.436Z,1741741697.436 [sci2_noyo_optim:DiveCmd:InitialDive:dive:C.Mass] Stopped
2025-03-12T01:08:17.436Z,1741741697.436 [sci2_noyo_optim:DiveCmd:InitialDive:dive:C.Mass](DEBUG): Uninitialize.
2025-03-12T01:08:17.436Z,1741741697.436 [sci2_noyo_optim:DiveCmd:InitialDive](INFO): Completed sci2_noyo_optim:DiveCmd:InitialDive
2025-03-12T01:08:17.896Z,1741741697.896 [sci2_noyo_optim:DiveCmd:SettleAtDepth] Running Loop=1
2025-03-12T01:08:17.897Z,1741741697.897 [sci2_noyo_optim:DiveCmd:SettleAtDepth](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:SettleAtDepth
2025-03-12T01:08:17.897Z,1741741697.897 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive] Running Loop=1
2025-03-12T01:08:17.897Z,1741741697.897 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:SettleAtDepth:dive
2025-03-12T01:08:17.897Z,1741741697.897 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:B.Pitch] Running Loop=1
2025-03-12T01:08:17.897Z,1741741697.897 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:B.Pitch](DEBUG): Initialize.
2025-03-12T01:08:17.897Z,1741741697.897 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:A] Running Loop=1
2025-03-12T01:08:17.897Z,1741741697.897 [sci2_noyo_optim:DiveCmd:SettleAtDepth] Running Loop=1
2025-03-12T01:08:17.897Z,1741741697.897 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:B.Pitch] Running Loop=1
2025-03-12T01:08:17.899Z,1741741697.899 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:A](INFO): Reached  10.105628 m , settling for  3.000000 min 
2025-03-12T01:08:17.899Z,1741741697.899 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:A] Stopped
2025-03-12T01:08:17.899Z,1741741697.899 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:C.Wait] Running Loop=1
2025-03-12T01:08:17.899Z,1741741697.899 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:C.Wait](DEBUG): Initialize Wait Component.
2025-03-12T01:08:42.592Z,1741741722.592 [sci2_noyo_optim:DiveCmd:MaintainDepth] Stopped
2025-03-12T01:08:42.592Z,1741741722.592 [sci2_noyo_optim:DiveCmd:MaintainDepth](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepth
2025-03-12T01:08:42.592Z,1741741722.592 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive] Stopped
2025-03-12T01:08:42.592Z,1741741722.592 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive
2025-03-12T01:08:42.592Z,1741741722.592 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive] Stopped
2025-03-12T01:08:42.592Z,1741741722.592 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive
2025-03-12T01:08:42.592Z,1741741722.592 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass] Stopped
2025-03-12T01:08:42.592Z,1741741722.592 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass](DEBUG): Uninitialize.
2025-03-12T01:08:42.592Z,1741741722.592 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed] Stopped
2025-03-12T01:08:42.592Z,1741741722.592 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed](DEBUG): Uninitialize.
2025-03-12T01:08:42.593Z,1741741722.593 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:B.Pitch] Stopped
2025-03-12T01:11:18.605Z,1741741878.605 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:C.Wait](INFO): Done Waiting.
2025-03-12T01:11:18.605Z,1741741878.605 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:C.Wait] Stopped
2025-03-12T01:11:18.605Z,1741741878.605 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:C.Wait](DEBUG): Uninitialize Wait Component.
2025-03-12T01:11:18.606Z,1741741878.606 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:D] Running Loop=1
2025-03-12T01:11:19.062Z,1741741879.062 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:D] Stopped
2025-03-12T01:11:19.063Z,1741741879.063 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive](INFO): Completed sci2_noyo_optim:DiveCmd:SettleAtDepth:dive
2025-03-12T01:11:19.063Z,1741741879.063 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive] Stopped
2025-03-12T01:11:19.063Z,1741741879.063 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:SettleAtDepth:dive
2025-03-12T01:11:19.063Z,1741741879.063 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:B.Pitch] Stopped
2025-03-12T01:11:19.063Z,1741741879.063 [sci2_noyo_optim:DiveCmd:SettleAtDepth](INFO): Completed sci2_noyo_optim:DiveCmd:SettleAtDepth
2025-03-12T01:11:51.752Z,1741741911.752 [sci2_noyo_optim:DiveCmd:MaintainDepth] Running Loop=1
2025-03-12T01:11:51.752Z,1741741911.752 [sci2_noyo_optim:DiveCmd:MaintainDepth](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepth
2025-03-12T01:11:51.752Z,1741741911.752 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive] Running Loop=1
2025-03-12T01:11:51.752Z,1741741911.752 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive
2025-03-12T01:11:51.752Z,1741741911.752 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive] Running Loop=1
2025-03-12T01:11:51.752Z,1741741911.752 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive
2025-03-12T01:11:51.752Z,1741741911.752 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass] Running Loop=1
2025-03-12T01:11:51.752Z,1741741911.752 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass](DEBUG): Initialize.
2025-03-12T01:11:51.752Z,1741741911.752 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed] Running Loop=1
2025-03-12T01:11:51.752Z,1741741911.752 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed](DEBUG): Initialize.
2025-03-12T01:11:51.753Z,1741741911.753 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:B.Pitch] Running Loop=1
2025-03-12T01:11:51.753Z,1741741911.753 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:B.Pitch](DEBUG): Initialize.
2025-03-12T01:12:17.356Z,1741741937.356 [sci2_noyo_optim:DiveCmd:MaintainDepth] Stopped
2025-03-12T01:12:17.356Z,1741741937.356 [sci2_noyo_optim:DiveCmd:MaintainDepth](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepth
2025-03-12T01:12:17.356Z,1741741937.356 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive] Stopped
2025-03-12T01:12:17.356Z,1741741937.356 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive
2025-03-12T01:12:17.356Z,1741741937.356 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive] Stopped
2025-03-12T01:12:17.356Z,1741741937.356 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive
2025-03-12T01:12:17.356Z,1741741937.356 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass] Stopped
2025-03-12T01:12:17.356Z,1741741937.356 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass](DEBUG): Uninitialize.
2025-03-12T01:12:17.356Z,1741741937.356 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed] Stopped
2025-03-12T01:12:17.356Z,1741741937.356 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed](DEBUG): Uninitialize.
2025-03-12T01:12:17.356Z,1741741937.356 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:B.Pitch] Stopped
2025-03-12T01:13:34.176Z,1741742014.176 [sci2_noyo_optim:DiveCmd:MaintainDepth] Running Loop=1
2025-03-12T01:13:34.177Z,1741742014.177 [sci2_noyo_optim:DiveCmd:MaintainDepth](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepth
2025-03-12T01:13:34.177Z,1741742014.177 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive] Running Loop=1
2025-03-12T01:13:34.177Z,1741742014.177 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive
2025-03-12T01:13:34.177Z,1741742014.177 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive] Running Loop=1
2025-03-12T01:13:34.177Z,1741742014.177 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive
2025-03-12T01:13:34.177Z,1741742014.177 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass] Running Loop=1
2025-03-12T01:13:34.177Z,1741742014.177 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass](DEBUG): Initialize.
2025-03-12T01:13:34.177Z,1741742014.177 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed] Running Loop=1
2025-03-12T01:13:34.177Z,1741742014.177 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed](DEBUG): Initialize.
2025-03-12T01:13:34.178Z,1741742014.178 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:B.Pitch] Running Loop=1
2025-03-12T01:13:34.178Z,1741742014.178 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:B.Pitch](DEBUG): Initialize.
2025-03-12T01:13:58.814Z,1741742038.814 [sci2_noyo_optim:DiveCmd:MaintainDepth] Stopped
2025-03-12T01:13:58.814Z,1741742038.814 [sci2_noyo_optim:DiveCmd:MaintainDepth](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepth
2025-03-12T01:13:58.814Z,1741742038.814 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive] Stopped
2025-03-12T01:13:58.814Z,1741742038.814 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive
2025-03-12T01:13:58.814Z,1741742038.814 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive] Stopped
2025-03-12T01:13:58.815Z,1741742038.815 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive
2025-03-12T01:13:58.815Z,1741742038.815 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass] Stopped
2025-03-12T01:13:58.815Z,1741742038.815 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass](DEBUG): Uninitialize.
2025-03-12T01:13:58.815Z,1741742038.815 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed] Stopped
2025-03-12T01:13:58.815Z,1741742038.815 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed](DEBUG): Uninitialize.
2025-03-12T01:13:58.815Z,1741742038.815 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:B.Pitch] Stopped
2025-03-12T01:14:18.348Z,1741742058.348 [BackseatComponent](CRITICAL): ikshana: Data dir size (131.29 GB) did not increase within 10 minutes
2025-03-12T01:14:18.349Z,1741742058.349 [BackseatComponent] Data Fault, FailCount= 1
2025-03-12T01:14:18.349Z,1741742058.349 [BackseatComponent](ERROR): Data Fault
2025-03-12T01:14:18.609Z,1741742058.609 [sci2_noyo_optim:BackseatDriver:A.BackseatDriver](INFO): Created data writer for _.data_dir_logging_rate with code: 2169
2025-03-12T01:14:18.621Z,1741742058.621 [CBIT](INFO): Critical error at 20250312T011418
2025-03-12T01:14:18.622Z,1741742058.622 [Supervisor](INFO): Stop Mission called by CBIT::checkCriticals
2025-03-12T01:14:18.641Z,1741742058.641 [CBIT](ERROR): Data Fault in component: BackseatComponent
2025-03-12T01:14:18.752Z,1741742058.752 [BackseatComponent](INFO): Sent LCM shutdown request.
2025-03-12T01:14:18.753Z,1741742058.753 [BackseatComponent](INFO): Shutdown requested. Waiting (18.00 sec to power down.).
2025-03-12T01:14:19.029Z,1741742059.029 [MissionManager](INFO): MissionManager is completed.
2025-03-12T01:14:19.030Z,1741742059.030 [MissionManager](INFO): Uninitializing Mission sci2_noyo_optim
2025-03-12T01:14:19.030Z,1741742059.030 [sci2_noyo_optim] Stopped
2025-03-12T01:14:19.030Z,1741742059.030 [sci2_noyo_optim](DEBUG): Aggregate::uninitialize sci2_noyo_optim
2025-03-12T01:14:19.030Z,1741742059.030 [sci2_noyo_optim:Science] Stopped
2025-03-12T01:14:19.030Z,1741742059.030 [sci2_noyo_optim:Science](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science
2025-03-12T01:14:19.030Z,1741742059.030 [sci2_noyo_optim:Science:B] Stopped
2025-03-12T01:14:19.030Z,1741742059.030 [sci2_noyo_optim:Science:C] Stopped
2025-03-12T01:14:19.030Z,1741742059.030 [sci2_noyo_optim:Science:E] Stopped
2025-03-12T01:14:19.030Z,1741742059.030 [sci2_noyo_optim:Science:OceanCurrent] Stopped
2025-03-12T01:14:19.030Z,1741742059.030 [sci2_noyo_optim:Science:OceanCurrent](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:OceanCurrent
2025-03-12T01:14:19.030Z,1741742059.030 [sci2_noyo_optim:Science:OceanCurrent:A.] Stopped
2025-03-12T01:14:19.031Z,1741742059.031 [sci2_noyo_optim:StandardEnvelopes] Stopped
2025-03-12T01:14:19.031Z,1741742059.031 [sci2_noyo_optim:StandardEnvelopes](DEBUG): Aggregate::uninitialize sci2_noyo_optim:StandardEnvelopes
2025-03-12T01:14:19.031Z,1741742059.031 [sci2_noyo_optim:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-03-12T01:14:19.031Z,1741742059.031 [sci2_noyo_optim:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-03-12T01:14:19.031Z,1741742059.031 [sci2_noyo_optim:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-03-12T01:14:19.031Z,1741742059.031 [sci2_noyo_optim:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-03-12T01:14:19.031Z,1741742059.031 [sci2_noyo_optim:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-03-12T01:14:19.031Z,1741742059.031 [sci2_noyo_optim:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-03-12T01:14:19.031Z,1741742059.031 [sci2_noyo_optim:BackseatDriver] Stopped
2025-03-12T01:14:19.031Z,1741742059.031 [sci2_noyo_optim:BackseatDriver](DEBUG): Aggregate::uninitialize sci2_noyo_optim:BackseatDriver
2025-03-12T01:14:19.031Z,1741742059.031 [sci2_noyo_optim:BackseatDriver:A.BackseatDriver] Stopped
2025-03-12T01:14:19.031Z,1741742059.031 [sci2_noyo_optim:J] Stopped
2025-03-12T01:14:19.031Z,1741742059.031 [sci2_noyo_optim:PowerOnly] Stopped
2025-03-12T01:14:19.032Z,1741742059.032 [sci2_noyo_optim:PowerOnly](DEBUG): Aggregate::uninitialize sci2_noyo_optim:PowerOnly
2025-03-12T01:14:19.032Z,1741742059.032 [sci2_noyo_optim:PowerOnly:E.Wait] Stopped
2025-03-12T01:14:19.032Z,1741742059.032 [sci2_noyo_optim:PowerOnly:E.Wait](DEBUG): Uninitialize Wait Component.
2025-03-12T01:14:19.032Z,1741742059.032 [sci2_noyo_optim:L.Buoyancy] Stopped
2025-03-12T01:14:19.032Z,1741742059.032 [sci2_noyo_optim:L.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-03-12T01:14:19.032Z,1741742059.032 [sci2_noyo_optim:DiveCmd] Stopped
2025-03-12T01:14:19.032Z,1741742059.032 [sci2_noyo_optim:DiveCmd](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd
2025-03-12T01:14:19.032Z,1741742059.032 [sci2_noyo_optim:DiveCmd:InitialDive] Stopped
2025-03-12T01:14:19.032Z,1741742059.032 [sci2_noyo_optim:DiveCmd:InitialDive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:InitialDive
2025-03-12T01:14:19.032Z,1741742059.032 [sci2_noyo_optim:DiveCmd:SettleAtDepth] Stopped
2025-03-12T01:14:19.032Z,1741742059.032 [sci2_noyo_optim:DiveCmd:SettleAtDepth](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:SettleAtDepth
2025-03-12T01:14:19.033Z,1741742059.033 [sci2_noyo_optim:Lap] Stopped
2025-03-12T01:14:19.033Z,1741742059.033 [sci2_noyo_optim:Lap](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Lap
2025-03-12T01:14:19.033Z,1741742059.033 [sci2_noyo_optim:Lap:Dive] Stopped
2025-03-12T01:14:19.033Z,1741742059.033 [sci2_noyo_optim:Lap:Dive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Lap:Dive
2025-03-12T01:14:19.033Z,1741742059.033 [sci2_noyo_optim:Lap:Dive:A] Stopped
2025-03-12T01:14:19.033Z,1741742059.033 [sci2_noyo_optim:Lap:Dive:A](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Lap:Dive:A
2025-03-12T01:14:19.033Z,1741742059.033 [sci2_noyo_optim:Lap:Wpt1] Stopped
2025-03-12T01:14:19.033Z,1741742059.033 [sci2_noyo_optim:Lap:Wpt1](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Lap:Wpt1
2025-03-12T01:14:19.033Z,1741742059.033 [sci2_noyo_optim:Lap:Wpt1:A.Waypoint] Stopped
2025-03-12T01:14:19.033Z,1741742059.033 [sci2_noyo_optim:Lap:Wpt1:A.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-03-12T01:14:19.302Z,1741742059.302 [WetLabsBB2FL](INFO): Powering down
2025-03-12T01:14:19.405Z,1741742059.405 [MissionManager](IMPORTANT): Started mission Default
2025-03-12T01:14:19.405Z,1741742059.405 [Default] Running Loop=1
2025-03-12T01:14:19.406Z,1741742059.406 [Default](DEBUG): Aggregate::initialize Default
2025-03-12T01:14:19.406Z,1741742059.406 [Default:B.GoToSurface] Running Loop=1
2025-03-12T01:14:19.406Z,1741742059.406 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-03-12T01:14:19.422Z,1741742059.422 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-03-12T01:14:19.422Z,1741742059.422 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-03-12T01:14:19.423Z,1741742059.423 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-03-12T01:14:19.423Z,1741742059.423 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-03-12T01:14:19.424Z,1741742059.424 [Default:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-03-12T01:14:19.424Z,1741742059.424 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-03-12T01:14:19.425Z,1741742059.425 [Default:A.Wait] Running Loop=1
2025-03-12T01:14:19.425Z,1741742059.425 [Default:A.Wait](DEBUG): Initialize Wait Component.
2025-03-12T01:14:20.143Z,1741742060.143 [Radio_Surface](INFO): Powering up
2025-03-12T01:14:25.648Z,1741742065.648 [DataOverHttps](INFO): Radio surface powered ON.
2025-03-12T01:14:32.796Z,1741742072.796 [Default:A.Wait](INFO): Done Waiting.
2025-03-12T01:14:32.796Z,1741742072.796 [Default:A.Wait] Stopped
2025-03-12T01:14:32.796Z,1741742072.796 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2025-03-12T01:14:36.930Z,1741742076.930 [BackseatComponent](INFO): Powering down and starting shutdown timer (18.00 sec).
2025-03-12T01:14:36.931Z,1741742076.931 [BackseatComponent](INFO): Unsubscribing from LCM channels.
2025-03-12T01:14:36.931Z,1741742076.931 [LcmUniversalReporter](INFO): Deactivating messaging.
2025-03-12T01:14:51.936Z,1741742091.936 [Waterlinked](ERROR): only read 0 of 1 data item for BIT error. Device response::TS,24052713113
2025-03-12T01:14:55.721Z,1741742095.721 [CBIT](INFO): Clearing failed state for component BackseatComponent
2025-03-12T01:14:55.722Z,1741742095.722 [BackseatComponent] No Fault, FailCount= 0
2025-03-12T01:14:55.770Z,1741742095.770 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T01:14:55.918Z,1741742095.918 [BackseatComponent](INFO): Powering up
2025-03-12T01:14:55.919Z,1741742095.919 [BackseatComponent](INFO): Subscribing to LCM channels.
2025-03-12T01:15:07.342Z,1741742107.342 [Default:CheckIn] Running Loop=1
2025-03-12T01:15:07.343Z,1741742107.343 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-03-12T01:15:07.343Z,1741742107.343 [Default:CheckIn:Read_GPS] Running Loop=1
2025-03-12T01:15:07.690Z,1741742107.690 [Waterlinked](INFO): Powering down
2025-03-12T01:15:16.803Z,1741742116.803 [BackseatComponent](INFO): Sent LCM shutdown request.
2025-03-12T01:15:16.804Z,1741742116.804 [BackseatComponent](INFO): Shutdown requested. Waiting (18.00 sec to power down.).
2025-03-12T01:15:30.914Z,1741742130.914 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T01:15:34.991Z,1741742134.991 [BackseatComponent](INFO): Powering down and starting shutdown timer (18.00 sec).
2025-03-12T01:15:34.991Z,1741742134.991 [BackseatComponent](INFO): Unsubscribing from LCM channels.
2025-03-12T01:15:34.992Z,1741742134.992 [LcmUniversalReporter](INFO): Deactivating messaging.
2025-03-12T01:16:06.062Z,1741742166.062 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T01:16:36.053Z,1741742196.053 [NAL9602](IMPORTANT): SBD MO Status=0, MOMSN=18486, MT Status=1, MTMSN=1043
2025-03-12T01:16:36.053Z,1741742196.053 [NAL9602](INFO): Data available in MT queue
2025-03-12T01:16:36.795Z,1741742196.795 [NAL9602](INFO): Received command: sched asap "load Science/sci2_noyo_optim.tl;set sci2_noyo_optim.MissionTimeout 1 h;set sci2_noyo_optim.NeedCommsTime 30 min;set sci2_noyo_optim.Depth 15 m;set sci2_noyo_optim.Lat1 36.797 degree;set sci2_noyo_optim.Lon1 -121.847 degree" 31cc9 1 2
2025-03-12T01:16:36.807Z,1741742196.807 [CommandExec](IMPORTANT): got command schedule asap "load Science/sci2_noyo_optim.tl;set sci2_noyo_optim.MissionTimeout 1 h;set sci2_noyo_optim.NeedCommsTime 30 min;set sci2_noyo_optim.Depth 15 m;set sci2_noyo_optim.Lat1 36.797 degree;set sci2_noyo_optim.Lon1 -121.847 degree" 31cc9 1 2.000000
2025-03-12T01:16:36.807Z,1741742196.807 [CommandExec](IMPORTANT): Scheduling command #1 of 2 with id=31cc9
2025-03-12T01:16:36.808Z,1741742196.808 [CommandExec](IMPORTANT): Scheduled #5 (#1 of 2 with id='31cc9'): "load Science/sci2_noyo_optim.tl;set sci2_noyo_optim.MissionTimeout 1 h;set sci2_noyo_optim.NeedCommsTime 30 min;set sci2_noyo_optim.Depth 15 m;set sci2_noyo_optim.Lat1 36.797 degree;set sci2_noyo_optim.Lon1 -121.847 degree", ASAP
2025-03-12T01:16:37.710Z,1741742197.710 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,011636.00,A,3647.98183,N,12149.77194,W,0.583,134.62,120325,,,A*7A
2025-03-12T01:16:37.712Z,1741742197.712 [NAL9602](INFO): GPS fix at 20250312T011636: (36.799697, -121.829532)
2025-03-12T01:16:37.722Z,1741742197.722 [Default:CheckIn:Read_GPS] Stopped
2025-03-12T01:16:37.723Z,1741742197.723 [Default:CheckIn:Read_Iridium] Running Loop=1
2025-03-12T01:16:41.230Z,1741742201.230 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T01:16:54.337Z,1741742214.337 [NAL9602](IMPORTANT): SBD MO Status=1, MOMSN=18487, MT Status=1, MTMSN=1044
2025-03-12T01:16:54.406Z,1741742214.406 [NAL9602](INFO): Sent 148 bytes from file Logs/20250311T232940/Courier0030.lzma
2025-03-12T01:16:54.407Z,1741742214.407 [NAL9602](INFO): Packets left to send: 0
2025-03-12T01:16:55.039Z,1741742215.039 [NAL9602](INFO): Received command: sched asap "set sci2_noyo_optim.ApproachDepth 10 m;set sci2_noyo_optim.SlowSpeed NaN m/s;set sci2_noyo_optim.MinAltitude 10 m;set sci2_noyo_optim.MaxDepth 40 m;set sci2_noyo_optim:PowerOnly.SampleLoad1 1 bool;run" 31cc9 2 2
2025-03-12T01:16:55.088Z,1741742215.088 [CommandExec](IMPORTANT): got command schedule asap "set sci2_noyo_optim.ApproachDepth 10 m;set sci2_noyo_optim.SlowSpeed NaN m/s;set sci2_noyo_optim.MinAltitude 10 m;set sci2_noyo_optim.MaxDepth 40 m;set sci2_noyo_optim:PowerOnly.SampleLoad1 1 bool;run" 31cc9 2 2.000000
2025-03-12T01:16:55.088Z,1741742215.088 [CommandExec](IMPORTANT): Scheduling command #2 of 2 with id=31cc9
2025-03-12T01:16:55.089Z,1741742215.089 [CommandExec](IMPORTANT): Scheduled #6 (#2 of 2 with id='31cc9'): "set sci2_noyo_optim.ApproachDepth 10 m;set sci2_noyo_optim.SlowSpeed NaN m/s;set sci2_noyo_optim.MinAltitude 10 m;set sci2_noyo_optim.MaxDepth 40 m;set sci2_noyo_optim:PowerOnly.SampleLoad1 1 bool;run", ASAP
2025-03-12T01:16:55.252Z,1741742215.252 [CommandExec](IMPORTANT): got command load ./Missions/Science/sci2_noyo_optim.tl
2025-03-12T01:16:55.253Z,1741742215.253 [MissionManager](INFO): Loading Mission from file: ./Missions/Science/sci2_noyo_optim.tl
2025-03-12T01:16:55.253Z,1741742215.253 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Science/sci2_noyo_optim.tl
2025-03-12T01:16:55.255Z,1741742215.255 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Science/sci2_noyo_optim.tl
2025-03-12T01:16:59.330Z,1741742219.330 [MissionManager](DEBUG): TethyslAPI: ./Missions/Science/sci2_noyo_optim.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Mission Id="sci2_noyo_optim">
    <DefineArg Name="MissionTimeout">
        <Units:hour />
        <Value>2</Value>
    </DefineArg>
    <DefineArg Name="NeedCommsTime">
        <Units:minute />
        <Value>60</Value>
    </DefineArg>
    <DefineArg Name="Depth">
        <Units:meter />
        <Value>35</Value>
    </DefineArg>
    <DefineArg Name="Repeat">
        <Units:count />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="Lat1">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lat2">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lat3">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lat4">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lat5">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lat6">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lat7">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lat8">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lon1">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lon2">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lon3">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lon4">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lon5">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lon6">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lon7">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lon8">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="FastSpeed">
        <Units:meter_per_second />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="ApproachDepth">
        <Units:meter />
        <Value>30</Value>
    </DefineArg>
    <DefineArg Name="ApproachSpeed">
        <Units:meter_per_second />
        <Value>0.7</Value>
    </DefineArg>
    <DefineArg Name="ApproachDepthRate">
        <Units:meter_per_second />
        <Value>0.05</Value>
    </DefineArg>
    <DefineArg Name="ApproachPitchLimit">
        <Units:degree />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="ApproachDepthTimeout">
        <Units:minute />
        <Value>15</Value>
    </DefineArg>
    <DefineArg Name="ApproachSettleTimePreDive">
        <Units:minute />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="ApproachSettleTimePostDive">
        <Units:minute />
        <Value>3</Value>
    </DefineArg>
    <DefineArg Name="kpDepth">
        <Units:radian_per_meter />
        <Value>0.07</Value>
    </DefineArg>
    <DefineArg Name="SlowSpeed">
        <Units:meter_per_second />
        <Value>0.25</Value>
    </DefineArg>
    <DefineArg Name="DepthDeviationSlow">
        <Units:meter />
        <Value>3</Value>
    </DefineArg>
    <DefineArg Name="BuoyancyNeutral">
        <Control:VerticalControl.buoyancyNeutral />
    </DefineArg>
    <DefineArg Name="MassDefault">
        <Control:VerticalControl.massDefault />
    </DefineArg>
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>2</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>50</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:kilometer />
        <Value>2</Value>
    </DefineArg>
    <DefineOutput Name="DiveMode">
        <Units:count />
        <Value>0</Value>
    </DefineOutput>
    <DefineOutput Name="DoingComms">
        <Units:count />
        <Value>0</Value>
    </DefineOutput>
    <DefineOutput Name="InitialDive">
        <Units:count />
        <Value>1</Value>
    </DefineOutput>
    <DefineOutput Name="SettleAtDepth">
        <Units:count />
        <Value>2</Value>
    </DefineOutput>
    <DefineOutput Name="MaintainDepth">
        <Units:count />
        <Value>3</Value>
    </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="MissionTimeout" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="NeedComms:WaitForPitchUp" />
        <Units:minute />
        <Value>0</Value>
    </Assign>
    <Insert Filename="Insert/BackseatDriver.tl" />
    <Assign>
        <Parallel />
        <Arg Name="BackseatDriver:EnableBackseat" />
        <True />
    </Assign>
    <Insert Filename="Insert/PowerOnly.tl" />
    <Guidance:Buoyancy>
        <Parallel />
        <Setting>
            <Guidance:Buoyancy.position />
            <Arg Name="BuoyancyNeutral" />
        </Setting>
    </Guidance:Buoyancy>
    <Aggregate Id="SurfaceComms">
        <When>
            <Called />
            <Or>
                <Elapsed>
                    <Universal:time_fix />
                </Elapsed>
                <Gt>
                    <Arg Name="NeedCommsTime" />
                </Gt>
            </Or>
        </When>
        <Assign>
            <Sequence />
            <Arg Name="DiveMode" />
            <Arg Name="DoingComms" />
        </Assign>
        <Call RefId="NeedComms" />
        <Assign>
            <Sequence />
            <Arg Name="DiveMode" />
            <Arg Name="InitialDive" />
        </Assign>
    </Aggregate>
    <Aggregate Id="DiveCmd">
        <When>
            <Called />
        </When>
        <Aggregate Id="InitialDive">
            <While>
                <Arg Name="DiveMode" />
                <Eq>
                    <Arg Name="InitialDive" />
                </Eq>
            </While>
            <Aggregate Id="dive">
                <Sequence />
                <Assign>
                    <Parallel />
                    <Control:VerticalControl.pitchLimit />
                    <Arg Name="ApproachPitchLimit" />
                </Assign>
                <Assign>
                    <Parallel />
                    <Control:VerticalControl.kpDepth />
                    <Arg Name="kpDepth" />
                </Assign>
                <Guidance:Mass>
                    <Parallel />
                    <Setting>
                        <Guidance:Mass.position />
                        <Arg Name="MassDefault" />
                    </Setting>
                </Guidance:Mass>
                <Syslog Severity="Info">
                    Waiting for 
                    <Arg Name="ApproachSettleTimePreDive" />
                    <Units:minute />
                    while pumping down to neutral.
                </Syslog>
                <Guidance:Wait>
                    <Sequence />
                    <Setting>
                        <Guidance:Wait.duration />
                        <Arg Name="ApproachSettleTimePreDive" />
                    </Setting>
                </Guidance:Wait>
                <Syslog>
                    Moving to 
                    <Arg Name="ApproachDepth" />
                    <Units:meter />
                </Syslog>
                <Aggregate Id="ApproachDepth">
                    <Sequence />
                    <Guidance:SetSpeed>
                        <Parallel />
                        <Setting>
                            <Guidance:SetSpeed.speed />
                            <Arg Name="ApproachSpeed" />
                        </Setting>
                    </Guidance:SetSpeed>
                    <Guidance:Pitch>
                        <Sequence />
                        <Timeout Duration="ApproachDepthTimeout">
                            <Syslog Severity="Important">
                                Timed out while trying to reach target depth at current depth of 
                                <Universal:depth />
                                <Units:meter />
                            </Syslog>
                            <Guidance:Execute>
                                <Sequence />
                                <Setting>
                                    <Guidance:Execute.command />
                                    <String>stop</String>
                                </Setting>
                            </Guidance:Execute>
                        </Timeout>
                        <Setting>
                            <Guidance:Pitch.depth />
                            <Arg Name="ApproachDepth" />
                        </Setting>
                        <Setting>
                            <Guidance:Pitch.depthRate />
                            <Arg Name="ApproachDepthRate" />
                        </Setting>
                    </Guidance:Pitch>
                </Aggregate>
                <Assign>
                    <Sequence />
                    <Arg Name="DiveMode" />
                    <Arg Name="SettleAtDepth" />
                </Assign>
            </Aggregate>
        </Aggregate>
        <Aggregate Id="SettleAtDepth">
            <While>
                <Arg Name="DiveMode" />
                <Eq>
                    <Arg Name="SettleAtDepth" />
                </Eq>
            </While>
            <Aggregate Id="dive">
                <Sequence />
                <Syslog Severity="Info">
                    Reached 
                    <Universal:depth />
                    <Units:meter />
                    , settling for 
                    <Arg Name="ApproachSettleTimePostDive" />
                    <Units:minute />
                </Syslog>
                <Guidance:Pitch>
                    <Parallel />
                    <Setting>
                        <Guidance:Pitch.depth />
                        <Arg Name="Depth" />
                    </Setting>
                </Guidance:Pitch>
                <Guidance:Wait>
                    <Sequence />
                    <Setting>
                        <Guidance:Wait.duration />
                        <Arg Name="ApproachSettleTimePostDive" />
                    </Setting>
                </Guidance:Wait>
                <Assign>
                    <Sequence />
                    <Arg Name="DiveMode" />
                    <Arg Name="MaintainDepth" />
                </Assign>
            </Aggregate>
        </Aggregate>
        <Aggregate Id="MaintainDepth">
            <While>
                <Arg Name="DiveMode" />
                <Eq>
                    <Arg Name="MaintainDepth" />
                </Eq>
                <And>
                    <Universal:depth />
                    <Gt>
                        <Arg Name="Depth" />
                        <Add>
                            <Arg Name="DepthDeviationSlow" />
                        </Add>
                    </Gt>
                </And>
                <Or>
                    <Universal:depth />
                    <Lt>
                        <Arg Name="Depth" />
                        <Sub>
                            <Arg Name="DepthDeviationSlow" />
                        </Sub>
                    </Lt>
                </Or>
            </While>
            <Aggregate Id="dive">
                <Parallel />
                <Aggregate Id="ThrusterDive">
                    <While>
                        <Arg Name="FastSpeed" />
                        <Gt>
                            <Units:meter_per_second />
                            <Value>0.0</Value>
                        </Gt>
                    </While>
                    <Guidance:Mass>
                        <Parallel />
                        <Setting>
                            <Guidance:Mass.position />
                            <Arg Name="MassDefault" />
                        </Setting>
                    </Guidance:Mass>
                    <Guidance:SetSpeed>
                        <Parallel />
                        <Setting>
                            <Guidance:SetSpeed.speed />
                            <Arg Name="FastSpeed" />
                        </Setting>
                    </Guidance:SetSpeed>
                </Aggregate>
                <Guidance:Pitch>
                    <Parallel />
                    <Setting>
                        <Guidance:Pitch.depth />
                        <Arg Name="Depth" />
                    </Setting>
                </Guidance:Pitch>
            </Aggregate>
        </Aggregate>
        <Aggregate Id="MaintainDepthSlow">
            <While>
                <Not>
                    <IsNaN>
                        <Arg Name="SlowSpeed" />
                    </IsNaN>
                </Not>
                <And>
                    <Arg Name="DiveMode" />
                    <Eq>
                        <Arg Name="MaintainDepth" />
                    </Eq>
                </And>
                <And>
                    <Universal:depth />
                    <Le>
                        <Arg Name="Depth" />
                        <Add>
                            <Arg Name="DepthDeviationSlow" />
                        </Add>
                    </Le>
                </And>
                <And>
                    <Universal:depth />
                    <Ge>
                        <Arg Name="Depth" />
                        <Sub>
                            <Arg Name="DepthDeviationSlow" />
                        </Sub>
                    </Ge>
                </And>
            </While>
            <Guidance:SetSpeed>
                <Parallel />
                <Setting>
                    <Guidance:SetSpeed.speed />
                    <Arg Name="SlowSpeed" />
                </Setting>
            </Guidance:SetSpeed>
            <Assign>
                <Parallel />
                <Control:VerticalControl.depthDeadband />
                <Arg Name="DepthDeviationSlow" />
                <Add>
                    <Units:meter />
                    <Value>3</Value>
                </Add>
            </Assign>
            <Guidance:Buoyancy>
                <Parallel />
                <Setting>
                    <Guidance:Buoyancy.position />
                    <Units:cubic_centimeter />
                    <Value>NaN</Value>
                </Setting>
            </Guidance:Buoyancy>
            <Guidance:Pitch>
                <Parallel />
                <Setting>
                    <Guidance:Pitch.depth />
                    <Arg Name="Depth" />
                </Setting>
            </Guidance:Pitch>
        </Aggregate>
    </Aggregate>
    <Call RefId="SurfaceComms" Id="StartingMission" />
    <Aggregate Id="Lap">
        <Sequence Repeat="Repeat" />
        <Aggregate Id="Dive">
            <While>
                <Not>
                    <Arg Name="DiveMode" />
                    <Eq>
                        <Arg Name="DoingComms" />
                    </Eq>
                </Not>
            </While>
            <Call RefId="DiveCmd" />
        </Aggregate>
        <Aggregate Id="Wpt1">
            <Sequence />
            <Guidance:Waypoint>
                <Sequence />
                <Setting>
                    <Guidance:Waypoint.latitude />
                    <Arg Name="Lat1" />
                </Setting>
                <Setting>
                    <Guidance:Waypoint.longitude />
                    <Arg Name="Lon1" />
                </Setting>
            </Guidance:Waypoint>
        </Aggregate>
        <Aggregate Id="Wpt2">
            <Sequence />
            <Guidance:Waypoint>
                <Sequence />
                <Setting>
                    <Guidance:Waypoint.latitude />
                    <Arg Name="Lat2" />
                </Setting>
                <Setting>
                    <Guidance:Waypoint.longitude />
                    <Arg Name="Lon2" />
                </Setting>
            </Guidance:Waypoint>
        </Aggregate>
        <Aggregate Id="Wpt3">
            <Sequence />
            <Guidance:Waypoint>
                <Sequence />
                <Setting>
                    <Guidance:Waypoint.latitude />
                    <Arg Name="Lat3" />
                </Setting>
                <Setting>
                    <Guidance:Waypoint.longitude />
                    <Arg Name="Lon3" />
                </Setting>
            </Guidance:Waypoint>
        </Aggregate>
        <Aggregate Id="Wpt4">
            <Sequence />
            <Guidance:Waypoint>
                <Sequence />
                <Setting>
                    <Guidance:Waypoint.latitude />
                    <Arg Name="Lat4" />
                </Setting>
                <Setting>
                    <Guidance:Waypoint.longitude />
                    <Arg Name="Lon4" />
                </Setting>
            </Guidance:Waypoint>
        </Aggregate>
        <Aggregate Id="Wpt5">
            <Sequence />
            <Guidance:Waypoint>
                <Sequence />
                <Setting>
                    <Guidance:Waypoint.latitude />
                    <Arg Name="Lat5" />
                </Setting>
                <Setting>
                    <Guidance:Waypoint.longitude />
                    <Arg Name="Lon5" />
                </Setting>
            </Guidance:Waypoint>
        </Aggregate>
        <Aggregate Id="Wpt6">
            <Sequence />
            <Guidance:Waypoint>
                <Sequence />
                <Setting>
                    <Guidance:Waypoint.latitude />
                    <Arg Name="Lat6" />
                </Setting>
                <Setting>
                    <Guidance:Waypoint.longitude />
                    <Arg Name="Lon6" />
                </Setting>
            </Guidance:Waypoint>
        </Aggregate>
        <Aggregate Id="Wpt7">
            <Sequence />
            <Guidance:Waypoint>
                <Sequence />
                <Setting>
                    <Guidance:Waypoint.latitude />
                    <Arg Name="Lat7" />
                </Setting>
                <Setting>
                    <Guidance:Waypoint.longitude />
                    <Arg Name="Lon7" />
                </Setting>
            </Guidance:Waypoint>
        </Aggregate>
    </Aggregate>
</Mission>

2025-03-12T01:16:59.366Z,1741742219.366 [MissionManager](INFO): DefineArg sci2_noyo_optim.MissionTimeout = 2.000000 h
2025-03-12T01:16:59.369Z,1741742219.369 [MissionManager](INFO): DefineArg sci2_noyo_optim.NeedCommsTime = 60.000000 min
2025-03-12T01:16:59.371Z,1741742219.371 [MissionManager](INFO): DefineArg sci2_noyo_optim.Depth = 35.000000 m
2025-03-12T01:16:59.373Z,1741742219.373 [MissionManager](INFO): DefineArg sci2_noyo_optim.Repeat = 1.000000 count
2025-03-12T01:16:59.380Z,1741742219.380 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lat1 = nan arcdeg
2025-03-12T01:16:59.382Z,1741742219.382 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lat2 = nan arcdeg
2025-03-12T01:16:59.387Z,1741742219.387 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lat3 = nan arcdeg
2025-03-12T01:16:59.389Z,1741742219.389 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lat4 = nan arcdeg
2025-03-12T01:16:59.408Z,1741742219.408 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lat5 = nan arcdeg
2025-03-12T01:16:59.422Z,1741742219.422 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lat6 = nan arcdeg
2025-03-12T01:16:59.424Z,1741742219.424 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lat7 = nan arcdeg
2025-03-12T01:16:59.432Z,1741742219.432 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lat8 = nan arcdeg
2025-03-12T01:16:59.435Z,1741742219.435 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lon1 = nan arcdeg
2025-03-12T01:16:59.437Z,1741742219.437 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lon2 = nan arcdeg
2025-03-12T01:16:59.447Z,1741742219.447 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lon3 = nan arcdeg
2025-03-12T01:16:59.450Z,1741742219.450 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lon4 = nan arcdeg
2025-03-12T01:16:59.460Z,1741742219.460 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lon5 = nan arcdeg
2025-03-12T01:16:59.467Z,1741742219.467 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lon6 = nan arcdeg
2025-03-12T01:16:59.469Z,1741742219.469 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lon7 = nan arcdeg
2025-03-12T01:16:59.479Z,1741742219.479 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lon8 = nan arcdeg
2025-03-12T01:16:59.481Z,1741742219.481 [MissionManager](INFO): DefineArg sci2_noyo_optim.FastSpeed = 1.000000 m/s
2025-03-12T01:16:59.488Z,1741742219.488 [MissionManager](INFO): DefineArg sci2_noyo_optim.ApproachDepth = 30.000000 m
2025-03-12T01:16:59.503Z,1741742219.503 [MissionManager](INFO): DefineArg sci2_noyo_optim.ApproachSpeed = 0.700000 m/s
2025-03-12T01:16:59.505Z,1741742219.505 [MissionManager](INFO): DefineArg sci2_noyo_optim.ApproachDepthRate = 0.050000 m/s
2025-03-12T01:16:59.510Z,1741742219.510 [MissionManager](INFO): DefineArg sci2_noyo_optim.ApproachPitchLimit = 20.000000 arcdeg
2025-03-12T01:16:59.512Z,1741742219.512 [MissionManager](INFO): DefineArg sci2_noyo_optim.ApproachDepthTimeout = 15.000000 min
2025-03-12T01:16:59.514Z,1741742219.514 [MissionManager](INFO): DefineArg sci2_noyo_optim.ApproachSettleTimePreDive = 1.000000 min
2025-03-12T01:16:59.517Z,1741742219.517 [MissionManager](INFO): DefineArg sci2_noyo_optim.ApproachSettleTimePostDive = 3.000000 min
2025-03-12T01:16:59.540Z,1741742219.540 [MissionManager](INFO): DefineArg sci2_noyo_optim.kpDepth = 0.070000 rad/m
2025-03-12T01:16:59.542Z,1741742219.542 [MissionManager](INFO): DefineArg sci2_noyo_optim.SlowSpeed = 0.250000 m/s
2025-03-12T01:16:59.544Z,1741742219.544 [MissionManager](INFO): DefineArg sci2_noyo_optim.DepthDeviationSlow = 3.000000 m
2025-03-12T01:16:59.547Z,1741742219.547 [MissionManager](INFO): DefineArg sci2_noyo_optim.BuoyancyNeutral = 277.341827 cc
2025-03-12T01:16:59.549Z,1741742219.549 [MissionManager](INFO): DefineArg sci2_noyo_optim.MassDefault = 0.980754 cm
2025-03-12T01:16:59.592Z,1741742219.592 [MissionManager](INFO): DefineArg sci2_noyo_optim.MinAltitude = 2.000000 m
2025-03-12T01:16:59.599Z,1741742219.599 [MissionManager](INFO): DefineArg sci2_noyo_optim.MaxDepth = 50.000000 m
2025-03-12T01:16:59.601Z,1741742219.601 [MissionManager](INFO): DefineArg sci2_noyo_optim.MinOffshore = 2.000000 km
2025-03-12T01:16:59.612Z,1741742219.612 [MissionManager](INFO): DefineOutput sci2_noyo_optim.DiveMode = 0.000000 count
2025-03-12T01:16:59.639Z,1741742219.639 [MissionManager](INFO): DefineOutput sci2_noyo_optim.DoingComms = 0.000000 count
2025-03-12T01:16:59.641Z,1741742219.641 [MissionManager](INFO): DefineOutput sci2_noyo_optim.InitialDive = 1.000000 count
2025-03-12T01:16:59.652Z,1741742219.652 [MissionManager](INFO): DefineOutput sci2_noyo_optim.SettleAtDepth = 2.000000 count
2025-03-12T01:16:59.661Z,1741742219.661 [MissionManager](INFO): DefineOutput sci2_noyo_optim.MaintainDepth = 3.000000 count
2025-03-12T01:16:59.674Z,1741742219.674 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/Science.tl
2025-03-12T01:16:59.674Z,1741742219.674 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/Science.tl
2025-03-12T01:16:59.683Z,1741742219.683 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/Science.tl
2025-03-12T01:17:02.056Z,1741742222.056 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/Science.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="Science">
    <DefineArg Name="PeakDetectChlActive">
        <False />
    </DefineArg>
    <DefineArg Name="EdgeDetectChlActive">
        <False />
    </DefineArg>
    <DefineArg Name="TimeWindowPeakReport">
        <Units:minute />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="HighestChlPeakReportActive">
        <False />
    </DefineArg>
    <DefineArg Name="HighestSaltPeakReportActive">
        <False />
    </DefineArg>
    <DefineArg Name="HighestOilPeakReportActive">
        <False />
    </DefineArg>
    <DefineArg Name="PatchTracking">
        <False />
    </DefineArg>
    <DefineArg Name="FilterWidthHorizontal">
        <Units:count />
        <Value>3</Value>
    </DefineArg>
    <DefineArg Name="NumProfilesSlidingwindow">
        <Units:count />
        <Value>100</Value>
    </DefineArg>
    <DefineArg Name="OffPeakFractionHorizontal">
        <Units:percent />
        <Value>80</Value>
    </DefineArg>
    <DefineArg Name="PeakDetectNO3Active">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectOilActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectFDOMActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectSalinityActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreLMavgROIActive">
        <False />
    </DefineArg>
    <DefineArg Name="EdgeDetectPlanktivoreLMavgROIActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreHMavgROIActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreDiatomsActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreDinoflagellatesActive">
        <False />
    </DefineArg>
    <DefineArg Name="UpwardDerivativeOfTemperatureActive">
        <False />
    </DefineArg>
    <DefineArg Name="EnabledAanderaaO2">
        <Science:Aanderaa_O2.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledNeilBrown">
        <Science:CTD_NeilBrown.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledSeabird">
        <Science:CTD_Seabird.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledWetLabsBB2FL">
        <Science:WetLabsBB2FL.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledWetLabsSeaOWL_UV_A">
        <Science:WetLabsSeaOWL_UV_A.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledWetLabsUBAT">
        <Science:WetLabsUBAT.loadAtStartup />
    </DefineArg>
    <DefineArg Name="LowPassWindowLength">
        <Units:count />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="MedianFilterLen">
        <Units:count />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="ShallowBound">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="DeepBound">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="DepChangeThreshForAttitudeFlip">
        <Units:meter />
        <Value>2.0</Value>
    </DefineArg>
    <DefineArg Name="OffPeakFractionVertical">
        <Units:percent />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="ChlPeakThresh">
        <Units:microgram_per_liter />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="ChlThreshTriggerActive">
        <False />
    </DefineArg>
    <DefineArg Name="ChlLowerThresh">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="ChlUpperThresh">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="NumProfilesThresh">
        <Units:count />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="PlanktivoreLMavgROIPeakThresh">
        <Units:count_per_second />
        <Value>0</Value>
    </DefineArg>
    <DefineOutput Name="GoDown">
        <True />
    </DefineOutput>
    <DefineOutput Name="PeakChl">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChl">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChlDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChlTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChlLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChlLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3">
        <Units:micromole_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3Depth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3Latitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3Longitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOil">
        <Units:kilogram_per_cubic_meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOilDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOilLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOilLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOM">
        <Units:part_per_billion />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSalt">
        <Units:practical_salinity_unit />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROI">
        <Units:count_per_second />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROIDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROITemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROILatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROILongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROI">
        <Units:count_per_second />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROIDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROITemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROILatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROILongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROI">
        <Units:count_per_second />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROIDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROITemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROILatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROILongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatoms">
        <Units:count_per_milliliter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellates">
        <Units:count_per_milliliter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChl">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlDistance">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSalt">
        <Units:practical_salinity_unit />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltDistance">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOil">
        <Units:practical_salinity_unit />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilDistance">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="TriggeredOnChl">
        <False />
    </DefineOutput>
    <DefineOutput Name="ChlTriggering">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <Parallel />
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledAanderaaO2" />
        </While>
        <Universal:mass_concentration_of_oxygen_in_sea_water />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledNeilBrown" />
            <Or>
                <Arg Name="EnabledSeabird" />
            </Or>
        </While>
        <Universal:sea_water_temperature />
        <Universal:sea_water_salinity />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledSeabird" />
        </While>
        <Science:CTD_Seabird.sea_water_temperature />
        <Science:CTD_Seabird.sea_water_salinity />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledNeilBrown" />
            <Or>
                <Arg Name="EnabledSeabird" />
            </Or>
            <And>
                <Arg Name="UpwardDerivativeOfTemperatureActive" />
            </And>
        </While>
        <Universal:upward_derivative_of_sea_water_temperature />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledWetLabsBB2FL" />
            <Or>
                <Arg Name="PeakDetectChlActive" />
            </Or>
        </While>
        <Universal:mass_concentration_of_chlorophyll_in_sea_water />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledWetLabsUBAT" />
        </While>
        <Science:WetLabsUBAT.average_bioluminescence />
    </ReadData>
    <ReadData Id="Read_Oil" Strategy="MinError">
        <While>
            <Arg Name="EnabledWetLabsSeaOWL_UV_A" />
            <Or>
                <Arg Name="PeakDetectOilActive" />
            </Or>
        </While>
        <Universal:mass_concentration_of_petroleum_hydrocarbons_in_sea_water />
    </ReadData>
    <Aggregate Id="OceanCurrent">
        <Sequence />
        <Estimation:CurrentEstimator>
            <Parallel />
        </Estimation:CurrentEstimator>
    </Aggregate>
    <Aggregate Id="PeakDetectChl">
        <While>
            <Arg Name="PeakDetectChlActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:mass_concentration_of_chlorophyll_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakChl">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakChlDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakChlTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakChlLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakChlLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakChl" />
            <Arg Name="PeakChlDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="EdgeDetectChl">
        <While>
            <Arg Name="EdgeDetectChlActive" />
        </While>
        <Syslog Severity="Debug">EdgeDetectVsDepth</Syslog>
        <Trigger:EdgeDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:EdgeDetectVsDepth.detect />
                <Universal:mass_concentration_of_chlorophyll_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFraction />
                <Arg Name="OffPeakFractionVertical" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.peakThresh />
                <Arg Name="ChlPeakThresh" />
            </Setting>
            <OutputArg Name="GoDown">
                <Trigger:EdgeDetectVsDepth.goDown />
            </OutputArg>
            <OutputArg Name="PeakChl">
                <Trigger:EdgeDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakChlDepth">
                <Trigger:EdgeDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakChlTemperature">
                <Trigger:EdgeDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakChlLatitude">
                <Trigger:EdgeDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakChlLongitude">
                <Trigger:EdgeDetectVsDepth.peakLongitude />
            </OutputArg>
            <OutputArg Name="EdgeChl">
                <Trigger:EdgeDetectVsDepth.edgeDetect />
            </OutputArg>
            <OutputArg Name="EdgeChlDepth">
                <Trigger:EdgeDetectVsDepth.edgeDepth />
            </OutputArg>
            <OutputArg Name="EdgeChlTemperature">
                <Trigger:EdgeDetectVsDepth.edgeTemperature />
            </OutputArg>
            <OutputArg Name="EdgeChlLatitude">
                <Trigger:EdgeDetectVsDepth.edgeLatitude />
            </OutputArg>
            <OutputArg Name="EdgeChlLongitude">
                <Trigger:EdgeDetectVsDepth.edgeLongitude />
            </OutputArg>
        </Trigger:EdgeDetectVsDepth>
        <Syslog Severity="Info">
            GoDown, ChlPeakThresh, PeakChl, PeakChlDepth, EdgeChl, EdgeChlDepth = 
            <Arg Name="GoDown" />
            <Units:bool />
            , 
            <Arg Name="ChlPeakThresh" />
            <Units:microgram_per_liter />
            , 
            <Arg Name="PeakChl" />
            <Units:microgram_per_liter />
            , 
            <Arg Name="PeakChlDepth" />
            <Units:meter />
            , 
            <Arg Name="EdgeChl" />
            <Units:microgram_per_liter />
            , 
            <Arg Name="EdgeChlDepth" />
            <Units:meter />
        </Syslog>
        <SendData Service="Express">
            <Arg Name="PeakChl" />
            <Arg Name="PeakChlDepth" />
            <Arg Name="EdgeChl" />
            <Arg Name="EdgeChlDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="HighestChlPeakReport">
        <While>
            <Arg Name="HighestChlPeakReportActive" />
        </While>
        <Trigger:PeakDetectHorizontal>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectHorizontal.detectFrom />
                <Arg Name="PeakChl" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.depthFrom />
                <Arg Name="PeakChlDepth" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.latitudeFrom />
                <Arg Name="PeakChlLatitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.longitudeFrom />
                <Arg Name="PeakChlLongitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.patchTracking />
                <Arg Name="PatchTracking" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.filterWidth />
                <Arg Name="FilterWidthHorizontal" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.numProfilesSlidingwindow />
                <Arg Name="NumProfilesSlidingwindow" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.offPeakFraction />
                <Arg Name="OffPeakFractionHorizontal" />
            </Setting>
            <OutputArg Name="PatchChl">
                <Trigger:PeakDetectHorizontal.peakDetect />
            </OutputArg>
            <OutputArg Name="PatchChlDepth">
                <Trigger:PeakDetectHorizontal.peakDepth />
            </OutputArg>
            <OutputArg Name="PatchChlLatitude">
                <Trigger:PeakDetectHorizontal.peakLatitude />
            </OutputArg>
            <OutputArg Name="PatchChlLongitude">
                <Trigger:PeakDetectHorizontal.peakLongitude />
            </OutputArg>
            <OutputArg Name="PatchChlDistance">
                <Trigger:PeakDetectHorizontal.peakDistance />
            </OutputArg>
        </Trigger:PeakDetectHorizontal>
    </Aggregate>
    <Aggregate Id="PeakDetectNO3">
        <While>
            <Arg Name="PeakDetectNO3Active" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:mole_concentration_of_nitrate_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <OutputArg Name="PeakNO3">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakNO3Depth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakNO3Latitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakNO3Longitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakNO3" />
            <Arg Name="PeakNO3Depth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectOil">
        <While>
            <Arg Name="PeakDetectOilActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:mass_concentration_of_petroleum_hydrocarbons_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <OutputArg Name="PeakOil">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakOilDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakOilLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakOilLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakOil" />
            <Arg Name="PeakOilDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="HighestOilPeakReport">
        <While>
            <Arg Name="HighestOilPeakReportActive" />
        </While>
        <Trigger:PeakDetectHorizontal>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectHorizontal.detectFrom />
                <Arg Name="PeakOil" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.depthFrom />
                <Arg Name="PeakOilDepth" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.latitudeFrom />
                <Arg Name="PeakOilLatitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.longitudeFrom />
                <Arg Name="PeakOilLongitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.patchTracking />
                <Arg Name="PatchTracking" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.filterWidth />
                <Arg Name="FilterWidthHorizontal" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.numProfilesSlidingwindow />
                <Arg Name="NumProfilesSlidingwindow" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.offPeakFraction />
                <Arg Name="OffPeakFractionHorizontal" />
            </Setting>
            <OutputArg Name="PatchOil">
                <Trigger:PeakDetectHorizontal.peakDetect />
            </OutputArg>
            <OutputArg Name="PatchOilDepth">
                <Trigger:PeakDetectHorizontal.peakDepth />
            </OutputArg>
            <OutputArg Name="PatchOilLatitude">
                <Trigger:PeakDetectHorizontal.peakLatitude />
            </OutputArg>
            <OutputArg Name="PatchOilLongitude">
                <Trigger:PeakDetectHorizontal.peakLongitude />
            </OutputArg>
            <OutputArg Name="PatchOilDistance">
                <Trigger:PeakDetectHorizontal.peakDistance />
            </OutputArg>
        </Trigger:PeakDetectHorizontal>
    </Aggregate>
    <Aggregate Id="PeakDetectFDOM">
        <While>
            <Arg Name="PeakDetectFDOMActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:concentration_of_colored_dissolved_organic_matter_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <OutputArg Name="PeakFDOM">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakFDOMDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakFDOMTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakFDOMLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakFDOMLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakFDOM" />
            <Arg Name="PeakFDOMDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectSalinity">
        <While>
            <Arg Name="PeakDetectSalinityActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:sea_water_salinity />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakSalt">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakSaltDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakSaltTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakSaltLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakSaltLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakSalt" />
            <Arg Name="PeakSaltDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="HighestSaltPeakReport">
        <While>
            <Arg Name="HighestSaltPeakReportActive" />
        </While>
        <Trigger:PeakDetectHorizontal>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectHorizontal.detectFrom />
                <Arg Name="PeakSalt" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.depthFrom />
                <Arg Name="PeakSaltDepth" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.latitudeFrom />
                <Arg Name="PeakSaltLatitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.longitudeFrom />
                <Arg Name="PeakSaltLongitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.patchTracking />
                <Arg Name="PatchTracking" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.filterWidth />
                <Arg Name="FilterWidthHorizontal" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.numProfilesSlidingwindow />
                <Arg Name="NumProfilesSlidingwindow" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.offPeakFraction />
                <Arg Name="OffPeakFractionHorizontal" />
            </Setting>
            <OutputArg Name="PatchSalt">
                <Trigger:PeakDetectHorizontal.peakDetect />
            </OutputArg>
            <OutputArg Name="PatchSaltDepth">
                <Trigger:PeakDetectHorizontal.peakDepth />
            </OutputArg>
            <OutputArg Name="PatchSaltLatitude">
                <Trigger:PeakDetectHorizontal.peakLatitude />
            </OutputArg>
            <OutputArg Name="PatchSaltLongitude">
                <Trigger:PeakDetectHorizontal.peakLongitude />
            </OutputArg>
            <OutputArg Name="PatchSaltDistance">
                <Trigger:PeakDetectHorizontal.peakDistance />
            </OutputArg>
        </Trigger:PeakDetectHorizontal>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreLMavgROI">
        <While>
            <Arg Name="PeakDetectPlanktivoreLMavgROIActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_LM_AvgRois</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreLMavgROI">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROIDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROITemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROILatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROILongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreLMavgROI" />
            <Arg Name="PeakPlanktivoreLMavgROIDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="EdgeDetectPlanktivoreLMavgROI">
        <While>
            <Arg Name="EdgeDetectPlanktivoreLMavgROIActive" />
        </While>
        <Syslog Severity="Debug">EdgeDetectVsDepth</Syslog>
        <Trigger:EdgeDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:EdgeDetectVsDepth.detect />
                <String>_.planktivore_LM_AvgRois</String>
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFraction />
                <Arg Name="OffPeakFractionVertical" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.peakThresh />
                <Arg Name="PlanktivoreLMavgROIPeakThresh" />
            </Setting>
            <OutputArg Name="GoDown">
                <Trigger:EdgeDetectVsDepth.goDown />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROI">
                <Trigger:EdgeDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROIDepth">
                <Trigger:EdgeDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROITemperature">
                <Trigger:EdgeDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROILatitude">
                <Trigger:EdgeDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROILongitude">
                <Trigger:EdgeDetectVsDepth.peakLongitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROI">
                <Trigger:EdgeDetectVsDepth.edgeDetect />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROIDepth">
                <Trigger:EdgeDetectVsDepth.edgeDepth />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROITemperature">
                <Trigger:EdgeDetectVsDepth.edgeTemperature />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROILatitude">
                <Trigger:EdgeDetectVsDepth.edgeLatitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROILongitude">
                <Trigger:EdgeDetectVsDepth.edgeLongitude />
            </OutputArg>
        </Trigger:EdgeDetectVsDepth>
        <Syslog Severity="Important">
            GoDown, PlanktivoreLMavgROIPeakThresh, PeakPlanktivoreLMavgROI, PeakPlanktivoreLMavgROIDepth, EdgePlanktivoreLMavgROI, EdgePlanktivoreLMavgROIDepth = 
            <Arg Name="GoDown" />
            <Units:bool />
            , 
            <Arg Name="PlanktivoreLMavgROIPeakThresh" />
            <Units:microgram_per_liter />
            , 
            <Arg Name="PeakPlanktivoreLMavgROI" />
            <Units:microgram_per_liter />
            , 
            <Arg Name="PeakPlanktivoreLMavgROIDepth" />
            <Units:meter />
            , 
            <Arg Name="EdgePlanktivoreLMavgROI" />
            <Units:microgram_per_liter />
            , 
            <Arg Name="EdgePlanktivoreLMavgROIDepth" />
            <Units:meter />
        </Syslog>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreLMavgROI" />
            <Arg Name="PeakPlanktivoreLMavgROIDepth" />
            <Arg Name="EdgePlanktivoreLMavgROI" />
            <Arg Name="EdgePlanktivoreLMavgROIDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreHMavgROI">
        <While>
            <Arg Name="PeakDetectPlanktivoreHMavgROIActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_HM_AvgRois</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreHMavgROI">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROIDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROITemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROILatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROILongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreHMavgROI" />
            <Arg Name="PeakPlanktivoreHMavgROIDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreDiatoms">
        <While>
            <Arg Name="PeakDetectPlanktivoreDiatomsActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_diatoms</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreDiatoms">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreDiatoms" />
            <Arg Name="PeakPlanktivoreDiatomsDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreDinoflagellates">
        <While>
            <Arg Name="PeakDetectPlanktivoreDinoflagellatesActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_dinoflagellates</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreDinoflagellates">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreDinoflagellates" />
            <Arg Name="PeakPlanktivoreDinoflagellatesDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="ChlThreshTrigger">
        <While>
            <Arg Name="ChlThreshTriggerActive" />
        </While>
        <Trigger:ValueDetect>
            <Sequence />
            <Setting>
                <Trigger:ValueDetect.detect />
                <Arg Name="PeakChl" />
            </Setting>
            <Setting>
                <Trigger:ValueDetect.lowerThreshold />
                <Arg Name="ChlLowerThresh" />
            </Setting>
            <Setting>
                <Trigger:ValueDetect.upperThreshold />
                <Arg Name="ChlUpperThresh" />
            </Setting>
            <Setting>
                <Trigger:ValueDetect.numProfilesThreshold />
                <Arg Name="NumProfilesThresh" />
            </Setting>
            <OutputArg Name="ChlTriggering">
                <Trigger:ValueDetect.outputValue />
            </OutputArg>
        </Trigger:ValueDetect>
        <Assign>
            <Sequence />
            <Arg Name="TriggeredOnChl" />
            <True />
        </Assign>
        <Syslog Severity="Important">
            Triggered. PeakChl values on 
            <Arg Name="NumProfilesThresh" />
            <Units:count />
             consecutive yo-yo profiles fall in [
            <Arg Name="ChlLowerThresh" />
            <Units:microgram_per_liter />
            <Arg Name="ChlUpperThresh" />
            <Units:microgram_per_liter />
            ] (NaN bound is ignored).
        </Syslog>
    </Aggregate>
</Aggregate>

2025-03-12T01:17:02.143Z,1741742222.143 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.PeakDetectChlActive = 0 bool
2025-03-12T01:17:02.145Z,1741742222.145 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.EdgeDetectChlActive = 0 bool
2025-03-12T01:17:02.152Z,1741742222.152 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.TimeWindowPeakReport = nan min
2025-03-12T01:17:02.153Z,1741742222.153 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.HighestChlPeakReportActive = 0 bool
2025-03-12T01:17:02.160Z,1741742222.160 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.HighestSaltPeakReportActive = 0 bool
2025-03-12T01:17:02.168Z,1741742222.168 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.HighestOilPeakReportActive = 0 bool
2025-03-12T01:17:02.171Z,1741742222.171 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.PatchTracking = 0 bool
2025-03-12T01:17:02.173Z,1741742222.173 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.FilterWidthHorizontal = 3.000000 count
2025-03-12T01:17:02.176Z,1741742222.176 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.NumProfilesSlidingwindow = 100.000000 count
2025-03-12T01:17:02.197Z,1741742222.197 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.OffPeakFractionHorizontal = 80.000000 %
2025-03-12T01:17:02.211Z,1741742222.211 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.PeakDetectNO3Active = 0 bool
2025-03-12T01:17:02.213Z,1741742222.213 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.PeakDetectOilActive = 0 bool
2025-03-12T01:17:02.234Z,1741742222.234 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.PeakDetectFDOMActive = 0 bool
2025-03-12T01:17:02.236Z,1741742222.236 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.PeakDetectSalinityActive = 0 bool
2025-03-12T01:17:02.242Z,1741742222.242 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.PeakDetectPlanktivoreLMavgROIActive = 0 bool
2025-03-12T01:17:02.245Z,1741742222.245 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.EdgeDetectPlanktivoreLMavgROIActive = 0 bool
2025-03-12T01:17:02.247Z,1741742222.247 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.PeakDetectPlanktivoreHMavgROIActive = 0 bool
2025-03-12T01:17:02.249Z,1741742222.249 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.PeakDetectPlanktivoreDiatomsActive = 0 bool
2025-03-12T01:17:02.259Z,1741742222.259 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.PeakDetectPlanktivoreDinoflagellatesActive = 0 bool
2025-03-12T01:17:02.261Z,1741742222.261 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2025-03-12T01:17:02.264Z,1741742222.264 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.EnabledAanderaaO2 = 0 bool
2025-03-12T01:17:02.275Z,1741742222.275 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.EnabledNeilBrown = 0 bool
2025-03-12T01:17:02.277Z,1741742222.277 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.EnabledSeabird = 1 bool
2025-03-12T01:17:02.288Z,1741742222.288 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.EnabledWetLabsBB2FL = 1 bool
2025-03-12T01:17:02.294Z,1741742222.294 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.EnabledWetLabsSeaOWL_UV_A = 0 bool
2025-03-12T01:17:02.310Z,1741742222.310 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.EnabledWetLabsUBAT = 0 bool
2025-03-12T01:17:02.320Z,1741742222.320 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.LowPassWindowLength = 20.000000 count
2025-03-12T01:17:02.327Z,1741742222.327 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.MedianFilterLen = 5.000000 count
2025-03-12T01:17:02.329Z,1741742222.329 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.ShallowBound = nan m
2025-03-12T01:17:02.331Z,1741742222.331 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.DeepBound = nan m
2025-03-12T01:17:02.334Z,1741742222.334 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.DepChangeThreshForAttitudeFlip = 2.000000 m
2025-03-12T01:17:02.348Z,1741742222.348 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.OffPeakFractionVertical = nan %
2025-03-12T01:17:02.363Z,1741742222.363 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.ChlPeakThresh = 0.000000 ug/l
2025-03-12T01:17:02.365Z,1741742222.365 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.ChlThreshTriggerActive = 0 bool
2025-03-12T01:17:02.369Z,1741742222.369 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.ChlLowerThresh = nan ug/l
2025-03-12T01:17:02.380Z,1741742222.380 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.ChlUpperThresh = nan ug/l
2025-03-12T01:17:02.387Z,1741742222.387 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.NumProfilesThresh = 5.000000 count
2025-03-12T01:17:02.389Z,1741742222.389 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.PlanktivoreLMavgROIPeakThresh = 0.000000 count/s
2025-03-12T01:17:02.396Z,1741742222.396 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.GoDown = 1 bool
2025-03-12T01:17:02.406Z,1741742222.406 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakChl = nan ug/l
2025-03-12T01:17:02.409Z,1741742222.409 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakChlDepth = nan m
2025-03-12T01:17:02.423Z,1741742222.423 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakChlTemperature = nan degC
2025-03-12T01:17:02.426Z,1741742222.426 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakChlLatitude = nan arcdeg
2025-03-12T01:17:02.439Z,1741742222.439 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakChlLongitude = nan arcdeg
2025-03-12T01:17:02.442Z,1741742222.442 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.EdgeChl = nan ug/l
2025-03-12T01:17:02.448Z,1741742222.448 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.EdgeChlDepth = nan m
2025-03-12T01:17:02.451Z,1741742222.451 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.EdgeChlTemperature = nan degC
2025-03-12T01:17:02.453Z,1741742222.453 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.EdgeChlLatitude = nan arcdeg
2025-03-12T01:17:02.468Z,1741742222.468 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.EdgeChlLongitude = nan arcdeg
2025-03-12T01:17:02.473Z,1741742222.473 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakNO3 = nan umol/l
2025-03-12T01:17:02.488Z,1741742222.488 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakNO3Depth = nan m
2025-03-12T01:17:02.502Z,1741742222.502 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakNO3Latitude = nan arcdeg
2025-03-12T01:17:02.505Z,1741742222.505 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakNO3Longitude = nan arcdeg
2025-03-12T01:17:02.542Z,1741742222.542 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakOil = nan kg/m3
2025-03-12T01:17:02.564Z,1741742222.564 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakOilDepth = nan m
2025-03-12T01:17:02.575Z,1741742222.575 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakOilLatitude = nan arcdeg
2025-03-12T01:17:02.577Z,1741742222.577 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakOilLongitude = nan arcdeg
2025-03-12T01:17:02.584Z,1741742222.584 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakFDOM = nan ppb
2025-03-12T01:17:02.588Z,1741742222.588 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakFDOMDepth = nan m
2025-03-12T01:17:02.607Z,1741742222.607 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakFDOMTemperature = nan degC
2025-03-12T01:17:02.609Z,1741742222.609 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakFDOMLatitude = nan arcdeg
2025-03-12T01:17:02.620Z,1741742222.620 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakFDOMLongitude = nan arcdeg
2025-03-12T01:17:02.635Z,1741742222.635 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakSalt = nan psu
2025-03-12T01:17:02.637Z,1741742222.637 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakSaltDepth = nan m
2025-03-12T01:17:02.644Z,1741742222.644 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakSaltTemperature = nan degC
2025-03-12T01:17:02.650Z,1741742222.650 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakSaltLatitude = nan arcdeg
2025-03-12T01:17:02.653Z,1741742222.653 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakSaltLongitude = nan arcdeg
2025-03-12T01:17:02.663Z,1741742222.663 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreLMavgROI = nan count/s
2025-03-12T01:17:02.670Z,1741742222.670 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreLMavgROIDepth = nan m
2025-03-12T01:17:02.672Z,1741742222.672 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreLMavgROITemperature = nan degC
2025-03-12T01:17:02.679Z,1741742222.679 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreLMavgROILatitude = nan arcdeg
2025-03-12T01:17:02.681Z,1741742222.681 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreLMavgROILongitude = nan arcdeg
2025-03-12T01:17:02.692Z,1741742222.692 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.EdgePlanktivoreLMavgROI = nan count/s
2025-03-12T01:17:02.699Z,1741742222.699 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.EdgePlanktivoreLMavgROIDepth = nan m
2025-03-12T01:17:02.701Z,1741742222.701 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.EdgePlanktivoreLMavgROITemperature = nan degC
2025-03-12T01:17:02.708Z,1741742222.708 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.EdgePlanktivoreLMavgROILatitude = nan arcdeg
2025-03-12T01:17:02.719Z,1741742222.719 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.EdgePlanktivoreLMavgROILongitude = nan arcdeg
2025-03-12T01:17:02.721Z,1741742222.721 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreHMavgROI = nan count/s
2025-03-12T01:17:02.728Z,1741742222.728 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreHMavgROIDepth = nan m
2025-03-12T01:17:02.734Z,1741742222.734 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreHMavgROITemperature = nan degC
2025-03-12T01:17:02.737Z,1741742222.737 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreHMavgROILatitude = nan arcdeg
2025-03-12T01:17:02.751Z,1741742222.751 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreHMavgROILongitude = nan arcdeg
2025-03-12T01:17:02.754Z,1741742222.754 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreDiatoms = nan count/ml
2025-03-12T01:17:02.756Z,1741742222.756 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreDiatomsDepth = nan m
2025-03-12T01:17:02.763Z,1741742222.763 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreDiatomsTemperature = nan degC
2025-03-12T01:17:02.765Z,1741742222.765 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreDiatomsLatitude = nan arcdeg
2025-03-12T01:17:02.772Z,1741742222.772 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreDiatomsLongitude = nan arcdeg
2025-03-12T01:17:02.778Z,1741742222.778 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreDinoflagellates = nan count/ml
2025-03-12T01:17:02.781Z,1741742222.781 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreDinoflagellatesDepth = nan m
2025-03-12T01:17:02.783Z,1741742222.783 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreDinoflagellatesTemperature = nan degC
2025-03-12T01:17:02.786Z,1741742222.786 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreDinoflagellatesLatitude = nan arcdeg
2025-03-12T01:17:02.797Z,1741742222.797 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreDinoflagellatesLongitude = nan arcdeg
2025-03-12T01:17:02.804Z,1741742222.804 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchChl = nan ug/l
2025-03-12T01:17:02.811Z,1741742222.811 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchChlDepth = nan m
2025-03-12T01:17:02.814Z,1741742222.814 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchChlLatitude = nan arcdeg
2025-03-12T01:17:02.820Z,1741742222.820 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchChlLongitude = nan arcdeg
2025-03-12T01:17:02.825Z,1741742222.825 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchChlDistance = nan m
2025-03-12T01:17:02.840Z,1741742222.840 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchSalt = nan psu
2025-03-12T01:17:02.847Z,1741742222.847 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchSaltDepth = nan m
2025-03-12T01:17:02.849Z,1741742222.849 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchSaltLatitude = nan arcdeg
2025-03-12T01:17:02.856Z,1741742222.856 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchSaltLongitude = nan arcdeg
2025-03-12T01:17:02.862Z,1741742222.862 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchSaltDistance = nan m
2025-03-12T01:17:02.865Z,1741742222.865 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchOil = nan psu
2025-03-12T01:17:02.880Z,1741742222.880 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchOilDepth = nan m
2025-03-12T01:17:02.886Z,1741742222.886 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchOilLatitude = nan arcdeg
2025-03-12T01:17:02.889Z,1741742222.889 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchOilLongitude = nan arcdeg
2025-03-12T01:17:02.899Z,1741742222.899 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchOilDistance = nan m
2025-03-12T01:17:02.901Z,1741742222.901 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.TriggeredOnChl = 0 bool
2025-03-12T01:17:02.908Z,1741742222.908 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.ChlTriggering = nan ug/l
2025-03-12T01:17:03.007Z,1741742223.007 [sci2_noyo_optim:Science:PeakDetectChl:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-03-12T01:17:03.059Z,1741742223.059 [sci2_noyo_optim:Science:EdgeDetectChl:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-03-12T01:17:03.110Z,1741742223.110 [sci2_noyo_optim:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-03-12T01:17:03.153Z,1741742223.153 [sci2_noyo_optim:Science:PeakDetectNO3:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-03-12T01:17:03.173Z,1741742223.173 [sci2_noyo_optim:Science:PeakDetectOil:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-03-12T01:17:03.200Z,1741742223.200 [sci2_noyo_optim:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-03-12T01:17:03.244Z,1741742223.244 [sci2_noyo_optim:Science:PeakDetectFDOM:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-03-12T01:17:03.312Z,1741742223.312 [sci2_noyo_optim:Science:PeakDetectSalinity:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-03-12T01:17:03.395Z,1741742223.395 [sci2_noyo_optim:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-03-12T01:17:03.434Z,1741742223.434 [sci2_noyo_optim:Science:PeakDetectPlanktivoreLMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-03-12T01:17:03.479Z,1741742223.479 [sci2_noyo_optim:Science:EdgeDetectPlanktivoreLMavgROI:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-03-12T01:17:03.517Z,1741742223.517 [sci2_noyo_optim:Science:PeakDetectPlanktivoreHMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-03-12T01:17:03.545Z,1741742223.545 [sci2_noyo_optim:Science:PeakDetectPlanktivoreDiatoms:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-03-12T01:17:03.575Z,1741742223.575 [sci2_noyo_optim:Science:PeakDetectPlanktivoreDinoflagellates:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-03-12T01:17:03.600Z,1741742223.600 [sci2_noyo_optim:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Construct ValueDetect.
2025-03-12T01:17:03.616Z,1741742223.616 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-03-12T01:17:03.616Z,1741742223.616 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-03-12T01:17:03.617Z,1741742223.617 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-03-12T01:17:03.687Z,1741742223.687 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/StandardEnvelopes.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="StandardEnvelopes">
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="MaxDepthIgnore">
        <Units:meter />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>200</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:meter />
        <Value>2000</Value>
    </DefineArg>
    <Parallel />
    <Guidance:AltitudeEnvelope>
        <Parallel />
        <Setting>
            <Guidance:AltitudeEnvelope.minAltitude />
            <Arg Name="MinAltitude" />
        </Setting>
        <Setting>
            <Guidance:AltitudeEnvelope.maxDepthIgnore />
            <Arg Name="MaxDepthIgnore" />
        </Setting>
    </Guidance:AltitudeEnvelope>
    <Guidance:DepthEnvelope>
        <Parallel />
        <Setting>
            <Guidance:DepthEnvelope.maxDepth />
            <Arg Name="MaxDepth" />
        </Setting>
    </Guidance:DepthEnvelope>
    <Guidance:OffshoreEnvelope>
        <Parallel />
        <Setting>
            <Guidance:OffshoreEnvelope.minOffshore />
            <Arg Name="MinOffshore" />
        </Setting>
    </Guidance:OffshoreEnvelope>
</Aggregate>

2025-03-12T01:17:03.691Z,1741742223.691 [MissionManager](INFO): DefineArg sci2_noyo_optim:StandardEnvelopes.MinAltitude = 5.000000 m
2025-03-12T01:17:03.693Z,1741742223.693 [MissionManager](INFO): DefineArg sci2_noyo_optim:StandardEnvelopes.MaxDepthIgnore = 0.000000 m
2025-03-12T01:17:03.696Z,1741742223.696 [MissionManager](INFO): DefineArg sci2_noyo_optim:StandardEnvelopes.MaxDepth = 200.000000 m
2025-03-12T01:17:03.698Z,1741742223.698 [MissionManager](INFO): DefineArg sci2_noyo_optim:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-03-12T01:17:03.699Z,1741742223.699 [sci2_noyo_optim:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-03-12T01:17:03.705Z,1741742223.705 [sci2_noyo_optim:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-03-12T01:17:03.711Z,1741742223.711 [sci2_noyo_optim:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-03-12T01:17:03.790Z,1741742223.790 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl
2025-03-12T01:17:03.790Z,1741742223.790 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl
2025-03-12T01:17:03.792Z,1741742223.792 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl
2025-03-12T01:17:04.028Z,1741742224.028 [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>

2025-03-12T01:17:04.032Z,1741742224.032 [MissionManager](INFO): DefineArg sci2_noyo_optim:NeedComms.DiveInterval = 1.000000 h
2025-03-12T01:17:04.035Z,1741742224.035 [MissionManager](INFO): DefineArg sci2_noyo_optim:NeedComms.WaitForPitchUp = 10.000000 min
2025-03-12T01:17:04.037Z,1741742224.037 [MissionManager](INFO): DefineArg sci2_noyo_optim:NeedComms.SurfacePitch = 20.000000 arcdeg
2025-03-12T01:17:04.059Z,1741742224.059 [MissionManager](INFO): DefineArg sci2_noyo_optim:NeedComms.SurfaceDepthRate = nan m/s
2025-03-12T01:17:04.061Z,1741742224.061 [MissionManager](INFO): DefineArg sci2_noyo_optim:NeedComms.SurfaceSpeed = 1.000000 m/s
2025-03-12T01:17:04.063Z,1741742224.063 [MissionManager](INFO): DefineArg sci2_noyo_optim:NeedComms.SurfacingTimeout = 1000.000000 s
2025-03-12T01:17:04.065Z,1741742224.065 [MissionManager](INFO): DefineArg sci2_noyo_optim:NeedComms.GPSTimeout = 7.000000 min
2025-03-12T01:17:04.068Z,1741742224.068 [MissionManager](INFO): DefineArg sci2_noyo_optim:NeedComms.CommsTimeout = 30.000000 min
2025-03-12T01:17:04.075Z,1741742224.075 [sci2_noyo_optim:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2025-03-12T01:17:04.117Z,1741742224.117 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2025-03-12T01:17:04.117Z,1741742224.117 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2025-03-12T01:17:04.159Z,1741742224.159 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2025-03-12T01:17:04.221Z,1741742224.221 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/BackseatDriver.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="BackseatDriver">
    <DefineArg Name="EnableBackseat">
        <False />
    </DefineArg>
    <Parallel />
    <Guidance:BackseatDriver>
        <Sequence />
        <Setting>
            <Guidance:BackseatDriver.powerBackseat />
            <Arg Name="EnableBackseat" />
        </Setting>
    </Guidance:BackseatDriver>
</Aggregate>

2025-03-12T01:17:04.228Z,1741742224.228 [MissionManager](INFO): DefineArg sci2_noyo_optim:BackseatDriver.EnableBackseat = 0 bool
2025-03-12T01:17:04.235Z,1741742224.235 [sci2_noyo_optim:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2025-03-12T01:17:04.241Z,1741742224.241 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2025-03-12T01:17:04.241Z,1741742224.241 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2025-03-12T01:17:04.243Z,1741742224.243 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2025-03-12T01:17:04.361Z,1741742224.361 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/PowerOnly.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="PowerOnly">
    <DefineArg Name="SampleAll">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad1">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad2">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad3">
        <False />
    </DefineArg>
    <DefineArg Name="EnabledPowerOnly">
        <Sensor:PowerOnly.loadAtStartup />
    </DefineArg>
    <Parallel />
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleAll" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.samplePowerOnly />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad1" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad1 />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad2" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad2 />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad3" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad3 />
    </ReadData>
    <Guidance:Wait>
        <Sequence />
        <Setting>
            <Guidance:Wait.duration />
            <Units:hour />
            <Value>99999</Value>
        </Setting>
    </Guidance:Wait>
</Aggregate>

2025-03-12T01:17:04.365Z,1741742224.365 [MissionManager](INFO): DefineArg sci2_noyo_optim:PowerOnly.SampleAll = 0 bool
2025-03-12T01:17:04.376Z,1741742224.376 [MissionManager](INFO): DefineArg sci2_noyo_optim:PowerOnly.SampleLoad1 = 0 bool
2025-03-12T01:17:04.379Z,1741742224.379 [MissionManager](INFO): DefineArg sci2_noyo_optim:PowerOnly.SampleLoad2 = 0 bool
2025-03-12T01:17:04.380Z,1741742224.380 [MissionManager](INFO): DefineArg sci2_noyo_optim:PowerOnly.SampleLoad3 = 0 bool
2025-03-12T01:17:04.383Z,1741742224.383 [MissionManager](INFO): DefineArg sci2_noyo_optim:PowerOnly.EnabledPowerOnly = 1 bool
2025-03-12T01:17:04.390Z,1741742224.390 [sci2_noyo_optim:PowerOnly:E.Wait](DEBUG): Construct Wait.
2025-03-12T01:17:04.392Z,1741742224.392 [sci2_noyo_optim:L.Buoyancy](DEBUG): Construct Buoyancy.
2025-03-12T01:17:04.404Z,1741742224.404 [sci2_noyo_optim:DiveCmd:InitialDive:dive:C.Mass](DEBUG): Construct.
2025-03-12T01:17:04.408Z,1741742224.408 [sci2_noyo_optim:DiveCmd:InitialDive:dive:E.Wait](DEBUG): Construct Wait.
2025-03-12T01:17:04.411Z,1741742224.411 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:A.SetSpeed](DEBUG): Construct.
2025-03-12T01:17:04.413Z,1741742224.413 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:B.Pitch](DEBUG): Construct.
2025-03-12T01:17:04.448Z,1741742224.448 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:B.Pitch:A_Timeout:B.Execute](DEBUG): Construct Execute.
2025-03-12T01:17:04.463Z,1741742224.463 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:B.Pitch](DEBUG): Construct.
2025-03-12T01:17:04.467Z,1741742224.467 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:C.Wait](DEBUG): Construct Wait.
2025-03-12T01:17:04.479Z,1741742224.479 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass](DEBUG): Construct.
2025-03-12T01:17:04.482Z,1741742224.482 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed](DEBUG): Construct.
2025-03-12T01:17:04.484Z,1741742224.484 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:B.Pitch](DEBUG): Construct.
2025-03-12T01:17:04.493Z,1741742224.493 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:A.SetSpeed](DEBUG): Construct.
2025-03-12T01:17:04.497Z,1741742224.497 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:C.Buoyancy](DEBUG): Construct Buoyancy.
2025-03-12T01:17:04.500Z,1741742224.500 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:D.Pitch](DEBUG): Construct.
2025-03-12T01:17:04.508Z,1741742224.508 [sci2_noyo_optim:Lap:Wpt1:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T01:17:04.514Z,1741742224.514 [sci2_noyo_optim:Lap:Wpt2:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T01:17:04.519Z,1741742224.519 [sci2_noyo_optim:Lap:Wpt3:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T01:17:04.573Z,1741742224.573 [sci2_noyo_optim:Lap:Wpt4:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T01:17:04.588Z,1741742224.588 [sci2_noyo_optim:Lap:Wpt5:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T01:17:04.601Z,1741742224.601 [sci2_noyo_optim:Lap:Wpt6:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T01:17:04.631Z,1741742224.631 [sci2_noyo_optim:Lap:Wpt7:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T01:17:04.705Z,1741742224.705 [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 sci2_noyo_optim {
  """
  Vehicle transits to the specified waypoints at the commanded depth
  (flat-and-level, no yoyos) with science, Optim camera, and multiray
  lights on.
  """

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

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

    Depth = 35 meter
      """
      Depth of flat and level flight during the mission.
      """

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

    Lat[1..8] = NaN degree
      """
      Latitude of waypoint {$}. If nan, waypoint is skipped.
      """

    Lon[1..8] = NaN degree
      """
      Longitude of waypoint {$}. If nan, waypoint is skipped.
      """

    FastSpeed = 1 meter_per_second
      """
      Speed while transiting to waypoint.
      """

    ApproachDepth = 30 meter
      """
      Depth for initial descent form the surface.
      """

    ApproachSpeed = 0.7 meter_per_second
      """
      Speed while descending to target depth.
      """

    ApproachDepthRate = 0.05 meter_per_second
      """
      Descent depth rate (Positive depth rate means going down).
      """

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

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

    ApproachSettleTimePreDive = 1 minute
      """
      Time duration for the vehicle to pump down the VBS *BEFORE* leaving the
      surface.
      """

    ApproachSettleTimePostDive = 3 minute
      """
      Time duration for the vehicle to settle *AFTER* reaching the target
      depth.
      """

    kpDepth = 0.07 radian_per_meter
      """
      Dive loop proportional gain (applied only while the vehicle is
      descending to target depth).
      """

    SlowSpeed = 0.25 meter_per_second
      """
      Set this to something other than Nan if slow speed filming with a
      wide depth deadband is desired.
      """

    DepthDeviationSlow = 3 meter
      """
      Allowable +/- deviation from depth during slow flight. Needs a SlowSpeed
      to be set.
      """

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

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

    MinAltitude = 2 meter
      """
      Minimum height above the sea floor for the entire mission.
      """

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

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

  output {
    DiveMode = 0 count
      """
      Mission variable (don't change). The mission sets this variable to
      switch between dive modes. Initialized to DoingComms.
      """

    DoingComms = 0 count
      """
      Mission variable (don't change). The mission will run in this to mode
      when doing surface comms.
      """

    InitialDive = 1 count
      """
      Mission variable (don't change). The mission will run in this mode after
      surface comms are done to dive the vehicle to the approach depth.
      """

    SettleAtDepth = 2 count
      """
      Mission variable (don't change). The mission will run in this mode to
      settle the vehicle at the target depth.
      """

    MaintainDepth = 3 count
      """
      Mission variable (don't change). The mission will run in this mode to
      maintain the vehicle at the target depth.
      """
  }

  # Mission timeout

  timeout duration=MissionTimeout

  # Science!

  insert Insert/Science.tl {
    """
    Run the science sensors.
    """
  }

  # 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 = MissionTimeout

  assign in sequence NeedComms:WaitForPitchUp = 0 minute

  insert Insert/BackseatDriver.tl
  assign in parallel BackseatDriver:EnableBackseat = true

  insert Insert/PowerOnly.tl

  behavior Guidance:Buoyancy {
    run in parallel

    set position = BuoyancyNeutral
  }

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

    assign in sequence DiveMode = DoingComms

    call refId="NeedComms"

    assign in sequence DiveMode = InitialDive
  }

  aggregate DiveCmd {
    """
    Called when the vehicle should be underwater. Arbitrates between 4
    dive modes: 1) descend from the surface to initial depth. 2) settle
    at target depth using the VB. 3) cruise at target depth and go slow
    while within depth deviation bounds if a slow speed is set.
    """

    run when ( called )

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

      run while ( DiveMode == InitialDive )

      aggregate dive {
        run in sequence

        assign in parallel Control:VerticalControl.pitchLimit = ApproachPitchLimit

        assign in parallel Control:VerticalControl.kpDepth = kpDepth

        behavior Guidance:Mass {
          run in parallel

          set position = MassDefault
        }

        # behavior Guidance:Buoyancy {
        #   run in parallel

        #   set position = BuoyancyNeutral
        # }

        syslog info "Waiting for "
             + ApproachSettleTimePreDive~minute + "while pumping down to neutral."

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

          run in sequence

          set duration = ApproachSettleTimePreDive
        }

        syslog "Moving to " + ApproachDepth~meter

        aggregate ApproachDepth {
          run in sequence

          behavior Guidance:SetSpeed {
            run in parallel

            set speed = ApproachSpeed
          }

          behavior Guidance:Pitch {
            run in sequence

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

              behavior Guidance:Execute {
                run in sequence

                set command = "stop"
              }
            }

            set depth = ApproachDepth
            set depthRate = ApproachDepthRate
          }
        }

        assign in sequence DiveMode = SettleAtDepth
      }
    }

    aggregate SettleAtDepth {
      """
      Take a few more moments here to make sure the vehicle is settled
      at the target depth.
      """

      run while ( DiveMode == SettleAtDepth )

      aggregate dive {
        run in sequence

        syslog info "Reached " + Universal:depth~meter + ", settling for "
             + ApproachSettleTimePostDive~minute

        behavior Guidance:Pitch {
          run in parallel

          set depth = Depth
        }

        behavior Guidance:Wait {
          run in sequence

          set duration = ApproachSettleTimePostDive
        }

        assign in sequence DiveMode = MaintainDepth
      }
    }

    aggregate MaintainDepth {
      """
      Cruise at the target depth.
      """

      run while (
        DiveMode == MaintainDepth
        and ( Universal:depth > ( Depth + DepthDeviationSlow ) )
        or ( Universal:depth < ( Depth - DepthDeviationSlow ) )
      )

      aggregate dive {
        run in parallel

        aggregate ThrusterDive {
          run while ( FastSpeed > 0.0 meter_per_second )

          behavior Guidance:Mass {
            run in parallel

            set position = MassDefault
          }

          # behavior Guidance:Buoyancy {
          #   run in parallel

          #   set position = BuoyancyNeutral
          # }

          behavior Guidance:SetSpeed {
            run in parallel

            set speed = FastSpeed
          }
        }

        behavior Guidance:Pitch {
          run in parallel

          set depth = Depth
        }
      }
    }

    aggregate MaintainDepthSlow {
      """
      Cruise slow at the target depth.
      """

      run while (
        ( not isNaN ( SlowSpeed ) )
        and ( DiveMode == MaintainDepth )
        and ( Universal:depth <= ( Depth + DepthDeviationSlow ) )
        and ( Universal:depth >= ( Depth - DepthDeviationSlow ) )
      )

      behavior Guidance:SetSpeed {
        run in parallel

        set speed = SlowSpeed
      }

      # Let's make sure the vertical control depth deadband doesn't interfere with our mission
      # level version of the deadband. And we'll add an extra 3m so we don't trigger any
      # faults inside vertical control when attempting to regain the commanded depth.
      assign in parallel Control:VerticalControl.depthDeadband = ( DepthDeviationSlow + 3 m )

      behavior Guidance:Buoyancy {
        run in parallel

        set position = NaN cc
      }

      behavior Guidance:Pitch {
        run in parallel

        set depth = Depth
      }
    }
  }

  # Start mission sequence

  call id="StartingMission" refId="SurfaceComms"

  aggregate Lap {
    run in sequence repeat=Repeat

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

      call refId="DiveCmd"
    }

    aggregate Wpt1 {
      run in sequence

      behavior Guidance:Waypoint {
        run in sequence

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

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

        behavior Guidance:Waypoint {
          run in sequence

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


2025-03-12T01:17:04.706Z,1741742224.706 [CommandExec](IMPORTANT): Loaded ./Missions/Science/sci2_noyo_optim.tl id=sci2_noyo_optim
2025-03-12T01:17:11.417Z,1741742231.417 [NAL9602](INFO): SBD MO Status=1, MOMSN=18488, MT Status=0, MTMSN=0
2025-03-12T01:17:11.467Z,1741742231.467 [NAL9602](INFO): Sent 332 bytes from file Logs/20250311T232940/Express0031.lzma
2025-03-12T01:17:11.467Z,1741742231.467 [NAL9602](INFO): Packets left to send: 1
2025-03-12T01:17:16.378Z,1741742236.378 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T01:17:21.218Z,1741742241.218 [NAL9602](INFO): SBD MO Status=1, MOMSN=18489, MT Status=0, MTMSN=0
2025-03-12T01:17:21.278Z,1741742241.278 [NAL9602](INFO): Sent 328 bytes from file Logs/20250311T232940/Express0031.lzma
2025-03-12T01:17:21.279Z,1741742241.279 [NAL9602](INFO): Packets left to send: 0
2025-03-12T01:17:23.837Z,1741742243.837 [CommandExec](IMPORTANT): got command set sci2_noyo_optim.MissionTimeout 1 hour
2025-03-12T01:17:23.838Z,1741742243.838 [CommandExec](IMPORTANT): got command set sci2_noyo_optim.NeedCommsTime 30 minute
2025-03-12T01:17:23.839Z,1741742243.839 [CommandExec](IMPORTANT): got command set sci2_noyo_optim.Depth 15 meter
2025-03-12T01:17:23.840Z,1741742243.840 [CommandExec](IMPORTANT): got command set sci2_noyo_optim.Lat1 36.797 degree
2025-03-12T01:17:23.841Z,1741742243.841 [CommandExec](IMPORTANT): got command set sci2_noyo_optim.Lon1 -121.847 degree
2025-03-12T01:17:28.085Z,1741742248.085 [NAL9602](INFO): SBD MO Status=0, MOMSN=18490, MT Status=0, MTMSN=0
2025-03-12T01:17:44.606Z,1741742264.606 [NAL9602](INFO): SBD MO Status=1, MOMSN=18491, MT Status=0, MTMSN=0
2025-03-12T01:17:44.671Z,1741742264.671 [NAL9602](INFO): Sent 39 bytes from file Logs/20250311T232940/Courier0033.lzma
2025-03-12T01:17:44.671Z,1741742264.671 [NAL9602](INFO): Packets left to send: 0
2025-03-12T01:17:55.427Z,1741742275.427 [NAL9602](INFO): SBD MO Status=1, MOMSN=18492, MT Status=0, MTMSN=0
2025-03-12T01:17:55.479Z,1741742275.479 [NAL9602](INFO): Sent 332 bytes from file Logs/20250311T232940/Express0034.lzma
2025-03-12T01:17:55.479Z,1741742275.479 [NAL9602](INFO): Packets left to send: 1
2025-03-12T01:17:57.442Z,1741742277.442 [CommandExec](IMPORTANT): got command set sci2_noyo_optim.ApproachDepth 10 meter
2025-03-12T01:17:57.443Z,1741742277.443 [CommandExec](IMPORTANT): got command set sci2_noyo_optim.SlowSpeed NaN meter_per_second
2025-03-12T01:17:57.443Z,1741742277.443 [CommandExec](IMPORTANT): got command set sci2_noyo_optim.MinAltitude 10 meter
2025-03-12T01:17:57.444Z,1741742277.444 [CommandExec](IMPORTANT): got command set sci2_noyo_optim.MaxDepth 40 meter
2025-03-12T01:17:57.445Z,1741742277.445 [CommandExec](IMPORTANT): got command set sci2_noyo_optim:PowerOnly.SampleLoad1 1 bool
2025-03-12T01:17:57.445Z,1741742277.445 [CommandExec](IMPORTANT): got command run
2025-03-12T01:17:57.447Z,1741742277.447 [CommandExec](IMPORTANT): Running 
2025-03-12T01:17:58.187Z,1741742278.187 [Default] Stopped
2025-03-12T01:17:58.187Z,1741742278.187 [Default](DEBUG): Aggregate::uninitialize Default
2025-03-12T01:17:58.187Z,1741742278.187 [Default:B.GoToSurface] Stopped
2025-03-12T01:17:58.187Z,1741742278.187 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-03-12T01:17:58.187Z,1741742278.187 [Default:CheckIn] Stopped
2025-03-12T01:17:58.188Z,1741742278.188 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-03-12T01:17:58.188Z,1741742278.188 [Default:CheckIn:Read_Iridium] Stopped
2025-03-12T01:17:58.188Z,1741742278.188 [MissionManager](IMPORTANT): Started mission sci2_noyo_optim
2025-03-12T01:17:58.188Z,1741742278.188 [sci2_noyo_optim] Running Loop=1
2025-03-12T01:17:58.188Z,1741742278.188 [sci2_noyo_optim](DEBUG): Aggregate::initialize sci2_noyo_optim
2025-03-12T01:17:58.188Z,1741742278.188 [sci2_noyo_optim:Science] Running Loop=1
2025-03-12T01:17:58.188Z,1741742278.188 [sci2_noyo_optim:Science](DEBUG): Aggregate::initialize sci2_noyo_optim:Science
2025-03-12T01:17:58.188Z,1741742278.188 [sci2_noyo_optim:Science:A] Running Loop=1
2025-03-12T01:17:58.189Z,1741742278.189 [sci2_noyo_optim:Science:B] Running Loop=1
2025-03-12T01:17:58.189Z,1741742278.189 [sci2_noyo_optim:Science:C] Running Loop=1
2025-03-12T01:17:58.189Z,1741742278.189 [sci2_noyo_optim:Science:D] Running Loop=1
2025-03-12T01:17:58.189Z,1741742278.189 [sci2_noyo_optim:Science:E] Running Loop=1
2025-03-12T01:17:58.189Z,1741742278.189 [sci2_noyo_optim:Science:F] Running Loop=1
2025-03-12T01:17:58.189Z,1741742278.189 [sci2_noyo_optim:Science:Read_Oil] Running Loop=1
2025-03-12T01:17:58.189Z,1741742278.189 [sci2_noyo_optim:Science:PeakDetectChl] Running Loop=1
2025-03-12T01:17:58.189Z,1741742278.189 [sci2_noyo_optim:Science:PeakDetectChl](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:PeakDetectChl
2025-03-12T01:17:58.189Z,1741742278.189 [sci2_noyo_optim:Science:PeakDetectChl:A] Running Loop=1
2025-03-12T01:17:58.189Z,1741742278.189 [sci2_noyo_optim:Science:EdgeDetectChl] Running Loop=1
2025-03-12T01:17:58.189Z,1741742278.189 [sci2_noyo_optim:Science:EdgeDetectChl](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:EdgeDetectChl
2025-03-12T01:17:58.189Z,1741742278.189 [sci2_noyo_optim:Science:EdgeDetectChl:A] Running Loop=1
2025-03-12T01:17:58.190Z,1741742278.190 [sci2_noyo_optim:Science:HighestChlPeakReport] Running Loop=1
2025-03-12T01:17:58.190Z,1741742278.190 [sci2_noyo_optim:Science:HighestChlPeakReport](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:HighestChlPeakReport
2025-03-12T01:17:58.190Z,1741742278.190 [sci2_noyo_optim:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-03-12T01:17:58.190Z,1741742278.190 [sci2_noyo_optim:Science:HighestChlPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-03-12T01:17:58.190Z,1741742278.190 [sci2_noyo_optim:Science:PeakDetectNO3] Running Loop=1
2025-03-12T01:17:58.190Z,1741742278.190 [sci2_noyo_optim:Science:PeakDetectNO3](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:PeakDetectNO3
2025-03-12T01:17:58.191Z,1741742278.191 [sci2_noyo_optim:Science:PeakDetectNO3:A] Running Loop=1
2025-03-12T01:17:58.191Z,1741742278.191 [sci2_noyo_optim:Science:PeakDetectOil] Running Loop=1
2025-03-12T01:17:58.191Z,1741742278.191 [sci2_noyo_optim:Science:PeakDetectOil](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:PeakDetectOil
2025-03-12T01:17:58.191Z,1741742278.191 [sci2_noyo_optim:Science:PeakDetectOil:A] Running Loop=1
2025-03-12T01:17:58.191Z,1741742278.191 [sci2_noyo_optim:Science:HighestOilPeakReport] Running Loop=1
2025-03-12T01:17:58.191Z,1741742278.191 [sci2_noyo_optim:Science:HighestOilPeakReport](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:HighestOilPeakReport
2025-03-12T01:17:58.191Z,1741742278.191 [sci2_noyo_optim:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-03-12T01:17:58.191Z,1741742278.191 [sci2_noyo_optim:Science:HighestOilPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-03-12T01:17:58.192Z,1741742278.192 [sci2_noyo_optim:Science:PeakDetectFDOM] Running Loop=1
2025-03-12T01:17:58.192Z,1741742278.192 [sci2_noyo_optim:Science:PeakDetectFDOM](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:PeakDetectFDOM
2025-03-12T01:17:58.192Z,1741742278.192 [sci2_noyo_optim:Science:PeakDetectFDOM:A] Running Loop=1
2025-03-12T01:17:58.192Z,1741742278.192 [sci2_noyo_optim:Science:PeakDetectSalinity] Running Loop=1
2025-03-12T01:17:58.192Z,1741742278.192 [sci2_noyo_optim:Science:PeakDetectSalinity](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:PeakDetectSalinity
2025-03-12T01:17:58.192Z,1741742278.192 [sci2_noyo_optim:Science:PeakDetectSalinity:A] Running Loop=1
2025-03-12T01:17:58.192Z,1741742278.192 [sci2_noyo_optim:Science:HighestSaltPeakReport] Running Loop=1
2025-03-12T01:17:58.192Z,1741742278.192 [sci2_noyo_optim:Science:HighestSaltPeakReport](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:HighestSaltPeakReport
2025-03-12T01:17:58.193Z,1741742278.193 [sci2_noyo_optim:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-03-12T01:17:58.193Z,1741742278.193 [sci2_noyo_optim:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-03-12T01:17:58.193Z,1741742278.193 [sci2_noyo_optim:Science:PeakDetectPlanktivoreLMavgROI] Running Loop=1
2025-03-12T01:17:58.193Z,1741742278.193 [sci2_noyo_optim:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:PeakDetectPlanktivoreLMavgROI
2025-03-12T01:17:58.193Z,1741742278.193 [sci2_noyo_optim:Science:PeakDetectPlanktivoreLMavgROI:A] Running Loop=1
2025-03-12T01:17:58.193Z,1741742278.193 [sci2_noyo_optim:Science:EdgeDetectPlanktivoreLMavgROI] Running Loop=1
2025-03-12T01:17:58.193Z,1741742278.193 [sci2_noyo_optim:Science:EdgeDetectPlanktivoreLMavgROI](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:EdgeDetectPlanktivoreLMavgROI
2025-03-12T01:17:58.194Z,1741742278.194 [sci2_noyo_optim:Science:EdgeDetectPlanktivoreLMavgROI:A] Running Loop=1
2025-03-12T01:17:58.194Z,1741742278.194 [sci2_noyo_optim:Science:PeakDetectPlanktivoreHMavgROI] Running Loop=1
2025-03-12T01:17:58.194Z,1741742278.194 [sci2_noyo_optim:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:PeakDetectPlanktivoreHMavgROI
2025-03-12T01:17:58.194Z,1741742278.194 [sci2_noyo_optim:Science:PeakDetectPlanktivoreHMavgROI:A] Running Loop=1
2025-03-12T01:17:58.194Z,1741742278.194 [sci2_noyo_optim:Science:PeakDetectPlanktivoreDiatoms] Running Loop=1
2025-03-12T01:17:58.194Z,1741742278.194 [sci2_noyo_optim:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:PeakDetectPlanktivoreDiatoms
2025-03-12T01:17:58.195Z,1741742278.195 [sci2_noyo_optim:Science:PeakDetectPlanktivoreDiatoms:A] Running Loop=1
2025-03-12T01:17:58.195Z,1741742278.195 [sci2_noyo_optim:Science:PeakDetectPlanktivoreDinoflagellates] Running Loop=1
2025-03-12T01:17:58.195Z,1741742278.195 [sci2_noyo_optim:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:PeakDetectPlanktivoreDinoflagellates
2025-03-12T01:17:58.195Z,1741742278.195 [sci2_noyo_optim:Science:PeakDetectPlanktivoreDinoflagellates:A] Running Loop=1
2025-03-12T01:17:58.195Z,1741742278.195 [sci2_noyo_optim:Science:ChlThreshTrigger] Running Loop=1
2025-03-12T01:17:58.195Z,1741742278.195 [sci2_noyo_optim:Science:ChlThreshTrigger](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:ChlThreshTrigger
2025-03-12T01:17:58.195Z,1741742278.195 [sci2_noyo_optim:Science:ChlThreshTrigger:A.ValueDetect] Running Loop=1
2025-03-12T01:17:58.195Z,1741742278.195 [sci2_noyo_optim:Science:ChlThreshTrigger:A.ValueDetect](INFO): Initialize.
2025-03-12T01:17:58.196Z,1741742278.196 [sci2_noyo_optim:Science:OceanCurrent] Running Loop=1
2025-03-12T01:17:58.196Z,1741742278.196 [sci2_noyo_optim:Science:OceanCurrent](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:OceanCurrent
2025-03-12T01:17:58.196Z,1741742278.196 [sci2_noyo_optim:Science:OceanCurrent:A.] Running Loop=1
2025-03-12T01:17:58.196Z,1741742278.196 [sci2_noyo_optim:Science:OceanCurrent:A.](INFO): Initializing CurrentEstimator.
2025-03-12T01:17:58.196Z,1741742278.196 [sci2_noyo_optim:StandardEnvelopes] Running Loop=1
2025-03-12T01:17:58.196Z,1741742278.196 [sci2_noyo_optim:StandardEnvelopes](DEBUG): Aggregate::initialize sci2_noyo_optim:StandardEnvelopes
2025-03-12T01:17:58.196Z,1741742278.196 [sci2_noyo_optim:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-03-12T01:17:58.196Z,1741742278.196 [sci2_noyo_optim:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-03-12T01:17:58.197Z,1741742278.197 [sci2_noyo_optim:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-03-12T01:17:58.197Z,1741742278.197 [sci2_noyo_optim:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-03-12T01:17:58.197Z,1741742278.197 [sci2_noyo_optim:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-03-12T01:17:58.197Z,1741742278.197 [sci2_noyo_optim:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-03-12T01:17:58.197Z,1741742278.197 [sci2_noyo_optim:BackseatDriver] Running Loop=1
2025-03-12T01:17:58.197Z,1741742278.197 [sci2_noyo_optim:BackseatDriver](DEBUG): Aggregate::initialize sci2_noyo_optim:BackseatDriver
2025-03-12T01:17:58.197Z,1741742278.197 [sci2_noyo_optim:BackseatDriver:A.BackseatDriver] Running Loop=1
2025-03-12T01:17:58.197Z,1741742278.197 [sci2_noyo_optim:J] Running Loop=1
2025-03-12T01:17:58.197Z,1741742278.197 [sci2_noyo_optim:PowerOnly] Running Loop=1
2025-03-12T01:17:58.198Z,1741742278.198 [sci2_noyo_optim:PowerOnly](DEBUG): Aggregate::initialize sci2_noyo_optim:PowerOnly
2025-03-12T01:17:58.198Z,1741742278.198 [sci2_noyo_optim:PowerOnly:A] Running Loop=1
2025-03-12T01:17:58.198Z,1741742278.198 [sci2_noyo_optim:PowerOnly:B] Running Loop=1
2025-03-12T01:17:58.198Z,1741742278.198 [sci2_noyo_optim:PowerOnly:C] Running Loop=1
2025-03-12T01:17:58.198Z,1741742278.198 [sci2_noyo_optim:PowerOnly:D] Running Loop=1
2025-03-12T01:17:58.198Z,1741742278.198 [sci2_noyo_optim:PowerOnly:E.Wait] Running Loop=1
2025-03-12T01:17:58.198Z,1741742278.198 [sci2_noyo_optim:PowerOnly:E.Wait](DEBUG): Initialize Wait Component.
2025-03-12T01:17:58.198Z,1741742278.198 [sci2_noyo_optim:L.Buoyancy] Running Loop=1
2025-03-12T01:17:58.198Z,1741742278.198 [sci2_noyo_optim:L.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-03-12T01:17:58.198Z,1741742278.198 [sci2_noyo_optim:C] Running Loop=1
2025-03-12T01:17:58.199Z,1741742278.199 [sci2_noyo_optim:L.Buoyancy] Running Loop=1
2025-03-12T01:17:58.200Z,1741742278.200 [sci2_noyo_optim:PowerOnly] Running Loop=1
2025-03-12T01:17:58.200Z,1741742278.200 [sci2_noyo_optim:PowerOnly:D] Stopped
2025-03-12T01:17:58.200Z,1741742278.200 [sci2_noyo_optim:PowerOnly:C] Stopped
2025-03-12T01:17:58.200Z,1741742278.200 [sci2_noyo_optim:PowerOnly:B] Running Loop=1
2025-03-12T01:17:58.201Z,1741742278.201 [sci2_noyo_optim:PowerOnly:B](DEBUG): Initialize ReadDataComponent to sense PowerOnly.sampleLoad1
2025-03-12T01:17:58.201Z,1741742278.201 [sci2_noyo_optim:PowerOnly:A] Stopped
2025-03-12T01:17:58.201Z,1741742278.201 [sci2_noyo_optim:J] Running Loop=1
2025-03-12T01:17:58.201Z,1741742278.201 [sci2_noyo_optim:BackseatDriver] Running Loop=1
2025-03-12T01:17:58.201Z,1741742278.201 [sci2_noyo_optim:BackseatDriver:A.BackseatDriver](INFO): Initializing backseat
2025-03-12T01:17:58.217Z,1741742278.217 [sci2_noyo_optim:C] Stopped
2025-03-12T01:17:58.217Z,1741742278.217 [sci2_noyo_optim:D] Running Loop=1
2025-03-12T01:17:58.217Z,1741742278.217 [sci2_noyo_optim:StandardEnvelopes] Running Loop=1
2025-03-12T01:17:58.217Z,1741742278.217 [sci2_noyo_optim:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-03-12T01:17:58.217Z,1741742278.217 [sci2_noyo_optim:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-03-12T01:17:58.218Z,1741742278.218 [sci2_noyo_optim:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-03-12T01:17:58.218Z,1741742278.218 [sci2_noyo_optim:Science] Running Loop=1
2025-03-12T01:17:58.219Z,1741742278.219 [sci2_noyo_optim:Science:ChlThreshTrigger] Stopped
2025-03-12T01:17:58.220Z,1741742278.220 [sci2_noyo_optim:Science:ChlThreshTrigger](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:ChlThreshTrigger
2025-03-12T01:17:58.220Z,1741742278.220 [sci2_noyo_optim:Science:ChlThreshTrigger:A.ValueDetect] Stopped
2025-03-12T01:17:58.220Z,1741742278.220 [sci2_noyo_optim:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Uninitialize.
2025-03-12T01:17:58.220Z,1741742278.220 [sci2_noyo_optim:Science:PeakDetectPlanktivoreDinoflagellates] Stopped
2025-03-12T01:17:58.220Z,1741742278.220 [sci2_noyo_optim:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:PeakDetectPlanktivoreDinoflagellates
2025-03-12T01:17:58.220Z,1741742278.220 [sci2_noyo_optim:Science:PeakDetectPlanktivoreDinoflagellates:A] Stopped
2025-03-12T01:17:58.220Z,1741742278.220 [sci2_noyo_optim:Science:PeakDetectPlanktivoreDiatoms] Stopped
2025-03-12T01:17:58.220Z,1741742278.220 [sci2_noyo_optim:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:PeakDetectPlanktivoreDiatoms
2025-03-12T01:17:58.220Z,1741742278.220 [sci2_noyo_optim:Science:PeakDetectPlanktivoreDiatoms:A] Stopped
2025-03-12T01:17:58.220Z,1741742278.220 [sci2_noyo_optim:Science:PeakDetectPlanktivoreHMavgROI] Stopped
2025-03-12T01:17:58.220Z,1741742278.220 [sci2_noyo_optim:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:PeakDetectPlanktivoreHMavgROI
2025-03-12T01:17:58.220Z,1741742278.220 [sci2_noyo_optim:Science:PeakDetectPlanktivoreHMavgROI:A] Stopped
2025-03-12T01:17:58.221Z,1741742278.221 [sci2_noyo_optim:Science:EdgeDetectPlanktivoreLMavgROI] Stopped
2025-03-12T01:17:58.221Z,1741742278.221 [sci2_noyo_optim:Science:EdgeDetectPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:EdgeDetectPlanktivoreLMavgROI
2025-03-12T01:17:58.221Z,1741742278.221 [sci2_noyo_optim:Science:EdgeDetectPlanktivoreLMavgROI:A] Stopped
2025-03-12T01:17:58.221Z,1741742278.221 [sci2_noyo_optim:Science:PeakDetectPlanktivoreLMavgROI] Stopped
2025-03-12T01:17:58.221Z,1741742278.221 [sci2_noyo_optim:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:PeakDetectPlanktivoreLMavgROI
2025-03-12T01:17:58.221Z,1741742278.221 [sci2_noyo_optim:Science:PeakDetectPlanktivoreLMavgROI:A] Stopped
2025-03-12T01:17:58.221Z,1741742278.221 [sci2_noyo_optim:Science:HighestSaltPeakReport] Stopped
2025-03-12T01:17:58.221Z,1741742278.221 [sci2_noyo_optim:Science:HighestSaltPeakReport](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:HighestSaltPeakReport
2025-03-12T01:17:58.221Z,1741742278.221 [sci2_noyo_optim:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Stopped
2025-03-12T01:17:58.221Z,1741742278.221 [sci2_noyo_optim:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-03-12T01:17:58.221Z,1741742278.221 [sci2_noyo_optim:Science:PeakDetectSalinity] Stopped
2025-03-12T01:17:58.221Z,1741742278.221 [sci2_noyo_optim:Science:PeakDetectSalinity](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:PeakDetectSalinity
2025-03-12T01:17:58.221Z,1741742278.221 [sci2_noyo_optim:Science:PeakDetectSalinity:A] Stopped
2025-03-12T01:17:58.222Z,1741742278.222 [sci2_noyo_optim:Science:PeakDetectFDOM] Stopped
2025-03-12T01:17:58.222Z,1741742278.222 [sci2_noyo_optim:Science:PeakDetectFDOM](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:PeakDetectFDOM
2025-03-12T01:17:58.222Z,1741742278.222 [sci2_noyo_optim:Science:PeakDetectFDOM:A] Stopped
2025-03-12T01:17:58.222Z,1741742278.222 [sci2_noyo_optim:Science:HighestOilPeakReport] Stopped
2025-03-12T01:17:58.222Z,1741742278.222 [sci2_noyo_optim:Science:HighestOilPeakReport](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:HighestOilPeakReport
2025-03-12T01:17:58.222Z,1741742278.222 [sci2_noyo_optim:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Stopped
2025-03-12T01:17:58.222Z,1741742278.222 [sci2_noyo_optim:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-03-12T01:17:58.222Z,1741742278.222 [sci2_noyo_optim:Science:PeakDetectOil] Stopped
2025-03-12T01:17:58.222Z,1741742278.222 [sci2_noyo_optim:Science:PeakDetectOil](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:PeakDetectOil
2025-03-12T01:17:58.223Z,1741742278.223 [sci2_noyo_optim:Science:PeakDetectOil:A] Stopped
2025-03-12T01:17:58.223Z,1741742278.223 [sci2_noyo_optim:Science:PeakDetectNO3] Stopped
2025-03-12T01:17:58.223Z,1741742278.223 [sci2_noyo_optim:Science:PeakDetectNO3](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:PeakDetectNO3
2025-03-12T01:17:58.223Z,1741742278.223 [sci2_noyo_optim:Science:PeakDetectNO3:A] Stopped
2025-03-12T01:17:58.223Z,1741742278.223 [sci2_noyo_optim:Science:HighestChlPeakReport] Stopped
2025-03-12T01:17:58.223Z,1741742278.223 [sci2_noyo_optim:Science:HighestChlPeakReport](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:HighestChlPeakReport
2025-03-12T01:17:58.223Z,1741742278.223 [sci2_noyo_optim:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Stopped
2025-03-12T01:17:58.223Z,1741742278.223 [sci2_noyo_optim:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-03-12T01:17:58.223Z,1741742278.223 [sci2_noyo_optim:Science:EdgeDetectChl] Stopped
2025-03-12T01:17:58.223Z,1741742278.223 [sci2_noyo_optim:Science:EdgeDetectChl](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:EdgeDetectChl
2025-03-12T01:17:58.223Z,1741742278.223 [sci2_noyo_optim:Science:EdgeDetectChl:A] Stopped
2025-03-12T01:17:58.223Z,1741742278.223 [sci2_noyo_optim:Science:PeakDetectChl] Stopped
2025-03-12T01:17:58.223Z,1741742278.223 [sci2_noyo_optim:Science:PeakDetectChl](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:PeakDetectChl
2025-03-12T01:17:58.224Z,1741742278.224 [sci2_noyo_optim:Science:PeakDetectChl:A] Stopped
2025-03-12T01:17:58.224Z,1741742278.224 [sci2_noyo_optim:Science:OceanCurrent:A.] Running Loop=1
2025-03-12T01:17:58.224Z,1741742278.224 [sci2_noyo_optim:Science:Read_Oil] Stopped
2025-03-12T01:17:58.224Z,1741742278.224 [sci2_noyo_optim:Science:F] Stopped
2025-03-12T01:17:58.224Z,1741742278.224 [sci2_noyo_optim:Science:E] Running Loop=1
2025-03-12T01:17:58.224Z,1741742278.224 [sci2_noyo_optim:Science:E](DEBUG): Initialize ReadDataComponent to sense mass_concentration_of_chlorophyll_in_sea_water
2025-03-12T01:17:58.225Z,1741742278.225 [sci2_noyo_optim:Science:D] Stopped
2025-03-12T01:17:58.225Z,1741742278.225 [sci2_noyo_optim:Science:C] Running Loop=1
2025-03-12T01:17:58.225Z,1741742278.225 [sci2_noyo_optim:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_temperature
2025-03-12T01:17:58.225Z,1741742278.225 [sci2_noyo_optim:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_salinity
2025-03-12T01:17:58.226Z,1741742278.226 [sci2_noyo_optim:Science:B] Running Loop=1
2025-03-12T01:17:58.226Z,1741742278.226 [sci2_noyo_optim:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_temperature
2025-03-12T01:17:58.227Z,1741742278.227 [sci2_noyo_optim:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_salinity
2025-03-12T01:17:58.227Z,1741742278.227 [sci2_noyo_optim:Science:A] Stopped
2025-03-12T01:17:58.337Z,1741742278.337 [PowerOnly](INFO): Powering up loadControl
2025-03-12T01:17:58.370Z,1741742278.370 [BackseatComponent](INFO): Powering up
2025-03-12T01:17:58.371Z,1741742278.371 [BackseatComponent](INFO): Subscribing to LCM channels.
2025-03-12T01:17:58.390Z,1741742278.390 [sci2_noyo_optim:D] Stopped
2025-03-12T01:17:58.391Z,1741742278.391 [sci2_noyo_optim:E] Running Loop=1
2025-03-12T01:17:58.546Z,1741742278.546 [WetLabsBB2FL](INFO): Powering up
2025-03-12T01:17:58.766Z,1741742278.766 [sci2_noyo_optim:E] Stopped
2025-03-12T01:17:58.767Z,1741742278.767 [sci2_noyo_optim:G] Running Loop=1
2025-03-12T01:17:59.134Z,1741742279.134 [sci2_noyo_optim:G] Stopped
2025-03-12T01:17:59.134Z,1741742279.134 [sci2_noyo_optim:H] Running Loop=1
2025-03-12T01:17:59.522Z,1741742279.522 [sci2_noyo_optim:H] Stopped
2025-03-12T01:17:59.522Z,1741742279.522 [sci2_noyo_optim:StartingMission] Running Loop=1
2025-03-12T01:17:59.523Z,1741742279.523 [sci2_noyo_optim:StartingMission](DEBUG): Aggregate::initialize sci2_noyo_optim:StartingMission
2025-03-12T01:17:59.951Z,1741742279.951 [sci2_noyo_optim:SurfaceComms] Running Loop=1
2025-03-12T01:17:59.951Z,1741742279.951 [sci2_noyo_optim:SurfaceComms](DEBUG): Aggregate::initialize sci2_noyo_optim:SurfaceComms
2025-03-12T01:17:59.951Z,1741742279.951 [sci2_noyo_optim:SurfaceComms:A] Running Loop=1
2025-03-12T01:17:59.951Z,1741742279.951 [sci2_noyo_optim:SurfaceComms:A] Stopped
2025-03-12T01:17:59.951Z,1741742279.951 [sci2_noyo_optim:SurfaceComms:B] Running Loop=1
2025-03-12T01:17:59.951Z,1741742279.951 [sci2_noyo_optim:SurfaceComms:B](DEBUG): Aggregate::initialize sci2_noyo_optim:SurfaceComms:B
2025-03-12T01:18:00.256Z,1741742280.256 [CTD_Seabird](ERROR): Pressure reading out of range: -10.090000 decibar
2025-03-12T01:18:00.258Z,1741742280.258 [CTD_Seabird](INFO): some bad data, not updating bins
2025-03-12T01:18:00.359Z,1741742280.359 [sci2_noyo_optim:NeedComms] Running Loop=1
2025-03-12T01:18:00.359Z,1741742280.359 [sci2_noyo_optim:NeedComms](DEBUG): Aggregate::initialize sci2_noyo_optim:NeedComms
2025-03-12T01:18:00.359Z,1741742280.359 [sci2_noyo_optim:NeedComms:B.GoToSurface] Running Loop=1
2025-03-12T01:18:00.359Z,1741742280.359 [sci2_noyo_optim:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-03-12T01:18:00.359Z,1741742280.359 [sci2_noyo_optim:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-03-12T01:18:00.360Z,1741742280.360 [sci2_noyo_optim:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-03-12T01:18:00.360Z,1741742280.360 [sci2_noyo_optim:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-03-12T01:18:00.360Z,1741742280.360 [sci2_noyo_optim:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-03-12T01:18:00.361Z,1741742280.361 [sci2_noyo_optim:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-03-12T01:18:00.361Z,1741742280.361 [sci2_noyo_optim:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-03-12T01:18:00.361Z,1741742280.361 [sci2_noyo_optim:NeedComms:A] Running Loop=1
2025-03-12T01:18:00.371Z,1741742280.371 [sci2_noyo_optim:NeedComms:A](INFO): last time_fix was:  1741742196.000000 second since 1970/01/01T00:00:00Z 
2025-03-12T01:18:00.371Z,1741742280.371 [sci2_noyo_optim:NeedComms:A] Stopped
2025-03-12T01:18:00.735Z,1741742280.735 [sci2_noyo_optim:NeedComms:C] Running Loop=1
2025-03-12T01:18:01.247Z,1741742281.247 [sci2_noyo_optim:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-03-12T01:18:02.733Z,1741742282.733 [NAL9602](INFO): SBD MO Status=1, MOMSN=18493, MT Status=0, MTMSN=0
2025-03-12T01:18:02.782Z,1741742282.782 [NAL9602](INFO): Sent 144 bytes from file Logs/20250311T232940/Express0034.lzma
2025-03-12T01:18:02.783Z,1741742282.783 [NAL9602](INFO): Packets left to send: 0
2025-03-12T01:18:03.945Z,1741742283.945 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,011803.00,A,3647.98078,N,12149.76567,W,0.428,85.23,120325,,,A*40
2025-03-12T01:18:03.959Z,1741742283.959 [NAL9602](INFO): GPS fix at 20250312T011803: (36.799680, -121.829428)
2025-03-12T01:18:03.974Z,1741742283.974 [sci2_noyo_optim:NeedComms:C] Stopped
2025-03-12T01:18:03.974Z,1741742283.974 [sci2_noyo_optim:NeedComms:D] Running Loop=1
2025-03-12T01:18:04.391Z,1741742284.391 [sci2_noyo_optim:NeedComms:D](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-03-12T01:18:05.963Z,1741742285.963 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003496
2025-03-12T01:18:13.646Z,1741742293.646 [DataOverHttps](INFO): Sending 73 bytes from file Logs/20250311T232940/Courier0036.lzma
2025-03-12T01:18:15.652Z,1741742295.652 [DataOverHttps](INFO): Moved sent file to Logs/20250311T232940/Courier0036.lzma.bak
2025-03-12T01:18:15.652Z,1741742295.652 [DataOverHttps](INFO): SBD MOMSN=24181398
2025-03-12T01:18:18.573Z,1741742298.573 [NAL9602](INFO): SBD MO Status=1, MOMSN=18494, MT Status=0, MTMSN=0
2025-03-12T01:18:18.630Z,1741742298.630 [NAL9602](INFO): Sent 73 bytes from file Logs/20250311T232940/Courier0036.lzma
2025-03-12T01:18:18.630Z,1741742298.630 [NAL9602](INFO): Packets left to send: 0
2025-03-12T01:18:33.039Z,1741742313.039 [DataOverHttps](INFO): Sending 309 bytes from file Logs/20250311T232940/Express0037.lzma
2025-03-12T01:18:34.040Z,1741742314.040 [DataOverHttps](INFO): Moved sent file to Logs/20250311T232940/Express0037.lzma.bak
2025-03-12T01:18:34.040Z,1741742314.040 [DataOverHttps](INFO): SBD MOMSN=24181416
2025-03-12T01:18:35.202Z,1741742315.202 [sci2_noyo_optim:NeedComms:D] Stopped
2025-03-12T01:18:35.203Z,1741742315.203 [sci2_noyo_optim:NeedComms:E] Running Loop=1
2025-03-12T01:18:35.579Z,1741742315.579 [sci2_noyo_optim:NeedComms:E](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-03-12T01:18:37.163Z,1741742317.163 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,011836.00,A,3647.97959,N,12149.76428,W,0.272,196.54,120325,,,A*73
2025-03-12T01:18:37.165Z,1741742317.165 [NAL9602](INFO): GPS fix at 20250312T011836: (36.799660, -121.829405)
2025-03-12T01:18:37.194Z,1741742317.194 [sci2_noyo_optim:NeedComms:E] Stopped
2025-03-12T01:18:37.195Z,1741742317.195 [sci2_noyo_optim:NeedComms](INFO): Completed sci2_noyo_optim:NeedComms
2025-03-12T01:18:37.195Z,1741742317.195 [sci2_noyo_optim:NeedComms] Stopped
2025-03-12T01:18:37.195Z,1741742317.195 [sci2_noyo_optim:NeedComms](DEBUG): Aggregate::uninitialize sci2_noyo_optim:NeedComms
2025-03-12T01:18:37.195Z,1741742317.195 [sci2_noyo_optim:NeedComms:B.GoToSurface] Stopped
2025-03-12T01:18:37.196Z,1741742317.196 [sci2_noyo_optim:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-03-12T01:18:37.695Z,1741742317.695 [sci2_noyo_optim:SurfaceComms:B](INFO): Completed sci2_noyo_optim:SurfaceComms:B
2025-03-12T01:18:37.695Z,1741742317.695 [sci2_noyo_optim:SurfaceComms:B] Stopped
2025-03-12T01:18:37.695Z,1741742317.695 [sci2_noyo_optim:SurfaceComms:B](DEBUG): Aggregate::uninitialize sci2_noyo_optim:SurfaceComms:B
2025-03-12T01:18:37.695Z,1741742317.695 [sci2_noyo_optim:SurfaceComms:C] Running Loop=1
2025-03-12T01:18:38.010Z,1741742318.010 [sci2_noyo_optim:SurfaceComms:C] Stopped
2025-03-12T01:18:38.011Z,1741742318.011 [sci2_noyo_optim:SurfaceComms](INFO): Completed sci2_noyo_optim:SurfaceComms
2025-03-12T01:18:38.011Z,1741742318.011 [sci2_noyo_optim:SurfaceComms] Stopped
2025-03-12T01:18:38.011Z,1741742318.011 [sci2_noyo_optim:SurfaceComms](DEBUG): Aggregate::uninitialize sci2_noyo_optim:SurfaceComms
2025-03-12T01:18:38.439Z,1741742318.439 [sci2_noyo_optim:StartingMission](INFO): Completed sci2_noyo_optim:StartingMission
2025-03-12T01:18:38.439Z,1741742318.439 [sci2_noyo_optim:StartingMission] Stopped
2025-03-12T01:18:38.439Z,1741742318.439 [sci2_noyo_optim:StartingMission](DEBUG): Aggregate::uninitialize sci2_noyo_optim:StartingMission
2025-03-12T01:18:38.439Z,1741742318.439 [sci2_noyo_optim:Lap] Running Loop=1
2025-03-12T01:18:38.439Z,1741742318.439 [sci2_noyo_optim:Lap](DEBUG): Aggregate::initialize sci2_noyo_optim:Lap
2025-03-12T01:18:38.439Z,1741742318.439 [sci2_noyo_optim:Lap:Dive] Running Loop=1
2025-03-12T01:18:38.440Z,1741742318.440 [sci2_noyo_optim:Lap:Dive](DEBUG): Aggregate::initialize sci2_noyo_optim:Lap:Dive
2025-03-12T01:18:38.440Z,1741742318.440 [sci2_noyo_optim:Lap:Dive:A] Running Loop=1
2025-03-12T01:18:38.440Z,1741742318.440 [sci2_noyo_optim:Lap:Dive:A](DEBUG): Aggregate::initialize sci2_noyo_optim:Lap:Dive:A
2025-03-12T01:18:38.440Z,1741742318.440 [sci2_noyo_optim:Lap:Wpt1] Running Loop=1
2025-03-12T01:18:38.440Z,1741742318.440 [sci2_noyo_optim:Lap:Wpt1](DEBUG): Aggregate::initialize sci2_noyo_optim:Lap:Wpt1
2025-03-12T01:18:38.440Z,1741742318.440 [sci2_noyo_optim:Lap:Wpt1:A.Waypoint] Running Loop=1
2025-03-12T01:18:38.440Z,1741742318.440 [sci2_noyo_optim:Lap:Wpt1:A.Waypoint](DEBUG): Initialize WaypointComponent.
2025-03-12T01:18:38.441Z,1741742318.441 [sci2_noyo_optim:Lap:Wpt1:A.Waypoint](IMPORTANT): Navigating to waypoint: 36.797001,-121.847000
2025-03-12T01:18:38.812Z,1741742318.812 [sci2_noyo_optim:Lap:Wpt1:A.Waypoint](INFO): Navigating to waypoint: 36.797001,-121.847000
2025-03-12T01:18:38.813Z,1741742318.813 [sci2_noyo_optim:Lap:Dive] Running Loop=1
2025-03-12T01:18:38.813Z,1741742318.813 [sci2_noyo_optim:DiveCmd] Running Loop=1
2025-03-12T01:18:38.813Z,1741742318.813 [sci2_noyo_optim:DiveCmd](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd
2025-03-12T01:18:38.813Z,1741742318.813 [sci2_noyo_optim:DiveCmd:InitialDive] Running Loop=1
2025-03-12T01:18:38.813Z,1741742318.813 [sci2_noyo_optim:DiveCmd:InitialDive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:InitialDive
2025-03-12T01:18:38.813Z,1741742318.813 [sci2_noyo_optim:DiveCmd:InitialDive:dive] Running Loop=1
2025-03-12T01:18:38.814Z,1741742318.814 [sci2_noyo_optim:DiveCmd:InitialDive:dive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:InitialDive:dive
2025-03-12T01:18:38.814Z,1741742318.814 [sci2_noyo_optim:DiveCmd:InitialDive:dive:A] Running Loop=1
2025-03-12T01:18:38.814Z,1741742318.814 [sci2_noyo_optim:DiveCmd:InitialDive:dive:B] Running Loop=1
2025-03-12T01:18:38.814Z,1741742318.814 [sci2_noyo_optim:DiveCmd:InitialDive:dive:C.Mass] Running Loop=1
2025-03-12T01:18:38.818Z,1741742318.818 [sci2_noyo_optim:DiveCmd:InitialDive:dive:C.Mass](DEBUG): Initialize.
2025-03-12T01:18:38.818Z,1741742318.818 [sci2_noyo_optim:DiveCmd:InitialDive:dive:D] Running Loop=1
2025-03-12T01:18:38.819Z,1741742318.819 [sci2_noyo_optim:DiveCmd:SettleAtDepth] Running Loop=1
2025-03-12T01:18:38.819Z,1741742318.819 [sci2_noyo_optim:DiveCmd:SettleAtDepth](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:SettleAtDepth
2025-03-12T01:18:38.819Z,1741742318.819 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive] Running Loop=1
2025-03-12T01:18:38.819Z,1741742318.819 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:SettleAtDepth:dive
2025-03-12T01:18:38.819Z,1741742318.819 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:B.Pitch] Running Loop=1
2025-03-12T01:18:38.819Z,1741742318.819 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:B.Pitch](DEBUG): Initialize.
2025-03-12T01:18:38.819Z,1741742318.819 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:A] Running Loop=1
2025-03-12T01:18:38.819Z,1741742318.819 [sci2_noyo_optim:DiveCmd:MaintainDepth] Running Loop=1
2025-03-12T01:18:38.819Z,1741742318.819 [sci2_noyo_optim:DiveCmd:MaintainDepth](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepth
2025-03-12T01:18:38.820Z,1741742318.820 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive] Running Loop=1
2025-03-12T01:18:38.820Z,1741742318.820 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive
2025-03-12T01:18:38.820Z,1741742318.820 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive] Running Loop=1
2025-03-12T01:18:38.820Z,1741742318.820 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive
2025-03-12T01:18:38.820Z,1741742318.820 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass] Running Loop=1
2025-03-12T01:18:38.820Z,1741742318.820 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass](DEBUG): Initialize.
2025-03-12T01:18:38.820Z,1741742318.820 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed] Running Loop=1
2025-03-12T01:18:38.820Z,1741742318.820 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed](DEBUG): Initialize.
2025-03-12T01:18:38.820Z,1741742318.820 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:B.Pitch] Running Loop=1
2025-03-12T01:18:38.820Z,1741742318.820 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:B.Pitch](DEBUG): Initialize.
2025-03-12T01:18:38.821Z,1741742318.821 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow] Running Loop=1
2025-03-12T01:18:38.821Z,1741742318.821 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepthSlow
2025-03-12T01:18:38.821Z,1741742318.821 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:A.SetSpeed] Running Loop=1
2025-03-12T01:18:38.821Z,1741742318.821 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:A.SetSpeed](DEBUG): Initialize.
2025-03-12T01:18:38.821Z,1741742318.821 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:B] Running Loop=1
2025-03-12T01:18:38.821Z,1741742318.821 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:C.Buoyancy] Running Loop=1
2025-03-12T01:18:38.821Z,1741742318.821 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:C.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-03-12T01:18:38.821Z,1741742318.821 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:D.Pitch] Running Loop=1
2025-03-12T01:18:38.821Z,1741742318.821 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:D.Pitch](DEBUG): Initialize.
2025-03-12T01:18:38.846Z,1741742318.846 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow] Stopped
2025-03-12T01:18:38.846Z,1741742318.846 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepthSlow
2025-03-12T01:18:38.847Z,1741742318.847 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:A.SetSpeed] Stopped
2025-03-12T01:18:38.847Z,1741742318.847 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:A.SetSpeed](DEBUG): Uninitialize.
2025-03-12T01:18:38.847Z,1741742318.847 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:B] Stopped
2025-03-12T01:18:38.847Z,1741742318.847 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:C.Buoyancy] Stopped
2025-03-12T01:18:38.847Z,1741742318.847 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-03-12T01:18:38.847Z,1741742318.847 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:D.Pitch] Stopped
2025-03-12T01:18:38.847Z,1741742318.847 [sci2_noyo_optim:DiveCmd:MaintainDepth] Running Loop=1
2025-03-12T01:18:38.847Z,1741742318.847 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive] Running Loop=1
2025-03-12T01:18:38.847Z,1741742318.847 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:B.Pitch] Running Loop=1
2025-03-12T01:18:38.848Z,1741742318.848 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive] Running Loop=1
2025-03-12T01:18:38.848Z,1741742318.848 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed] Running Loop=1
2025-03-12T01:18:38.848Z,1741742318.848 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass] Running Loop=1
2025-03-12T01:18:38.848Z,1741742318.848 [sci2_noyo_optim:DiveCmd:SettleAtDepth] Stopped
2025-03-12T01:18:38.848Z,1741742318.848 [sci2_noyo_optim:DiveCmd:SettleAtDepth](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:SettleAtDepth
2025-03-12T01:18:38.848Z,1741742318.848 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive] Stopped
2025-03-12T01:18:38.848Z,1741742318.848 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:SettleAtDepth:dive
2025-03-12T01:18:38.849Z,1741742318.849 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:A] Stopped
2025-03-12T01:18:38.849Z,1741742318.849 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:B.Pitch] Stopped
2025-03-12T01:18:38.849Z,1741742318.849 [sci2_noyo_optim:DiveCmd:InitialDive] Running Loop=1
2025-03-12T01:18:38.849Z,1741742318.849 [sci2_noyo_optim:DiveCmd:InitialDive:dive:D](INFO): Waiting for  1.000000 min while pumping down to neutral.
2025-03-12T01:18:38.849Z,1741742318.849 [sci2_noyo_optim:DiveCmd:InitialDive:dive:D] Stopped
2025-03-12T01:18:38.849Z,1741742318.849 [sci2_noyo_optim:DiveCmd:InitialDive:dive:E.Wait] Running Loop=1
2025-03-12T01:18:38.849Z,1741742318.849 [sci2_noyo_optim:DiveCmd:InitialDive:dive:E.Wait](DEBUG): Initialize Wait Component.
2025-03-12T01:18:38.850Z,1741742318.850 [sci2_noyo_optim:DiveCmd:InitialDive:dive:C.Mass] Running Loop=1
2025-03-12T01:18:38.858Z,1741742318.858 [sci2_noyo_optim:DiveCmd:InitialDive:dive:B] Running Loop=1
2025-03-12T01:18:38.858Z,1741742318.858 [sci2_noyo_optim:DiveCmd:InitialDive:dive:A] Running Loop=1
2025-03-12T01:18:56.978Z,1741742336.978 [BackseatComponent](IMPORTANT): ikshana: running backseat application.
2025-03-12T01:19:09.228Z,1741742349.228 [NAL9602](INFO): Not Powering down - fast GPS
2025-03-12T01:19:39.539Z,1741742379.539 [sci2_noyo_optim:DiveCmd:InitialDive:dive:E.Wait](INFO): Done Waiting.
2025-03-12T01:19:39.539Z,1741742379.539 [sci2_noyo_optim:DiveCmd:InitialDive:dive:E.Wait] Stopped
2025-03-12T01:19:39.539Z,1741742379.539 [sci2_noyo_optim:DiveCmd:InitialDive:dive:E.Wait](DEBUG): Uninitialize Wait Component.
2025-03-12T01:19:39.540Z,1741742379.540 [sci2_noyo_optim:DiveCmd:InitialDive:dive:F] Running Loop=1
2025-03-12T01:19:40.012Z,1741742380.012 [sci2_noyo_optim:DiveCmd:InitialDive:dive:F](INFO): Moving to  10.000000 m 
2025-03-12T01:19:40.012Z,1741742380.012 [sci2_noyo_optim:DiveCmd:InitialDive:dive:F] Stopped
2025-03-12T01:19:40.013Z,1741742380.013 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth] Running Loop=1
2025-03-12T01:19:40.013Z,1741742380.013 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth
2025-03-12T01:19:40.013Z,1741742380.013 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:A.SetSpeed] Running Loop=1
2025-03-12T01:19:40.013Z,1741742380.013 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:A.SetSpeed](DEBUG): Initialize.
2025-03-12T01:19:40.013Z,1741742380.013 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:B.Pitch] Running Loop=1
2025-03-12T01:19:40.013Z,1741742380.013 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:B.Pitch](DEBUG): Initialize.
2025-03-12T01:19:40.424Z,1741742380.424 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:A.SetSpeed] Running Loop=1
2025-03-12T01:19:40.611Z,1741742380.611 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T01:19:43.624Z,1741742383.624 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.240002
2025-03-12T01:20:15.750Z,1741742415.750 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T01:20:38.415Z,1741742438.415 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003512
2025-03-12T01:21:26.602Z,1741742486.602 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T01:21:38.663Z,1741742498.663 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.251381
2025-03-12T01:21:47.606Z,1741742507.606 [Radio_Surface](INFO): Powering down
2025-03-12T01:21:47.706Z,1741742507.706 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-03-12T01:22:28.282Z,1741742548.282 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:B.Pitch] Stopped
2025-03-12T01:22:28.283Z,1741742548.283 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth](INFO): Completed sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth
2025-03-12T01:22:28.283Z,1741742548.283 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth] Stopped
2025-03-12T01:22:28.283Z,1741742548.283 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth
2025-03-12T01:22:28.283Z,1741742548.283 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:A.SetSpeed] Stopped
2025-03-12T01:22:28.283Z,1741742548.283 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:A.SetSpeed](DEBUG): Uninitialize.
2025-03-12T01:22:28.283Z,1741742548.283 [sci2_noyo_optim:DiveCmd:InitialDive:dive:H] Running Loop=1
2025-03-12T01:22:28.625Z,1741742548.625 [sci2_noyo_optim:DiveCmd:InitialDive:dive:H] Stopped
2025-03-12T01:22:28.627Z,1741742548.627 [sci2_noyo_optim:DiveCmd:InitialDive:dive](INFO): Completed sci2_noyo_optim:DiveCmd:InitialDive:dive
2025-03-12T01:22:28.627Z,1741742548.627 [sci2_noyo_optim:DiveCmd:InitialDive:dive] Stopped
2025-03-12T01:22:28.627Z,1741742548.627 [sci2_noyo_optim:DiveCmd:InitialDive:dive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:InitialDive:dive
2025-03-12T01:22:28.627Z,1741742548.627 [sci2_noyo_optim:DiveCmd:InitialDive:dive:A] Stopped
2025-03-12T01:22:28.627Z,1741742548.627 [sci2_noyo_optim:DiveCmd:InitialDive:dive:B] Stopped
2025-03-12T01:22:28.627Z,1741742548.627 [sci2_noyo_optim:DiveCmd:InitialDive:dive:C.Mass] Stopped
2025-03-12T01:22:28.627Z,1741742548.627 [sci2_noyo_optim:DiveCmd:InitialDive:dive:C.Mass](DEBUG): Uninitialize.
2025-03-12T01:22:28.629Z,1741742548.629 [sci2_noyo_optim:DiveCmd:InitialDive](INFO): Completed sci2_noyo_optim:DiveCmd:InitialDive
2025-03-12T01:22:29.045Z,1741742549.045 [sci2_noyo_optim:DiveCmd:SettleAtDepth] Running Loop=1
2025-03-12T01:22:29.045Z,1741742549.045 [sci2_noyo_optim:DiveCmd:SettleAtDepth](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:SettleAtDepth
2025-03-12T01:22:29.045Z,1741742549.045 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive] Running Loop=1
2025-03-12T01:22:29.045Z,1741742549.045 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:SettleAtDepth:dive
2025-03-12T01:22:29.045Z,1741742549.045 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:B.Pitch] Running Loop=1
2025-03-12T01:22:29.045Z,1741742549.045 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:B.Pitch](DEBUG): Initialize.
2025-03-12T01:22:29.046Z,1741742549.046 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:A] Running Loop=1
2025-03-12T01:22:29.046Z,1741742549.046 [sci2_noyo_optim:DiveCmd:SettleAtDepth] Running Loop=1
2025-03-12T01:22:29.046Z,1741742549.046 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:B.Pitch] Running Loop=1
2025-03-12T01:22:29.047Z,1741742549.047 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:A](INFO): Reached  10.013271 m , settling for  3.000000 min 
2025-03-12T01:22:29.047Z,1741742549.047 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:A] Stopped
2025-03-12T01:22:29.047Z,1741742549.047 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:C.Wait] Running Loop=1
2025-03-12T01:22:29.047Z,1741742549.047 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:C.Wait](DEBUG): Initialize Wait Component.
2025-03-12T01:23:22.504Z,1741742602.504 [sci2_noyo_optim:DiveCmd:MaintainDepth] Stopped
2025-03-12T01:23:22.504Z,1741742602.504 [sci2_noyo_optim:DiveCmd:MaintainDepth](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepth
2025-03-12T01:23:22.505Z,1741742602.505 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive] Stopped
2025-03-12T01:23:22.505Z,1741742602.505 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive
2025-03-12T01:23:22.505Z,1741742602.505 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive] Stopped
2025-03-12T01:23:22.505Z,1741742602.505 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive
2025-03-12T01:23:22.505Z,1741742602.505 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass] Stopped
2025-03-12T01:23:22.505Z,1741742602.505 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass](DEBUG): Uninitialize.
2025-03-12T01:23:22.505Z,1741742602.505 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed] Stopped
2025-03-12T01:23:22.505Z,1741742602.505 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed](DEBUG): Uninitialize.
2025-03-12T01:23:22.505Z,1741742602.505 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:B.Pitch] Stopped
2025-03-12T01:23:28.548Z,1741742608.548 [sci2_noyo_optim:DiveCmd:MaintainDepth] Running Loop=1
2025-03-12T01:23:28.548Z,1741742608.548 [sci2_noyo_optim:DiveCmd:MaintainDepth](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepth
2025-03-12T01:23:28.548Z,1741742608.548 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive] Running Loop=1
2025-03-12T01:23:28.548Z,1741742608.548 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive
2025-03-12T01:23:28.548Z,1741742608.548 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive] Running Loop=1
2025-03-12T01:23:28.549Z,1741742608.549 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive
2025-03-12T01:23:28.549Z,1741742608.549 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass] Running Loop=1
2025-03-12T01:23:28.549Z,1741742608.549 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass](DEBUG): Initialize.
2025-03-12T01:23:28.549Z,1741742608.549 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed] Running Loop=1
2025-03-12T01:23:28.549Z,1741742608.549 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed](DEBUG): Initialize.
2025-03-12T01:23:28.549Z,1741742608.549 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:B.Pitch] Running Loop=1
2025-03-12T01:23:28.549Z,1741742608.549 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:B.Pitch](DEBUG): Initialize.
2025-03-12T01:23:28.974Z,1741742608.974 [Waterlinked](ERROR): only read 1 of 5 data items. Device response::BI,  -5      +0.00,       +0.00,       +0.00,  45.43,  0.00
2025-03-12T01:23:28.986Z,1741742608.986 [sci2_noyo_optim:DiveCmd:MaintainDepth] Stopped
2025-03-12T01:23:28.986Z,1741742608.986 [sci2_noyo_optim:DiveCmd:MaintainDepth](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepth
2025-03-12T01:23:28.986Z,1741742608.986 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive] Stopped
2025-03-12T01:23:28.986Z,1741742608.986 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive
2025-03-12T01:23:28.986Z,1741742608.986 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive] Stopped
2025-03-12T01:23:28.987Z,1741742608.987 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive
2025-03-12T01:23:28.987Z,1741742608.987 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass] Stopped
2025-03-12T01:23:28.987Z,1741742608.987 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass](DEBUG): Uninitialize.
2025-03-12T01:23:28.987Z,1741742608.987 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed] Stopped
2025-03-12T01:23:28.987Z,1741742608.987 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed](DEBUG): Uninitialize.
2025-03-12T01:23:28.987Z,1741742608.987 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:B.Pitch] Stopped
2025-03-12T01:23:29.349Z,1741742609.349 [sci2_noyo_optim:DiveCmd:MaintainDepth] Running Loop=1
2025-03-12T01:23:29.349Z,1741742609.349 [sci2_noyo_optim:DiveCmd:MaintainDepth](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepth
2025-03-12T01:23:29.349Z,1741742609.349 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive] Running Loop=1
2025-03-12T01:23:29.349Z,1741742609.349 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive
2025-03-12T01:23:29.349Z,1741742609.349 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive] Running Loop=1
2025-03-12T01:23:29.350Z,1741742609.350 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive
2025-03-12T01:23:29.350Z,1741742609.350 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass] Running Loop=1
2025-03-12T01:23:29.350Z,1741742609.350 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass](DEBUG): Initialize.
2025-03-12T01:23:29.350Z,1741742609.350 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed] Running Loop=1
2025-03-12T01:23:29.350Z,1741742609.350 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed](DEBUG): Initialize.
2025-03-12T01:23:29.351Z,1741742609.351 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:B.Pitch] Running Loop=1
2025-03-12T01:23:29.351Z,1741742609.351 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:B.Pitch](DEBUG): Initialize.
2025-03-12T01:23:29.767Z,1741742609.767 [sci2_noyo_optim:DiveCmd:MaintainDepth] Stopped
2025-03-12T01:23:29.768Z,1741742609.768 [sci2_noyo_optim:DiveCmd:MaintainDepth](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepth
2025-03-12T01:23:29.768Z,1741742609.768 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive] Stopped
2025-03-12T01:23:29.768Z,1741742609.768 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive
2025-03-12T01:23:29.768Z,1741742609.768 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive] Stopped
2025-03-12T01:23:29.768Z,1741742609.768 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive
2025-03-12T01:23:29.768Z,1741742609.768 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass] Stopped
2025-03-12T01:23:29.768Z,1741742609.768 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass](DEBUG): Uninitialize.
2025-03-12T01:23:29.768Z,1741742609.768 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed] Stopped
2025-03-12T01:23:29.768Z,1741742609.768 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed](DEBUG): Uninitialize.
2025-03-12T01:23:29.768Z,1741742609.768 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:B.Pitch] Stopped
2025-03-12T01:23:30.276Z,1741742610.276 [sci2_noyo_optim:DiveCmd:MaintainDepth] Running Loop=1
2025-03-12T01:23:30.276Z,1741742610.276 [sci2_noyo_optim:DiveCmd:MaintainDepth](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepth
2025-03-12T01:23:30.276Z,1741742610.276 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive] Running Loop=1
2025-03-12T01:23:30.276Z,1741742610.276 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive
2025-03-12T01:23:30.276Z,1741742610.276 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive] Running Loop=1
2025-03-12T01:23:30.276Z,1741742610.276 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive
2025-03-12T01:23:30.276Z,1741742610.276 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass] Running Loop=1
2025-03-12T01:23:30.277Z,1741742610.277 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass](DEBUG): Initialize.
2025-03-12T01:23:30.277Z,1741742610.277 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed] Running Loop=1
2025-03-12T01:23:30.277Z,1741742610.277 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed](DEBUG): Initialize.
2025-03-12T01:23:30.277Z,1741742610.277 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:B.Pitch] Running Loop=1
2025-03-12T01:23:30.277Z,1741742610.277 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:B.Pitch](DEBUG): Initialize.
2025-03-12T01:23:31.281Z,1741742611.281 [sci2_noyo_optim:DiveCmd:MaintainDepth] Stopped
2025-03-12T01:23:31.282Z,1741742611.282 [sci2_noyo_optim:DiveCmd:MaintainDepth](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepth
2025-03-12T01:23:31.282Z,1741742611.282 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive] Stopped
2025-03-12T01:23:31.282Z,1741742611.282 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive
2025-03-12T01:23:31.282Z,1741742611.282 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive] Stopped
2025-03-12T01:23:31.282Z,1741742611.282 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive
2025-03-12T01:23:31.282Z,1741742611.282 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass] Stopped
2025-03-12T01:23:31.282Z,1741742611.282 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass](DEBUG): Uninitialize.
2025-03-12T01:23:31.282Z,1741742611.282 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed] Stopped
2025-03-12T01:23:31.282Z,1741742611.282 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed](DEBUG): Uninitialize.
2025-03-12T01:23:31.283Z,1741742611.283 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:B.Pitch] Stopped
2025-03-12T01:25:29.650Z,1741742729.650 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:C.Wait](INFO): Done Waiting.
2025-03-12T01:25:29.650Z,1741742729.650 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:C.Wait] Stopped
2025-03-12T01:25:29.650Z,1741742729.650 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:C.Wait](DEBUG): Uninitialize Wait Component.
2025-03-12T01:25:29.651Z,1741742729.651 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:D] Running Loop=1
2025-03-12T01:25:30.062Z,1741742730.062 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:D] Stopped
2025-03-12T01:25:30.063Z,1741742730.063 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive](INFO): Completed sci2_noyo_optim:DiveCmd:SettleAtDepth:dive
2025-03-12T01:25:30.063Z,1741742730.063 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive] Stopped
2025-03-12T01:25:30.063Z,1741742730.063 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:SettleAtDepth:dive
2025-03-12T01:25:30.063Z,1741742730.063 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:B.Pitch] Stopped
2025-03-12T01:25:30.063Z,1741742730.063 [sci2_noyo_optim:DiveCmd:SettleAtDepth](INFO): Completed sci2_noyo_optim:DiveCmd:SettleAtDepth
2025-03-12T01:25:30.522Z,1741742730.522 [sci2_noyo_optim:DiveCmd:MaintainDepth] Running Loop=1
2025-03-12T01:25:30.523Z,1741742730.523 [sci2_noyo_optim:DiveCmd:MaintainDepth](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepth
2025-03-12T01:25:30.523Z,1741742730.523 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive] Running Loop=1
2025-03-12T01:25:30.523Z,1741742730.523 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive
2025-03-12T01:25:30.523Z,1741742730.523 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive] Running Loop=1
2025-03-12T01:25:30.523Z,1741742730.523 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive
2025-03-12T01:25:30.523Z,1741742730.523 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass] Running Loop=1
2025-03-12T01:25:30.523Z,1741742730.523 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass](DEBUG): Initialize.
2025-03-12T01:25:30.523Z,1741742730.523 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed] Running Loop=1
2025-03-12T01:25:30.523Z,1741742730.523 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed](DEBUG): Initialize.
2025-03-12T01:25:30.523Z,1741742730.523 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:B.Pitch] Running Loop=1
2025-03-12T01:25:30.524Z,1741742730.524 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:B.Pitch](DEBUG): Initialize.
2025-03-12T01:25:58.189Z,1741742758.189 [sci2_noyo_optim:DiveCmd:MaintainDepth] Stopped
2025-03-12T01:25:58.189Z,1741742758.189 [sci2_noyo_optim:DiveCmd:MaintainDepth](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepth
2025-03-12T01:25:58.189Z,1741742758.189 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive] Stopped
2025-03-12T01:25:58.189Z,1741742758.189 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive
2025-03-12T01:25:58.189Z,1741742758.189 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive] Stopped
2025-03-12T01:25:58.189Z,1741742758.189 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive
2025-03-12T01:25:58.189Z,1741742758.189 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass] Stopped
2025-03-12T01:25:58.189Z,1741742758.189 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass](DEBUG): Uninitialize.
2025-03-12T01:25:58.189Z,1741742758.189 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed] Stopped
2025-03-12T01:25:58.189Z,1741742758.189 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed](DEBUG): Uninitialize.
2025-03-12T01:25:58.189Z,1741742758.189 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:B.Pitch] Stopped
2025-03-12T01:27:25.858Z,1741742845.858 [sci2_noyo_optim:DiveCmd:MaintainDepth] Running Loop=1
2025-03-12T01:27:25.858Z,1741742845.858 [sci2_noyo_optim:DiveCmd:MaintainDepth](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepth
2025-03-12T01:27:25.859Z,1741742845.859 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive] Running Loop=1
2025-03-12T01:27:25.859Z,1741742845.859 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive
2025-03-12T01:27:25.859Z,1741742845.859 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive] Running Loop=1
2025-03-12T01:27:25.859Z,1741742845.859 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive
2025-03-12T01:27:25.859Z,1741742845.859 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass] Running Loop=1
2025-03-12T01:27:25.859Z,1741742845.859 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass](DEBUG): Initialize.
2025-03-12T01:27:25.859Z,1741742845.859 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed] Running Loop=1
2025-03-12T01:27:25.859Z,1741742845.859 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed](DEBUG): Initialize.
2025-03-12T01:27:25.859Z,1741742845.859 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:B.Pitch] Running Loop=1
2025-03-12T01:27:25.859Z,1741742845.859 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:B.Pitch](DEBUG): Initialize.
2025-03-12T01:27:50.136Z,1741742870.136 [sci2_noyo_optim:DiveCmd:MaintainDepth] Stopped
2025-03-12T01:27:50.137Z,1741742870.137 [sci2_noyo_optim:DiveCmd:MaintainDepth](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepth
2025-03-12T01:27:50.137Z,1741742870.137 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive] Stopped
2025-03-12T01:27:50.137Z,1741742870.137 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive
2025-03-12T01:27:50.137Z,1741742870.137 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive] Stopped
2025-03-12T01:27:50.137Z,1741742870.137 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive
2025-03-12T01:27:50.137Z,1741742870.137 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass] Stopped
2025-03-12T01:27:50.137Z,1741742870.137 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass](DEBUG): Uninitialize.
2025-03-12T01:27:50.137Z,1741742870.137 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed] Stopped
2025-03-12T01:27:50.137Z,1741742870.137 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed](DEBUG): Uninitialize.
2025-03-12T01:27:50.137Z,1741742870.137 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:B.Pitch] Stopped
2025-03-12T01:28:57.645Z,1741742937.645 [sci2_noyo_optim:BackseatDriver:A.BackseatDriver](INFO): Created data writer for _.data_dir_logging_rate with code: 2169
2025-03-12T01:29:04.492Z,1741742944.492 [sci2_noyo_optim:DiveCmd:MaintainDepth] Running Loop=1
2025-03-12T01:29:04.493Z,1741742944.493 [sci2_noyo_optim:DiveCmd:MaintainDepth](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepth
2025-03-12T01:29:04.493Z,1741742944.493 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive] Running Loop=1
2025-03-12T01:29:04.493Z,1741742944.493 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive
2025-03-12T01:29:04.493Z,1741742944.493 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive] Running Loop=1
2025-03-12T01:29:04.493Z,1741742944.493 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive
2025-03-12T01:29:04.493Z,1741742944.493 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass] Running Loop=1
2025-03-12T01:29:04.493Z,1741742944.493 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass](DEBUG): Initialize.
2025-03-12T01:29:04.493Z,1741742944.493 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed] Running Loop=1
2025-03-12T01:29:04.493Z,1741742944.493 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed](DEBUG): Initialize.
2025-03-12T01:29:04.493Z,1741742944.493 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:B.Pitch] Running Loop=1
2025-03-12T01:29:04.493Z,1741742944.493 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:B.Pitch](DEBUG): Initialize.
2025-03-12T01:29:28.721Z,1741742968.721 [sci2_noyo_optim:DiveCmd:MaintainDepth] Stopped
2025-03-12T01:29:28.722Z,1741742968.722 [sci2_noyo_optim:DiveCmd:MaintainDepth](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepth
2025-03-12T01:29:28.722Z,1741742968.722 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive] Stopped
2025-03-12T01:29:28.722Z,1741742968.722 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive
2025-03-12T01:29:28.722Z,1741742968.722 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive] Stopped
2025-03-12T01:29:28.722Z,1741742968.722 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive
2025-03-12T01:29:28.722Z,1741742968.722 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass] Stopped
2025-03-12T01:29:28.722Z,1741742968.722 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass](DEBUG): Uninitialize.
2025-03-12T01:29:28.722Z,1741742968.722 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed] Stopped
2025-03-12T01:29:28.723Z,1741742968.723 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed](DEBUG): Uninitialize.
2025-03-12T01:29:28.723Z,1741742968.723 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:B.Pitch] Stopped
2025-03-12T01:30:41.111Z,1741743041.111 [sci2_noyo_optim:DiveCmd:MaintainDepth] Running Loop=1
2025-03-12T01:30:41.112Z,1741743041.112 [sci2_noyo_optim:DiveCmd:MaintainDepth](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepth
2025-03-12T01:30:41.112Z,1741743041.112 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive] Running Loop=1
2025-03-12T01:30:41.112Z,1741743041.112 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive
2025-03-12T01:30:41.112Z,1741743041.112 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive] Running Loop=1
2025-03-12T01:30:41.113Z,1741743041.113 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive
2025-03-12T01:30:41.113Z,1741743041.113 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass] Running Loop=1
2025-03-12T01:30:41.113Z,1741743041.113 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass](DEBUG): Initialize.
2025-03-12T01:30:41.114Z,1741743041.114 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed] Running Loop=1
2025-03-12T01:30:41.118Z,1741743041.118 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed](DEBUG): Initialize.
2025-03-12T01:30:41.119Z,1741743041.119 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:B.Pitch] Running Loop=1
2025-03-12T01:30:41.119Z,1741743041.119 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:B.Pitch](DEBUG): Initialize.
2025-03-12T01:31:04.128Z,1741743064.128 [sci2_noyo_optim:DiveCmd:MaintainDepth] Stopped
2025-03-12T01:31:04.128Z,1741743064.128 [sci2_noyo_optim:DiveCmd:MaintainDepth](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepth
2025-03-12T01:31:04.128Z,1741743064.128 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive] Stopped
2025-03-12T01:31:04.128Z,1741743064.128 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive
2025-03-12T01:31:04.128Z,1741743064.128 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive] Stopped
2025-03-12T01:31:04.128Z,1741743064.128 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive
2025-03-12T01:31:04.128Z,1741743064.128 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass] Stopped
2025-03-12T01:31:04.129Z,1741743064.129 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass](DEBUG): Uninitialize.
2025-03-12T01:31:04.129Z,1741743064.129 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed] Stopped
2025-03-12T01:31:04.129Z,1741743064.129 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed](DEBUG): Uninitialize.
2025-03-12T01:31:04.129Z,1741743064.129 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:B.Pitch] Stopped
2025-03-12T01:31:40.108Z,1741743100.108 [BPC1](INFO): Calculating totals. Valid battery stick count: 50. Valid reserve battery stick count: 5.
2025-03-12T01:31:40.111Z,1741743100.111 [BPC1](ERROR): Failed to receive data from all sticks prior to timeout. Will not retry this scan cycle.
2025-03-12T01:32:43.948Z,1741743163.948 [sci2_noyo_optim:DiveCmd:MaintainDepth] Running Loop=1
2025-03-12T01:32:43.948Z,1741743163.948 [sci2_noyo_optim:DiveCmd:MaintainDepth](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepth
2025-03-12T01:32:43.948Z,1741743163.948 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive] Running Loop=1
2025-03-12T01:32:43.948Z,1741743163.948 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive
2025-03-12T01:32:43.949Z,1741743163.949 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive] Running Loop=1
2025-03-12T01:32:43.949Z,1741743163.949 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive
2025-03-12T01:32:43.949Z,1741743163.949 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass] Running Loop=1
2025-03-12T01:32:43.949Z,1741743163.949 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass](DEBUG): Initialize.
2025-03-12T01:32:43.949Z,1741743163.949 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed] Running Loop=1
2025-03-12T01:32:43.949Z,1741743163.949 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed](DEBUG): Initialize.
2025-03-12T01:32:43.949Z,1741743163.949 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:B.Pitch] Running Loop=1
2025-03-12T01:32:43.949Z,1741743163.949 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:B.Pitch](DEBUG): Initialize.
2025-03-12T01:33:06.142Z,1741743186.142 [sci2_noyo_optim:DiveCmd:MaintainDepth] Stopped
2025-03-12T01:33:06.143Z,1741743186.143 [sci2_noyo_optim:DiveCmd:MaintainDepth](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepth
2025-03-12T01:33:06.143Z,1741743186.143 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive] Stopped
2025-03-12T01:33:06.143Z,1741743186.143 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive
2025-03-12T01:33:06.143Z,1741743186.143 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive] Stopped
2025-03-12T01:33:06.144Z,1741743186.144 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive
2025-03-12T01:33:06.144Z,1741743186.144 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass] Stopped
2025-03-12T01:33:06.144Z,1741743186.144 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass](DEBUG): Uninitialize.
2025-03-12T01:33:06.144Z,1741743186.144 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed] Stopped
2025-03-12T01:33:06.144Z,1741743186.144 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed](DEBUG): Uninitialize.
2025-03-12T01:33:06.144Z,1741743186.144 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:B.Pitch] Stopped
2025-03-12T01:34:31.549Z,1741743271.549 [sci2_noyo_optim:DiveCmd:MaintainDepth] Running Loop=1
2025-03-12T01:34:31.549Z,1741743271.549 [sci2_noyo_optim:DiveCmd:MaintainDepth](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepth
2025-03-12T01:34:31.549Z,1741743271.549 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive] Running Loop=1
2025-03-12T01:34:31.549Z,1741743271.549 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive
2025-03-12T01:34:31.549Z,1741743271.549 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive] Running Loop=1
2025-03-12T01:34:31.549Z,1741743271.549 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive
2025-03-12T01:34:31.549Z,1741743271.549 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass] Running Loop=1
2025-03-12T01:34:31.549Z,1741743271.549 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass](DEBUG): Initialize.
2025-03-12T01:34:31.550Z,1741743271.550 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed] Running Loop=1
2025-03-12T01:34:31.550Z,1741743271.550 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed](DEBUG): Initialize.
2025-03-12T01:34:31.567Z,1741743271.567 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:B.Pitch] Running Loop=1
2025-03-12T01:34:31.567Z,1741743271.567 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:B.Pitch](DEBUG): Initialize.
2025-03-12T01:34:44.869Z,1741743284.869 [Waterlinked](ERROR): only read 3 of 5 data items. Device response::BI,  -383.00,  50.78,  0.00
2025-03-12T01:34:53.801Z,1741743293.801 [sci2_noyo_optim:DiveCmd:MaintainDepth] Stopped
2025-03-12T01:34:53.802Z,1741743293.802 [sci2_noyo_optim:DiveCmd:MaintainDepth](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepth
2025-03-12T01:34:53.802Z,1741743293.802 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive] Stopped
2025-03-12T01:34:53.802Z,1741743293.802 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive
2025-03-12T01:34:53.802Z,1741743293.802 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive] Stopped
2025-03-12T01:34:53.802Z,1741743293.802 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive
2025-03-12T01:34:53.802Z,1741743293.802 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass] Stopped
2025-03-12T01:34:53.802Z,1741743293.802 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass](DEBUG): Uninitialize.
2025-03-12T01:34:53.802Z,1741743293.802 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed] Stopped
2025-03-12T01:34:53.803Z,1741743293.803 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed](DEBUG): Uninitialize.
2025-03-12T01:34:53.803Z,1741743293.803 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:B.Pitch] Stopped
2025-03-12T01:36:06.602Z,1741743366.602 [sci2_noyo_optim:DiveCmd:MaintainDepth] Running Loop=1
2025-03-12T01:36:06.602Z,1741743366.602 [sci2_noyo_optim:DiveCmd:MaintainDepth](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepth
2025-03-12T01:36:06.602Z,1741743366.602 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive] Running Loop=1
2025-03-12T01:36:06.602Z,1741743366.602 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive
2025-03-12T01:36:06.602Z,1741743366.602 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive] Running Loop=1
2025-03-12T01:36:06.602Z,1741743366.602 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive
2025-03-12T01:36:06.602Z,1741743366.602 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass] Running Loop=1
2025-03-12T01:36:06.602Z,1741743366.602 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass](DEBUG): Initialize.
2025-03-12T01:36:06.603Z,1741743366.603 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed] Running Loop=1
2025-03-12T01:36:06.603Z,1741743366.603 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed](DEBUG): Initialize.
2025-03-12T01:36:06.603Z,1741743366.603 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:B.Pitch] Running Loop=1
2025-03-12T01:36:06.603Z,1741743366.603 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:B.Pitch](DEBUG): Initialize.
2025-03-12T01:36:28.868Z,1741743388.868 [sci2_noyo_optim:DiveCmd:MaintainDepth] Stopped
2025-03-12T01:36:28.868Z,1741743388.868 [sci2_noyo_optim:DiveCmd:MaintainDepth](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepth
2025-03-12T01:36:28.868Z,1741743388.868 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive] Stopped
2025-03-12T01:36:28.868Z,1741743388.868 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive
2025-03-12T01:36:28.868Z,1741743388.868 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive] Stopped
2025-03-12T01:36:28.868Z,1741743388.868 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive
2025-03-12T01:36:28.868Z,1741743388.868 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass] Stopped
2025-03-12T01:36:28.868Z,1741743388.868 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass](DEBUG): Uninitialize.
2025-03-12T01:36:28.868Z,1741743388.868 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed] Stopped
2025-03-12T01:36:28.868Z,1741743388.868 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed](DEBUG): Uninitialize.
2025-03-12T01:36:28.869Z,1741743388.869 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:B.Pitch] Stopped
2025-03-12T01:38:13.619Z,1741743493.619 [sci2_noyo_optim:DiveCmd:MaintainDepth] Running Loop=1
2025-03-12T01:38:13.619Z,1741743493.619 [sci2_noyo_optim:DiveCmd:MaintainDepth](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepth
2025-03-12T01:38:13.619Z,1741743493.619 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive] Running Loop=1
2025-03-12T01:38:13.619Z,1741743493.619 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive
2025-03-12T01:38:13.620Z,1741743493.620 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive] Running Loop=1
2025-03-12T01:38:13.620Z,1741743493.620 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive
2025-03-12T01:38:13.620Z,1741743493.620 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass] Running Loop=1
2025-03-12T01:38:13.620Z,1741743493.620 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass](DEBUG): Initialize.
2025-03-12T01:38:13.620Z,1741743493.620 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed] Running Loop=1
2025-03-12T01:38:13.620Z,1741743493.620 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed](DEBUG): Initialize.
2025-03-12T01:38:13.620Z,1741743493.620 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:B.Pitch] Running Loop=1
2025-03-12T01:38:13.620Z,1741743493.620 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:B.Pitch](DEBUG): Initialize.
2025-03-12T01:38:35.141Z,1741743515.141 [sci2_noyo_optim:DiveCmd:MaintainDepth] Stopped
2025-03-12T01:38:35.141Z,1741743515.141 [sci2_noyo_optim:DiveCmd:MaintainDepth](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepth
2025-03-12T01:38:35.141Z,1741743515.141 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive] Stopped
2025-03-12T01:38:35.141Z,1741743515.141 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive
2025-03-12T01:38:35.141Z,1741743515.141 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive] Stopped
2025-03-12T01:38:35.141Z,1741743515.141 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive
2025-03-12T01:38:35.142Z,1741743515.142 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass] Stopped
2025-03-12T01:38:35.142Z,1741743515.142 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass](DEBUG): Uninitialize.
2025-03-12T01:38:35.142Z,1741743515.142 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed] Stopped
2025-03-12T01:38:35.142Z,1741743515.142 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed](DEBUG): Uninitialize.
2025-03-12T01:38:35.146Z,1741743515.146 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:B.Pitch] Stopped
2025-03-12T01:39:57.392Z,1741743597.392 [sci2_noyo_optim:DiveCmd:MaintainDepth] Running Loop=1
2025-03-12T01:39:57.392Z,1741743597.392 [sci2_noyo_optim:DiveCmd:MaintainDepth](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepth
2025-03-12T01:39:57.392Z,1741743597.392 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive] Running Loop=1
2025-03-12T01:39:57.392Z,1741743597.392 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive
2025-03-12T01:39:57.393Z,1741743597.393 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive] Running Loop=1
2025-03-12T01:39:57.393Z,1741743597.393 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive
2025-03-12T01:39:57.393Z,1741743597.393 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass] Running Loop=1
2025-03-12T01:39:57.393Z,1741743597.393 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass](DEBUG): Initialize.
2025-03-12T01:39:57.393Z,1741743597.393 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed] Running Loop=1
2025-03-12T01:39:57.393Z,1741743597.393 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed](DEBUG): Initialize.
2025-03-12T01:39:57.393Z,1741743597.393 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:B.Pitch] Running Loop=1
2025-03-12T01:39:57.393Z,1741743597.393 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:B.Pitch](DEBUG): Initialize.
2025-03-12T01:40:03.128Z,1741743603.128 [Waterlinked](ERROR): only read 0 of 1 data item for altitude. Device response::BD,       +0.00,       +0.  0.00
2025-03-12T01:40:19.963Z,1741743619.963 [sci2_noyo_optim:DiveCmd:MaintainDepth] Stopped
2025-03-12T01:40:19.963Z,1741743619.963 [sci2_noyo_optim:DiveCmd:MaintainDepth](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepth
2025-03-12T01:40:19.963Z,1741743619.963 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive] Stopped
2025-03-12T01:40:19.963Z,1741743619.963 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive
2025-03-12T01:40:19.963Z,1741743619.963 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive] Stopped
2025-03-12T01:40:19.964Z,1741743619.964 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive
2025-03-12T01:40:19.964Z,1741743619.964 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass] Stopped
2025-03-12T01:40:19.964Z,1741743619.964 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass](DEBUG): Uninitialize.
2025-03-12T01:40:19.964Z,1741743619.964 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed] Stopped
2025-03-12T01:40:19.964Z,1741743619.964 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed](DEBUG): Uninitialize.
2025-03-12T01:40:19.964Z,1741743619.964 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:B.Pitch] Stopped
2025-03-12T01:41:42.316Z,1741743702.316 [sci2_noyo_optim:DiveCmd:MaintainDepth] Running Loop=1
2025-03-12T01:41:42.316Z,1741743702.316 [sci2_noyo_optim:DiveCmd:MaintainDepth](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepth
2025-03-12T01:41:42.316Z,1741743702.316 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive] Running Loop=1
2025-03-12T01:41:42.317Z,1741743702.317 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive
2025-03-12T01:41:42.317Z,1741743702.317 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive] Running Loop=1
2025-03-12T01:41:42.317Z,1741743702.317 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive
2025-03-12T01:41:42.317Z,1741743702.317 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass] Running Loop=1
2025-03-12T01:41:42.317Z,1741743702.317 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass](DEBUG): Initialize.
2025-03-12T01:41:42.317Z,1741743702.317 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed] Running Loop=1
2025-03-12T01:41:42.317Z,1741743702.317 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed](DEBUG): Initialize.
2025-03-12T01:41:42.317Z,1741743702.317 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:B.Pitch] Running Loop=1
2025-03-12T01:41:42.317Z,1741743702.317 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:B.Pitch](DEBUG): Initialize.
2025-03-12T01:42:04.633Z,1741743724.633 [sci2_noyo_optim:DiveCmd:MaintainDepth] Stopped
2025-03-12T01:42:04.634Z,1741743724.634 [sci2_noyo_optim:DiveCmd:MaintainDepth](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepth
2025-03-12T01:42:04.634Z,1741743724.634 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive] Stopped
2025-03-12T01:42:04.634Z,1741743724.634 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive
2025-03-12T01:42:04.634Z,1741743724.634 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive] Stopped
2025-03-12T01:42:04.634Z,1741743724.634 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive
2025-03-12T01:42:04.634Z,1741743724.634 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass] Stopped
2025-03-12T01:42:04.634Z,1741743724.634 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass](DEBUG): Uninitialize.
2025-03-12T01:42:04.634Z,1741743724.634 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed] Stopped
2025-03-12T01:42:04.635Z,1741743724.635 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed](DEBUG): Uninitialize.
2025-03-12T01:42:04.635Z,1741743724.635 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:B.Pitch] Stopped
2025-03-12T01:43:32.056Z,1741743812.056 [sci2_noyo_optim:DiveCmd:MaintainDepth] Running Loop=1
2025-03-12T01:43:32.056Z,1741743812.056 [sci2_noyo_optim:DiveCmd:MaintainDepth](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepth
2025-03-12T01:43:32.056Z,1741743812.056 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive] Running Loop=1
2025-03-12T01:43:32.056Z,1741743812.056 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive
2025-03-12T01:43:32.057Z,1741743812.057 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive] Running Loop=1
2025-03-12T01:43:32.057Z,1741743812.057 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive
2025-03-12T01:43:32.057Z,1741743812.057 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass] Running Loop=1
2025-03-12T01:43:32.057Z,1741743812.057 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass](DEBUG): Initialize.
2025-03-12T01:43:32.057Z,1741743812.057 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed] Running Loop=1
2025-03-12T01:43:32.057Z,1741743812.057 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed](DEBUG): Initialize.
2025-03-12T01:43:32.057Z,1741743812.057 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:B.Pitch] Running Loop=1
2025-03-12T01:43:32.057Z,1741743812.057 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:B.Pitch](DEBUG): Initialize.
2025-03-12T01:43:48.166Z,1741743828.166 [GFScanner](IMPORTANT): Beginning ground fault scan
2025-03-12T01:43:49.632Z,1741743829.632 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2025-03-12T01:43:49.633Z,1741743829.633 [CTD_Seabird](INFO): some bad data, not updating bins
2025-03-12T01:43:51.655Z,1741743831.655 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2025-03-12T01:43:51.657Z,1741743831.657 [CTD_Seabird](INFO): some bad data, not updating bins
2025-03-12T01:43:52.659Z,1741743832.659 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2025-03-12T01:43:52.664Z,1741743832.664 [CTD_Seabird](INFO): some bad data, not updating bins
2025-03-12T01:43:52.877Z,1741743832.877 [GFScanner](IMPORTANT): No ground fault detected
mA:
CHAN A0 (Batt): 0.000512
CHAN A1 (24V): 0.012754
CHAN A2 (12V): -0.000302
CHAN A3 (5V): -0.001431
CHAN B0 (3.3V): 0.003736
CHAN B1 (3.15aV): -0.006559
CHAN B2 (3.15bV): -0.001300
CHAN B3 (GND): -0.000843
OPEN: 0.006413
Full Scale: +/- 1 mA
2025-03-12T01:43:52.979Z,1741743832.979 [sci2_noyo_optim:DiveCmd:MaintainDepth] Stopped
2025-03-12T01:43:52.979Z,1741743832.979 [sci2_noyo_optim:DiveCmd:MaintainDepth](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepth
2025-03-12T01:43:52.979Z,1741743832.979 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive] Stopped
2025-03-12T01:43:52.979Z,1741743832.979 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive
2025-03-12T01:43:52.980Z,1741743832.980 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive] Stopped
2025-03-12T01:43:52.980Z,1741743832.980 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive
2025-03-12T01:43:52.980Z,1741743832.980 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass] Stopped
2025-03-12T01:43:52.980Z,1741743832.980 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass](DEBUG): Uninitialize.
2025-03-12T01:43:52.981Z,1741743832.981 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed] Stopped
2025-03-12T01:43:52.981Z,1741743832.981 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed](DEBUG): Uninitialize.
2025-03-12T01:43:52.981Z,1741743832.981 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:B.Pitch] Stopped
2025-03-12T01:45:39.770Z,1741743939.770 [sci2_noyo_optim:DiveCmd:MaintainDepth] Running Loop=1
2025-03-12T01:45:39.770Z,1741743939.770 [sci2_noyo_optim:DiveCmd:MaintainDepth](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepth
2025-03-12T01:45:39.771Z,1741743939.771 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive] Running Loop=1
2025-03-12T01:45:39.771Z,1741743939.771 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive
2025-03-12T01:45:39.771Z,1741743939.771 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive] Running Loop=1
2025-03-12T01:45:39.771Z,1741743939.771 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive
2025-03-12T01:45:39.771Z,1741743939.771 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass] Running Loop=1
2025-03-12T01:45:39.771Z,1741743939.771 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass](DEBUG): Initialize.
2025-03-12T01:45:39.771Z,1741743939.771 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed] Running Loop=1
2025-03-12T01:45:39.771Z,1741743939.771 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed](DEBUG): Initialize.
2025-03-12T01:45:39.771Z,1741743939.771 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:B.Pitch] Running Loop=1
2025-03-12T01:45:39.771Z,1741743939.771 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:B.Pitch](DEBUG): Initialize.
2025-03-12T01:45:59.646Z,1741743959.646 [sci2_noyo_optim:DiveCmd:MaintainDepth] Stopped
2025-03-12T01:45:59.646Z,1741743959.646 [sci2_noyo_optim:DiveCmd:MaintainDepth](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepth
2025-03-12T01:45:59.646Z,1741743959.646 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive] Stopped
2025-03-12T01:45:59.646Z,1741743959.646 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive
2025-03-12T01:45:59.646Z,1741743959.646 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive] Stopped
2025-03-12T01:45:59.647Z,1741743959.647 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive
2025-03-12T01:45:59.647Z,1741743959.647 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass] Stopped
2025-03-12T01:45:59.647Z,1741743959.647 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass](DEBUG): Uninitialize.
2025-03-12T01:45:59.647Z,1741743959.647 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed] Stopped
2025-03-12T01:45:59.647Z,1741743959.647 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed](DEBUG): Uninitialize.
2025-03-12T01:45:59.647Z,1741743959.647 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:B.Pitch] Stopped
2025-03-12T01:47:24.112Z,1741744044.112 [sci2_noyo_optim:DiveCmd:MaintainDepth] Running Loop=1
2025-03-12T01:47:24.112Z,1741744044.112 [sci2_noyo_optim:DiveCmd:MaintainDepth](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepth
2025-03-12T01:47:24.112Z,1741744044.112 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive] Running Loop=1
2025-03-12T01:47:24.112Z,1741744044.112 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive
2025-03-12T01:47:24.112Z,1741744044.112 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive] Running Loop=1
2025-03-12T01:47:24.112Z,1741744044.112 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive
2025-03-12T01:47:24.112Z,1741744044.112 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass] Running Loop=1
2025-03-12T01:47:24.112Z,1741744044.112 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass](DEBUG): Initialize.
2025-03-12T01:47:24.112Z,1741744044.112 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed] Running Loop=1
2025-03-12T01:47:24.112Z,1741744044.112 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed](DEBUG): Initialize.
2025-03-12T01:47:24.113Z,1741744044.113 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:B.Pitch] Running Loop=1
2025-03-12T01:47:24.113Z,1741744044.113 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:B.Pitch](DEBUG): Initialize.
2025-03-12T01:47:46.395Z,1741744066.395 [sci2_noyo_optim:DiveCmd:MaintainDepth] Stopped
2025-03-12T01:47:46.395Z,1741744066.395 [sci2_noyo_optim:DiveCmd:MaintainDepth](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepth
2025-03-12T01:47:46.395Z,1741744066.395 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive] Stopped
2025-03-12T01:47:46.395Z,1741744066.395 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive
2025-03-12T01:47:46.395Z,1741744066.395 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive] Stopped
2025-03-12T01:47:46.395Z,1741744066.395 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive
2025-03-12T01:47:46.395Z,1741744066.395 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass] Stopped
2025-03-12T01:47:46.395Z,1741744066.395 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass](DEBUG): Uninitialize.
2025-03-12T01:47:46.396Z,1741744066.396 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed] Stopped
2025-03-12T01:47:46.396Z,1741744066.396 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed](DEBUG): Uninitialize.
2025-03-12T01:47:46.396Z,1741744066.396 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:B.Pitch] Stopped
2025-03-12T01:48:37.256Z,1741744117.256 [sci2_noyo_optim:SurfaceComms] Running Loop=1
2025-03-12T01:48:37.256Z,1741744117.256 [sci2_noyo_optim:SurfaceComms](DEBUG): Aggregate::initialize sci2_noyo_optim:SurfaceComms
2025-03-12T01:48:37.256Z,1741744117.256 [sci2_noyo_optim:SurfaceComms:A] Running Loop=1
2025-03-12T01:48:37.257Z,1741744117.257 [sci2_noyo_optim:SurfaceComms:A] Stopped
2025-03-12T01:48:37.257Z,1741744117.257 [sci2_noyo_optim:SurfaceComms:B] Running Loop=1
2025-03-12T01:48:37.257Z,1741744117.257 [sci2_noyo_optim:SurfaceComms:B](DEBUG): Aggregate::initialize sci2_noyo_optim:SurfaceComms:B
2025-03-12T01:48:37.659Z,1741744117.659 [sci2_noyo_optim:Lap:Dive] Stopped
2025-03-12T01:48:37.659Z,1741744117.659 [sci2_noyo_optim:Lap:Dive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Lap:Dive
2025-03-12T01:48:37.659Z,1741744117.659 [sci2_noyo_optim:Lap:Dive:A] Stopped
2025-03-12T01:48:37.659Z,1741744117.659 [sci2_noyo_optim:Lap:Dive:A](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Lap:Dive:A
2025-03-12T01:48:37.662Z,1741744117.662 [sci2_noyo_optim:NeedComms] Running Loop=1
2025-03-12T01:48:37.662Z,1741744117.662 [sci2_noyo_optim:NeedComms](DEBUG): Aggregate::initialize sci2_noyo_optim:NeedComms
2025-03-12T01:48:37.662Z,1741744117.662 [sci2_noyo_optim:NeedComms:B.GoToSurface] Running Loop=1
2025-03-12T01:48:37.662Z,1741744117.662 [sci2_noyo_optim:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-03-12T01:48:37.663Z,1741744117.663 [sci2_noyo_optim:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-03-12T01:48:37.663Z,1741744117.663 [sci2_noyo_optim:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-03-12T01:48:37.663Z,1741744117.663 [sci2_noyo_optim:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-03-12T01:48:37.664Z,1741744117.664 [sci2_noyo_optim:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-03-12T01:48:37.664Z,1741744117.664 [sci2_noyo_optim:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-03-12T01:48:37.664Z,1741744117.664 [sci2_noyo_optim:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-03-12T01:48:37.665Z,1741744117.665 [sci2_noyo_optim:NeedComms:A] Running Loop=1
2025-03-12T01:48:37.666Z,1741744117.666 [sci2_noyo_optim:NeedComms:A](INFO): last time_fix was:  1741742316.000000 second since 1970/01/01T00:00:00Z 
2025-03-12T01:48:37.666Z,1741744117.666 [sci2_noyo_optim:NeedComms:A] Stopped
2025-03-12T01:49:09.807Z,1741744149.807 [sci2_noyo_optim:DiveCmd:MaintainDepth] Running Loop=1
2025-03-12T01:49:09.807Z,1741744149.807 [sci2_noyo_optim:DiveCmd:MaintainDepth](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepth
2025-03-12T01:49:09.807Z,1741744149.807 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive] Running Loop=1
2025-03-12T01:49:09.807Z,1741744149.807 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive
2025-03-12T01:49:09.807Z,1741744149.807 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive] Running Loop=1
2025-03-12T01:49:09.808Z,1741744149.808 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive
2025-03-12T01:49:09.808Z,1741744149.808 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass] Running Loop=1
2025-03-12T01:49:09.808Z,1741744149.808 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass](DEBUG): Initialize.
2025-03-12T01:49:09.808Z,1741744149.808 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed] Running Loop=1
2025-03-12T01:49:09.808Z,1741744149.808 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed](DEBUG): Initialize.
2025-03-12T01:49:09.808Z,1741744149.808 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:B.Pitch] Running Loop=1
2025-03-12T01:49:09.808Z,1741744149.808 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:B.Pitch](DEBUG): Initialize.
2025-03-12T01:49:54.571Z,1741744194.571 [sci2_noyo_optim:NeedComms:C] Running Loop=1
2025-03-12T01:49:55.002Z,1741744195.002 [Radio_Surface](INFO): Powering up
2025-03-12T01:49:55.038Z,1741744195.038 [Waterlinked](INFO): Powering down
2025-03-12T01:50:00.798Z,1741744200.798 [DataOverHttps](INFO): Radio surface powered ON.
2025-03-12T01:50:30.951Z,1741744230.951 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T01:50:43.441Z,1741744243.441 [NAL9602](INFO): SBD MO Status=0, MOMSN=18495, MT Status=0, MTMSN=0
2025-03-12T01:50:43.441Z,1741744243.441 [NAL9602](INFO): No messages in MT queue
2025-03-12T01:50:44.649Z,1741744244.649 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,015043.00,A,3647.94158,N,12150.08810,W,0.583,32.76,120325,,,A*47
2025-03-12T01:50:44.652Z,1741744244.652 [NAL9602](INFO): GPS fix at 20250312T015043: (36.799026, -121.834802)
2025-03-12T01:50:44.664Z,1741744244.664 [UniversalFixResidualReporter](INFO): Fix residual: 8.9 %DT, over the last 556.4 m. Residual distance 49.4 m at bearing 139.7 degrees. Fix at (36.7990, -121.8348) with 485.7 m made good.
2025-03-12T01:50:44.670Z,1741744244.670 [sci2_noyo_optim:NeedComms:C] Stopped
2025-03-12T01:50:44.671Z,1741744244.671 [sci2_noyo_optim:NeedComms:D] Running Loop=1
2025-03-12T01:51:01.729Z,1741744261.729 [NAL9602](INFO): SBD MO Status=1, MOMSN=18496, MT Status=0, MTMSN=0
2025-03-12T01:51:01.778Z,1741744261.778 [NAL9602](INFO): Sent 94 bytes from file Logs/20250311T232940/Courier0039.lzma
2025-03-12T01:51:01.779Z,1741744261.779 [NAL9602](INFO): Packets left to send: 0
2025-03-12T01:51:06.102Z,1741744266.102 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T01:51:17.154Z,1741744277.154 [NAL9602](INFO): SBD MO Status=1, MOMSN=18497, MT Status=0, MTMSN=0
2025-03-12T01:51:17.202Z,1741744277.202 [NAL9602](INFO): Sent 332 bytes from file Logs/20250311T232940/Express0040.lzma
2025-03-12T01:51:17.203Z,1741744277.203 [NAL9602](INFO): Packets left to send: 2
2025-03-12T01:51:34.601Z,1741744294.601 [NAL9602](INFO): SBD MO Status=2, MOMSN=18498, MT Status=2, MTMSN=0
2025-03-12T01:51:34.601Z,1741744294.601 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-03-12T01:51:41.242Z,1741744301.242 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T01:52:16.382Z,1741744336.382 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T01:52:51.534Z,1741744371.534 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T01:52:57.477Z,1741744377.477 [NAL9602](INFO): SBD MO Status=1, MOMSN=18498, MT Status=0, MTMSN=0
2025-03-12T01:52:57.530Z,1741744377.530 [NAL9602](INFO): Sent 332 bytes from file Logs/20250311T232940/Express0040.lzma
2025-03-12T01:52:57.531Z,1741744377.531 [NAL9602](INFO): Packets left to send: 1
2025-03-12T01:53:04.413Z,1741744384.413 [NAL9602](INFO): SBD MO Status=1, MOMSN=18499, MT Status=0, MTMSN=0
2025-03-12T01:53:04.463Z,1741744384.463 [NAL9602](INFO): Sent 105 bytes from file Logs/20250311T232940/Express0040.lzma
2025-03-12T01:53:04.463Z,1741744384.463 [NAL9602](INFO): Packets left to send: 0
2025-03-12T01:53:18.149Z,1741744398.149 [NAL9602](INFO): SBD MO Status=2, MOMSN=18500, MT Status=2, MTMSN=0
2025-03-12T01:53:18.149Z,1741744398.149 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-03-12T01:53:24.327Z,1741744404.327 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003463
2025-03-12T01:53:25.438Z,1741744405.438 [sci2_noyo_optim:NeedComms:D] Stopped
2025-03-12T01:53:25.439Z,1741744405.439 [sci2_noyo_optim:NeedComms:E] Running Loop=1
2025-03-12T01:53:35.924Z,1741744415.924 [NAL9602](INFO): SBD MO Status=2, MOMSN=18500, MT Status=2, MTMSN=0
2025-03-12T01:53:35.924Z,1741744415.924 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-03-12T01:53:37.137Z,1741744417.137 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,015336.00,A,3647.94187,N,12150.07766,W,0.641,43.47,120325,,,A*4C
2025-03-12T01:53:37.147Z,1741744417.147 [NAL9602](INFO): GPS fix at 20250312T015336: (36.799031, -121.834628)
2025-03-12T01:53:37.162Z,1741744417.162 [sci2_noyo_optim:NeedComms:E] Stopped
2025-03-12T01:53:37.163Z,1741744417.163 [sci2_noyo_optim:NeedComms](INFO): Completed sci2_noyo_optim:NeedComms
2025-03-12T01:53:37.163Z,1741744417.163 [sci2_noyo_optim:NeedComms] Stopped
2025-03-12T01:53:37.163Z,1741744417.163 [sci2_noyo_optim:NeedComms](DEBUG): Aggregate::uninitialize sci2_noyo_optim:NeedComms
2025-03-12T01:53:37.163Z,1741744417.163 [sci2_noyo_optim:NeedComms:B.GoToSurface] Stopped
2025-03-12T01:53:37.164Z,1741744417.164 [sci2_noyo_optim:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-03-12T01:53:37.581Z,1741744417.581 [sci2_noyo_optim:SurfaceComms:B](INFO): Completed sci2_noyo_optim:SurfaceComms:B
2025-03-12T01:53:37.581Z,1741744417.581 [sci2_noyo_optim:SurfaceComms:B] Stopped
2025-03-12T01:53:37.581Z,1741744417.581 [sci2_noyo_optim:SurfaceComms:B](DEBUG): Aggregate::uninitialize sci2_noyo_optim:SurfaceComms:B
2025-03-12T01:53:37.581Z,1741744417.581 [sci2_noyo_optim:SurfaceComms:C] Running Loop=1
2025-03-12T01:53:37.961Z,1741744417.961 [sci2_noyo_optim:SurfaceComms:C] Stopped
2025-03-12T01:53:37.961Z,1741744417.961 [sci2_noyo_optim:SurfaceComms](INFO): Completed sci2_noyo_optim:SurfaceComms
2025-03-12T01:53:37.961Z,1741744417.961 [sci2_noyo_optim:SurfaceComms] Stopped
2025-03-12T01:53:37.961Z,1741744417.961 [sci2_noyo_optim:SurfaceComms](DEBUG): Aggregate::uninitialize sci2_noyo_optim:SurfaceComms
2025-03-12T01:53:38.367Z,1741744418.367 [sci2_noyo_optim:Lap:Dive] Running Loop=1
2025-03-12T01:53:38.368Z,1741744418.368 [sci2_noyo_optim:Lap:Dive](DEBUG): Aggregate::initialize sci2_noyo_optim:Lap:Dive
2025-03-12T01:53:38.368Z,1741744418.368 [sci2_noyo_optim:Lap:Dive:A] Running Loop=1
2025-03-12T01:53:38.368Z,1741744418.368 [sci2_noyo_optim:Lap:Dive:A](DEBUG): Aggregate::initialize sci2_noyo_optim:Lap:Dive:A
2025-03-12T01:53:38.369Z,1741744418.369 [sci2_noyo_optim:DiveCmd:InitialDive] Running Loop=1
2025-03-12T01:53:38.370Z,1741744418.370 [sci2_noyo_optim:DiveCmd:InitialDive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:InitialDive
2025-03-12T01:53:38.370Z,1741744418.370 [sci2_noyo_optim:DiveCmd:InitialDive:dive] Running Loop=1
2025-03-12T01:53:38.370Z,1741744418.370 [sci2_noyo_optim:DiveCmd:InitialDive:dive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:InitialDive:dive
2025-03-12T01:53:38.370Z,1741744418.370 [sci2_noyo_optim:DiveCmd:InitialDive:dive:A] Running Loop=1
2025-03-12T01:53:38.370Z,1741744418.370 [sci2_noyo_optim:DiveCmd:InitialDive:dive:B] Running Loop=1
2025-03-12T01:53:38.370Z,1741744418.370 [sci2_noyo_optim:DiveCmd:InitialDive:dive:C.Mass] Running Loop=1
2025-03-12T01:53:38.370Z,1741744418.370 [sci2_noyo_optim:DiveCmd:InitialDive:dive:C.Mass](DEBUG): Initialize.
2025-03-12T01:53:38.370Z,1741744418.370 [sci2_noyo_optim:DiveCmd:InitialDive:dive:D] Running Loop=1
2025-03-12T01:53:38.371Z,1741744418.371 [sci2_noyo_optim:DiveCmd:InitialDive:dive:D](INFO): Waiting for  1.000000 min while pumping down to neutral.
2025-03-12T01:53:38.371Z,1741744418.371 [sci2_noyo_optim:DiveCmd:InitialDive:dive:D] Stopped
2025-03-12T01:53:38.371Z,1741744418.371 [sci2_noyo_optim:DiveCmd:InitialDive:dive:E.Wait] Running Loop=1
2025-03-12T01:53:38.371Z,1741744418.371 [sci2_noyo_optim:DiveCmd:InitialDive:dive:E.Wait](DEBUG): Initialize Wait Component.
2025-03-12T01:54:09.499Z,1741744449.499 [NAL9602](INFO): Not Powering down - fast GPS
2025-03-12T01:54:38.897Z,1741744478.897 [sci2_noyo_optim:DiveCmd:InitialDive:dive:E.Wait](INFO): Done Waiting.
2025-03-12T01:54:38.897Z,1741744478.897 [sci2_noyo_optim:DiveCmd:InitialDive:dive:E.Wait] Stopped
2025-03-12T01:54:38.897Z,1741744478.897 [sci2_noyo_optim:DiveCmd:InitialDive:dive:E.Wait](DEBUG): Uninitialize Wait Component.
2025-03-12T01:54:38.898Z,1741744478.898 [sci2_noyo_optim:DiveCmd:InitialDive:dive:F] Running Loop=1
2025-03-12T01:54:39.302Z,1741744479.302 [sci2_noyo_optim:DiveCmd:InitialDive:dive:F](INFO): Moving to  10.000000 m 
2025-03-12T01:54:39.302Z,1741744479.302 [sci2_noyo_optim:DiveCmd:InitialDive:dive:F] Stopped
2025-03-12T01:54:39.302Z,1741744479.302 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth] Running Loop=1
2025-03-12T01:54:39.303Z,1741744479.303 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth
2025-03-12T01:54:39.303Z,1741744479.303 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:A.SetSpeed] Running Loop=1
2025-03-12T01:54:39.303Z,1741744479.303 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:A.SetSpeed](DEBUG): Initialize.
2025-03-12T01:54:39.303Z,1741744479.303 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:B.Pitch] Running Loop=1
2025-03-12T01:54:39.303Z,1741744479.303 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:B.Pitch](DEBUG): Initialize.
2025-03-12T01:55:06.319Z,1741744506.319 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T01:55:09.331Z,1741744509.331 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.259209
2025-03-12T01:55:15.864Z,1741744515.864 [Radio_Surface](INFO): Powering down
2025-03-12T01:55:16.266Z,1741744516.266 [Radio_Surface](FAULT): LCB fault:  Invalid Command.
2025-03-12T01:55:16.267Z,1741744516.267 [Radio_Surface] Hardware Fault, FailCount= 1
2025-03-12T01:55:16.267Z,1741744516.267 [Radio_Surface](ERROR): Hardware Fault
2025-03-12T01:55:16.413Z,1741744516.413 [CBIT](ERROR): Hardware Fault in component: Radio_Surface
2025-03-12T01:55:17.233Z,1741744517.233 [CBIT](INFO): Clearing failed state for component Radio_Surface
2025-03-12T01:55:17.233Z,1741744517.233 [Radio_Surface] No Fault, FailCount= 1
2025-03-12T01:55:17.478Z,1741744517.478 [Radio_Surface](INFO): Powering up
2025-03-12T01:55:23.538Z,1741744523.538 [Radio_Surface](INFO): Powering down
2025-03-12T01:55:41.468Z,1741744541.468 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T01:55:42.472Z,1741744542.472 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-03-12T01:56:26.783Z,1741744586.783 [CTD_Seabird](ERROR): Failed to parse device response: 36,4713.83
2025-03-12T01:56:32.557Z,1741744592.557 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:B.Pitch] Stopped
2025-03-12T01:56:32.559Z,1741744592.559 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth](INFO): Completed sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth
2025-03-12T01:56:32.559Z,1741744592.559 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth] Stopped
2025-03-12T01:56:32.561Z,1741744592.561 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth
2025-03-12T01:56:32.561Z,1741744592.561 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:A.SetSpeed] Stopped
2025-03-12T01:56:32.561Z,1741744592.561 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:A.SetSpeed](DEBUG): Uninitialize.
2025-03-12T01:56:32.561Z,1741744592.561 [sci2_noyo_optim:DiveCmd:InitialDive:dive:H] Running Loop=1
2025-03-12T01:56:32.949Z,1741744592.949 [sci2_noyo_optim:DiveCmd:InitialDive:dive:H] Stopped
2025-03-12T01:56:32.954Z,1741744592.954 [sci2_noyo_optim:DiveCmd:InitialDive:dive](INFO): Completed sci2_noyo_optim:DiveCmd:InitialDive:dive
2025-03-12T01:56:32.954Z,1741744592.954 [sci2_noyo_optim:DiveCmd:InitialDive:dive] Stopped
2025-03-12T01:56:32.954Z,1741744592.954 [sci2_noyo_optim:DiveCmd:InitialDive:dive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:InitialDive:dive
2025-03-12T01:56:32.954Z,1741744592.954 [sci2_noyo_optim:DiveCmd:InitialDive:dive:A] Stopped
2025-03-12T01:56:32.954Z,1741744592.954 [sci2_noyo_optim:DiveCmd:InitialDive:dive:B] Stopped
2025-03-12T01:56:32.954Z,1741744592.954 [sci2_noyo_optim:DiveCmd:InitialDive:dive:C.Mass] Stopped
2025-03-12T01:56:32.955Z,1741744592.955 [sci2_noyo_optim:DiveCmd:InitialDive:dive:C.Mass](DEBUG): Uninitialize.
2025-03-12T01:56:32.955Z,1741744592.955 [sci2_noyo_optim:DiveCmd:InitialDive](INFO): Completed sci2_noyo_optim:DiveCmd:InitialDive
2025-03-12T01:56:33.376Z,1741744593.376 [sci2_noyo_optim:DiveCmd:SettleAtDepth] Running Loop=1
2025-03-12T01:56:33.376Z,1741744593.376 [sci2_noyo_optim:DiveCmd:SettleAtDepth](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:SettleAtDepth
2025-03-12T01:56:33.376Z,1741744593.376 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive] Running Loop=1
2025-03-12T01:56:33.376Z,1741744593.376 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:SettleAtDepth:dive
2025-03-12T01:56:33.376Z,1741744593.376 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:B.Pitch] Running Loop=1
2025-03-12T01:56:33.376Z,1741744593.376 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:B.Pitch](DEBUG): Initialize.
2025-03-12T01:56:33.376Z,1741744593.376 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:A] Running Loop=1
2025-03-12T01:56:33.378Z,1741744593.378 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:A](INFO): Reached  10.040594 m , settling for  3.000000 min 
2025-03-12T01:56:33.378Z,1741744593.378 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:A] Stopped
2025-03-12T01:56:33.379Z,1741744593.379 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:C.Wait] Running Loop=1
2025-03-12T01:56:33.379Z,1741744593.379 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:C.Wait](DEBUG): Initialize Wait Component.
2025-03-12T01:57:49.073Z,1741744669.073 [sci2_noyo_optim:DiveCmd:MaintainDepth] Stopped
2025-03-12T01:57:49.074Z,1741744669.074 [sci2_noyo_optim:DiveCmd:MaintainDepth](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepth
2025-03-12T01:57:49.074Z,1741744669.074 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive] Stopped
2025-03-12T01:57:49.074Z,1741744669.074 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive
2025-03-12T01:57:49.074Z,1741744669.074 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive] Stopped
2025-03-12T01:57:49.074Z,1741744669.074 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive
2025-03-12T01:57:49.074Z,1741744669.074 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass] Stopped
2025-03-12T01:57:49.074Z,1741744669.074 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass](DEBUG): Uninitialize.
2025-03-12T01:57:49.074Z,1741744669.074 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed] Stopped
2025-03-12T01:57:49.074Z,1741744669.074 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed](DEBUG): Uninitialize.
2025-03-12T01:57:49.074Z,1741744669.074 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:B.Pitch] Stopped
2025-03-12T01:59:34.182Z,1741744774.182 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:C.Wait](INFO): Done Waiting.
2025-03-12T01:59:34.182Z,1741744774.182 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:C.Wait] Stopped
2025-03-12T01:59:34.214Z,1741744774.214 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:C.Wait](DEBUG): Uninitialize Wait Component.
2025-03-12T01:59:34.214Z,1741744774.214 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:D] Running Loop=1
2025-03-12T01:59:34.858Z,1741744774.858 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:D] Stopped
2025-03-12T01:59:34.865Z,1741744774.865 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive](INFO): Completed sci2_noyo_optim:DiveCmd:SettleAtDepth:dive
2025-03-12T01:59:34.866Z,1741744774.866 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive] Stopped
2025-03-12T01:59:34.870Z,1741744774.870 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:SettleAtDepth:dive
2025-03-12T01:59:34.871Z,1741744774.871 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:B.Pitch] Stopped
2025-03-12T01:59:34.871Z,1741744774.871 [sci2_noyo_optim:DiveCmd:SettleAtDepth](INFO): Completed sci2_noyo_optim:DiveCmd:SettleAtDepth
2025-03-12T02:00:15.661Z,1741744815.661 [sci2_noyo_optim:DiveCmd:MaintainDepth] Running Loop=1
2025-03-12T02:00:15.661Z,1741744815.661 [sci2_noyo_optim:DiveCmd:MaintainDepth](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepth
2025-03-12T02:00:15.661Z,1741744815.661 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive] Running Loop=1
2025-03-12T02:00:15.661Z,1741744815.661 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive
2025-03-12T02:00:15.662Z,1741744815.662 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive] Running Loop=1
2025-03-12T02:00:15.662Z,1741744815.662 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive
2025-03-12T02:00:15.662Z,1741744815.662 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass] Running Loop=1
2025-03-12T02:00:15.662Z,1741744815.662 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass](DEBUG): Initialize.
2025-03-12T02:00:15.662Z,1741744815.662 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed] Running Loop=1
2025-03-12T02:00:15.662Z,1741744815.662 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed](DEBUG): Initialize.
2025-03-12T02:00:15.662Z,1741744815.662 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:B.Pitch] Running Loop=1
2025-03-12T02:00:15.663Z,1741744815.663 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:B.Pitch](DEBUG): Initialize.
2025-03-12T02:00:42.097Z,1741744842.097 [sci2_noyo_optim:DiveCmd:MaintainDepth] Stopped
2025-03-12T02:00:42.097Z,1741744842.097 [sci2_noyo_optim:DiveCmd:MaintainDepth](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepth
2025-03-12T02:00:42.097Z,1741744842.097 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive] Stopped
2025-03-12T02:00:42.098Z,1741744842.098 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive
2025-03-12T02:00:42.098Z,1741744842.098 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive] Stopped
2025-03-12T02:00:42.098Z,1741744842.098 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive
2025-03-12T02:00:42.098Z,1741744842.098 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass] Stopped
2025-03-12T02:00:42.098Z,1741744842.098 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass](DEBUG): Uninitialize.
2025-03-12T02:00:42.098Z,1741744842.098 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed] Stopped
2025-03-12T02:00:42.098Z,1741744842.098 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed](DEBUG): Uninitialize.
2025-03-12T02:00:42.098Z,1741744842.098 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:B.Pitch] Stopped
2025-03-12T02:01:56.838Z,1741744916.838 [sci2_noyo_optim:DiveCmd:MaintainDepth] Running Loop=1
2025-03-12T02:01:56.838Z,1741744916.838 [sci2_noyo_optim:DiveCmd:MaintainDepth](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepth
2025-03-12T02:01:56.838Z,1741744916.838 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive] Running Loop=1
2025-03-12T02:01:56.838Z,1741744916.838 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive
2025-03-12T02:01:56.839Z,1741744916.839 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive] Running Loop=1
2025-03-12T02:01:56.839Z,1741744916.839 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive
2025-03-12T02:01:56.839Z,1741744916.839 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass] Running Loop=1
2025-03-12T02:01:56.839Z,1741744916.839 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass](DEBUG): Initialize.
2025-03-12T02:01:56.839Z,1741744916.839 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed] Running Loop=1
2025-03-12T02:01:56.839Z,1741744916.839 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed](DEBUG): Initialize.
2025-03-12T02:01:56.839Z,1741744916.839 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:B.Pitch] Running Loop=1
2025-03-12T02:01:56.839Z,1741744916.839 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:B.Pitch](DEBUG): Initialize.
2025-03-12T02:02:19.864Z,1741744939.864 [sci2_noyo_optim:DiveCmd:MaintainDepth] Stopped
2025-03-12T02:02:19.865Z,1741744939.865 [sci2_noyo_optim:DiveCmd:MaintainDepth](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepth
2025-03-12T02:02:19.865Z,1741744939.865 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive] Stopped
2025-03-12T02:02:19.865Z,1741744939.865 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive
2025-03-12T02:02:19.865Z,1741744939.865 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive] Stopped
2025-03-12T02:02:19.865Z,1741744939.865 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive
2025-03-12T02:02:19.865Z,1741744939.865 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass] Stopped
2025-03-12T02:02:19.865Z,1741744939.865 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass](DEBUG): Uninitialize.
2025-03-12T02:02:19.865Z,1741744939.865 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed] Stopped
2025-03-12T02:02:19.865Z,1741744939.865 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed](DEBUG): Uninitialize.
2025-03-12T02:02:19.865Z,1741744939.865 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:B.Pitch] Stopped
2025-03-12T02:03:38.801Z,1741745018.801 [sci2_noyo_optim:DiveCmd:MaintainDepth] Running Loop=1
2025-03-12T02:03:38.801Z,1741745018.801 [sci2_noyo_optim:DiveCmd:MaintainDepth](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepth
2025-03-12T02:03:38.801Z,1741745018.801 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive] Running Loop=1
2025-03-12T02:03:38.801Z,1741745018.801 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive
2025-03-12T02:03:38.801Z,1741745018.801 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive] Running Loop=1
2025-03-12T02:03:38.801Z,1741745018.801 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive
2025-03-12T02:03:38.801Z,1741745018.801 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass] Running Loop=1
2025-03-12T02:03:38.801Z,1741745018.801 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass](DEBUG): Initialize.
2025-03-12T02:03:38.801Z,1741745018.801 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed] Running Loop=1
2025-03-12T02:03:38.801Z,1741745018.801 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed](DEBUG): Initialize.
2025-03-12T02:03:38.802Z,1741745018.802 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:B.Pitch] Running Loop=1
2025-03-12T02:03:38.802Z,1741745018.802 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:B.Pitch](DEBUG): Initialize.
2025-03-12T02:04:02.402Z,1741745042.402 [sci2_noyo_optim:DiveCmd:MaintainDepth] Stopped
2025-03-12T02:04:02.403Z,1741745042.403 [sci2_noyo_optim:DiveCmd:MaintainDepth](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepth
2025-03-12T02:04:02.403Z,1741745042.403 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive] Stopped
2025-03-12T02:04:02.403Z,1741745042.403 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive
2025-03-12T02:04:02.403Z,1741745042.403 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive] Stopped
2025-03-12T02:04:02.403Z,1741745042.403 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive
2025-03-12T02:04:02.403Z,1741745042.403 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass] Stopped
2025-03-12T02:04:02.403Z,1741745042.403 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass](DEBUG): Uninitialize.
2025-03-12T02:04:02.403Z,1741745042.403 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed] Stopped
2025-03-12T02:04:02.403Z,1741745042.403 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed](DEBUG): Uninitialize.
2025-03-12T02:04:02.403Z,1741745042.403 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:B.Pitch] Stopped
2025-03-12T02:05:37.333Z,1741745137.333 [sci2_noyo_optim:DiveCmd:MaintainDepth] Running Loop=1
2025-03-12T02:05:37.333Z,1741745137.333 [sci2_noyo_optim:DiveCmd:MaintainDepth](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepth
2025-03-12T02:05:37.333Z,1741745137.333 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive] Running Loop=1
2025-03-12T02:05:37.333Z,1741745137.333 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive
2025-03-12T02:05:37.333Z,1741745137.333 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive] Running Loop=1
2025-03-12T02:05:37.333Z,1741745137.333 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive
2025-03-12T02:05:37.333Z,1741745137.333 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass] Running Loop=1
2025-03-12T02:05:37.333Z,1741745137.333 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass](DEBUG): Initialize.
2025-03-12T02:05:37.333Z,1741745137.333 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed] Running Loop=1
2025-03-12T02:05:37.334Z,1741745137.334 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed](DEBUG): Initialize.
2025-03-12T02:05:37.334Z,1741745137.334 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:B.Pitch] Running Loop=1
2025-03-12T02:05:37.334Z,1741745137.334 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:B.Pitch](DEBUG): Initialize.
2025-03-12T02:06:00.652Z,1741745160.652 [sci2_noyo_optim:DiveCmd:MaintainDepth] Stopped
2025-03-12T02:06:00.652Z,1741745160.652 [sci2_noyo_optim:DiveCmd:MaintainDepth](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepth
2025-03-12T02:06:00.653Z,1741745160.653 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive] Stopped
2025-03-12T02:06:00.653Z,1741745160.653 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive
2025-03-12T02:06:00.653Z,1741745160.653 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive] Stopped
2025-03-12T02:06:00.653Z,1741745160.653 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive
2025-03-12T02:06:00.653Z,1741745160.653 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass] Stopped
2025-03-12T02:06:00.653Z,1741745160.653 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass](DEBUG): Uninitialize.
2025-03-12T02:06:00.653Z,1741745160.653 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed] Stopped
2025-03-12T02:06:00.653Z,1741745160.653 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed](DEBUG): Uninitialize.
2025-03-12T02:06:00.653Z,1741745160.653 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:B.Pitch] Stopped
2025-03-12T02:07:18.520Z,1741745238.520 [sci2_noyo_optim:DiveCmd:MaintainDepth] Running Loop=1
2025-03-12T02:07:18.520Z,1741745238.520 [sci2_noyo_optim:DiveCmd:MaintainDepth](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepth
2025-03-12T02:07:18.520Z,1741745238.520 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive] Running Loop=1
2025-03-12T02:07:18.520Z,1741745238.520 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive
2025-03-12T02:07:18.521Z,1741745238.521 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive] Running Loop=1
2025-03-12T02:07:18.521Z,1741745238.521 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive
2025-03-12T02:07:18.521Z,1741745238.521 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass] Running Loop=1
2025-03-12T02:07:18.521Z,1741745238.521 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass](DEBUG): Initialize.
2025-03-12T02:07:18.521Z,1741745238.521 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed] Running Loop=1
2025-03-12T02:07:18.521Z,1741745238.521 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed](DEBUG): Initialize.
2025-03-12T02:07:18.521Z,1741745238.521 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:B.Pitch] Running Loop=1
2025-03-12T02:07:18.521Z,1741745238.521 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:B.Pitch](DEBUG): Initialize.
2025-03-12T02:07:41.344Z,1741745261.344 [sci2_noyo_optim:DiveCmd:MaintainDepth] Stopped
2025-03-12T02:07:41.345Z,1741745261.345 [sci2_noyo_optim:DiveCmd:MaintainDepth](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepth
2025-03-12T02:07:41.345Z,1741745261.345 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive] Stopped
2025-03-12T02:07:41.345Z,1741745261.345 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive
2025-03-12T02:07:41.345Z,1741745261.345 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive] Stopped
2025-03-12T02:07:41.345Z,1741745261.345 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive
2025-03-12T02:07:41.345Z,1741745261.345 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass] Stopped
2025-03-12T02:07:41.345Z,1741745261.345 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass](DEBUG): Uninitialize.
2025-03-12T02:07:41.345Z,1741745261.345 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed] Stopped
2025-03-12T02:07:41.345Z,1741745261.345 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed](DEBUG): Uninitialize.
2025-03-12T02:07:41.345Z,1741745261.345 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:B.Pitch] Stopped
2025-03-12T02:09:00.698Z,1741745340.698 [sci2_noyo_optim:DiveCmd:MaintainDepth] Running Loop=1
2025-03-12T02:09:00.699Z,1741745340.699 [sci2_noyo_optim:DiveCmd:MaintainDepth](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepth
2025-03-12T02:09:00.699Z,1741745340.699 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive] Running Loop=1
2025-03-12T02:09:00.699Z,1741745340.699 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive
2025-03-12T02:09:00.699Z,1741745340.699 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive] Running Loop=1
2025-03-12T02:09:00.699Z,1741745340.699 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive
2025-03-12T02:09:00.699Z,1741745340.699 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass] Running Loop=1
2025-03-12T02:09:00.699Z,1741745340.699 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass](DEBUG): Initialize.
2025-03-12T02:09:00.699Z,1741745340.699 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed] Running Loop=1
2025-03-12T02:09:00.699Z,1741745340.699 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed](DEBUG): Initialize.
2025-03-12T02:09:00.699Z,1741745340.699 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:B.Pitch] Running Loop=1
2025-03-12T02:09:00.700Z,1741745340.700 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:B.Pitch](DEBUG): Initialize.
2025-03-12T02:09:23.968Z,1741745363.968 [sci2_noyo_optim:DiveCmd:MaintainDepth] Stopped
2025-03-12T02:09:23.969Z,1741745363.969 [sci2_noyo_optim:DiveCmd:MaintainDepth](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepth
2025-03-12T02:09:23.969Z,1741745363.969 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive] Stopped
2025-03-12T02:09:23.969Z,1741745363.969 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive
2025-03-12T02:09:23.969Z,1741745363.969 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive] Stopped
2025-03-12T02:09:23.969Z,1741745363.969 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive
2025-03-12T02:09:23.970Z,1741745363.970 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass] Stopped
2025-03-12T02:09:23.970Z,1741745363.970 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass](DEBUG): Uninitialize.
2025-03-12T02:09:23.970Z,1741745363.970 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed] Stopped
2025-03-12T02:09:23.971Z,1741745363.971 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed](DEBUG): Uninitialize.
2025-03-12T02:09:23.971Z,1741745363.971 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:B.Pitch] Stopped
2025-03-12T02:10:55.523Z,1741745455.523 [sci2_noyo_optim:DiveCmd:MaintainDepth] Running Loop=1
2025-03-12T02:10:55.523Z,1741745455.523 [sci2_noyo_optim:DiveCmd:MaintainDepth](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepth
2025-03-12T02:10:55.523Z,1741745455.523 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive] Running Loop=1
2025-03-12T02:10:55.523Z,1741745455.523 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive
2025-03-12T02:10:55.523Z,1741745455.523 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive] Running Loop=1
2025-03-12T02:10:55.523Z,1741745455.523 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive
2025-03-12T02:10:55.523Z,1741745455.523 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass] Running Loop=1
2025-03-12T02:10:55.524Z,1741745455.524 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass](DEBUG): Initialize.
2025-03-12T02:10:55.524Z,1741745455.524 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed] Running Loop=1
2025-03-12T02:10:55.524Z,1741745455.524 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed](DEBUG): Initialize.
2025-03-12T02:10:55.524Z,1741745455.524 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:B.Pitch] Running Loop=1
2025-03-12T02:10:55.524Z,1741745455.524 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:B.Pitch](DEBUG): Initialize.
2025-03-12T02:11:18.089Z,1741745478.089 [sci2_noyo_optim:DiveCmd:MaintainDepth] Stopped
2025-03-12T02:11:18.089Z,1741745478.089 [sci2_noyo_optim:DiveCmd:MaintainDepth](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepth
2025-03-12T02:11:18.090Z,1741745478.090 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive] Stopped
2025-03-12T02:11:18.090Z,1741745478.090 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive
2025-03-12T02:11:18.090Z,1741745478.090 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive] Stopped
2025-03-12T02:11:18.090Z,1741745478.090 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive
2025-03-12T02:11:18.090Z,1741745478.090 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass] Stopped
2025-03-12T02:11:18.090Z,1741745478.090 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass](DEBUG): Uninitialize.
2025-03-12T02:11:18.090Z,1741745478.090 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed] Stopped
2025-03-12T02:11:18.090Z,1741745478.090 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed](DEBUG): Uninitialize.
2025-03-12T02:11:18.090Z,1741745478.090 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:B.Pitch] Stopped
2025-03-12T02:12:40.851Z,1741745560.851 [CTD_Seabird](ERROR): Failed to parse device response: 5,3.74159,3136.20
2025-03-12T02:12:54.509Z,1741745574.509 [sci2_noyo_optim:DiveCmd:MaintainDepth] Running Loop=1
2025-03-12T02:12:54.509Z,1741745574.509 [sci2_noyo_optim:DiveCmd:MaintainDepth](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepth
2025-03-12T02:12:54.509Z,1741745574.509 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive] Running Loop=1
2025-03-12T02:12:54.509Z,1741745574.509 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive
2025-03-12T02:12:54.509Z,1741745574.509 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive] Running Loop=1
2025-03-12T02:12:54.510Z,1741745574.510 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive
2025-03-12T02:12:54.510Z,1741745574.510 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass] Running Loop=1
2025-03-12T02:12:54.510Z,1741745574.510 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass](DEBUG): Initialize.
2025-03-12T02:12:54.512Z,1741745574.512 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed] Running Loop=1
2025-03-12T02:12:54.512Z,1741745574.512 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed](DEBUG): Initialize.
2025-03-12T02:12:54.512Z,1741745574.512 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:B.Pitch] Running Loop=1
2025-03-12T02:12:54.512Z,1741745574.512 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:B.Pitch](DEBUG): Initialize.
2025-03-12T02:13:16.299Z,1741745596.299 [sci2_noyo_optim:DiveCmd:MaintainDepth] Stopped
2025-03-12T02:13:16.299Z,1741745596.299 [sci2_noyo_optim:DiveCmd:MaintainDepth](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepth
2025-03-12T02:13:16.299Z,1741745596.299 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive] Stopped
2025-03-12T02:13:16.300Z,1741745596.300 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive
2025-03-12T02:13:16.300Z,1741745596.300 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive] Stopped
2025-03-12T02:13:16.300Z,1741745596.300 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive
2025-03-12T02:13:16.300Z,1741745596.300 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass] Stopped
2025-03-12T02:13:16.300Z,1741745596.300 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass](DEBUG): Uninitialize.
2025-03-12T02:13:16.300Z,1741745596.300 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed] Stopped
2025-03-12T02:13:16.300Z,1741745596.300 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed](DEBUG): Uninitialize.
2025-03-12T02:13:16.300Z,1741745596.300 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:B.Pitch] Stopped
2025-03-12T02:14:43.941Z,1741745683.941 [sci2_noyo_optim:DiveCmd:MaintainDepth] Running Loop=1
2025-03-12T02:14:43.941Z,1741745683.941 [sci2_noyo_optim:DiveCmd:MaintainDepth](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepth
2025-03-12T02:14:43.941Z,1741745683.941 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive] Running Loop=1
2025-03-12T02:14:43.941Z,1741745683.941 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive
2025-03-12T02:14:43.941Z,1741745683.941 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive] Running Loop=1
2025-03-12T02:14:43.942Z,1741745683.942 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive
2025-03-12T02:14:43.942Z,1741745683.942 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass] Running Loop=1
2025-03-12T02:14:43.942Z,1741745683.942 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass](DEBUG): Initialize.
2025-03-12T02:14:43.942Z,1741745683.942 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed] Running Loop=1
2025-03-12T02:14:43.942Z,1741745683.942 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed](DEBUG): Initialize.
2025-03-12T02:14:43.942Z,1741745683.942 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:B.Pitch] Running Loop=1
2025-03-12T02:14:43.942Z,1741745683.942 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:B.Pitch](DEBUG): Initialize.
2025-03-12T02:15:05.932Z,1741745705.932 [sci2_noyo_optim:DiveCmd:MaintainDepth] Stopped
2025-03-12T02:15:05.932Z,1741745705.932 [sci2_noyo_optim:DiveCmd:MaintainDepth](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepth
2025-03-12T02:15:05.932Z,1741745705.932 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive] Stopped
2025-03-12T02:15:05.932Z,1741745705.932 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive
2025-03-12T02:15:05.932Z,1741745705.932 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive] Stopped
2025-03-12T02:15:05.932Z,1741745705.932 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive
2025-03-12T02:15:05.932Z,1741745705.932 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass] Stopped
2025-03-12T02:15:05.932Z,1741745705.932 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass](DEBUG): Uninitialize.
2025-03-12T02:15:05.932Z,1741745705.932 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed] Stopped
2025-03-12T02:15:05.932Z,1741745705.932 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed](DEBUG): Uninitialize.
2025-03-12T02:15:05.932Z,1741745705.932 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:B.Pitch] Stopped
2025-03-12T02:16:31.209Z,1741745791.209 [sci2_noyo_optim:DiveCmd:MaintainDepth] Running Loop=1
2025-03-12T02:16:31.209Z,1741745791.209 [sci2_noyo_optim:DiveCmd:MaintainDepth](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepth
2025-03-12T02:16:31.209Z,1741745791.209 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive] Running Loop=1
2025-03-12T02:16:31.210Z,1741745791.210 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive
2025-03-12T02:16:31.210Z,1741745791.210 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive] Running Loop=1
2025-03-12T02:16:31.210Z,1741745791.210 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive
2025-03-12T02:16:31.211Z,1741745791.211 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass] Running Loop=1
2025-03-12T02:16:31.211Z,1741745791.211 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass](DEBUG): Initialize.
2025-03-12T02:16:31.211Z,1741745791.211 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed] Running Loop=1
2025-03-12T02:16:31.211Z,1741745791.211 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed](DEBUG): Initialize.
2025-03-12T02:16:31.212Z,1741745791.212 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:B.Pitch] Running Loop=1
2025-03-12T02:16:31.212Z,1741745791.212 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:B.Pitch](DEBUG): Initialize.
2025-03-12T02:16:53.758Z,1741745813.758 [sci2_noyo_optim:DiveCmd:MaintainDepth] Stopped
2025-03-12T02:16:53.759Z,1741745813.759 [sci2_noyo_optim:DiveCmd:MaintainDepth](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepth
2025-03-12T02:16:53.759Z,1741745813.759 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive] Stopped
2025-03-12T02:16:53.759Z,1741745813.759 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive
2025-03-12T02:16:53.759Z,1741745813.759 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive] Stopped
2025-03-12T02:16:53.759Z,1741745813.759 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive
2025-03-12T02:16:53.759Z,1741745813.759 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass] Stopped
2025-03-12T02:16:53.759Z,1741745813.759 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass](DEBUG): Uninitialize.
2025-03-12T02:16:53.759Z,1741745813.759 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed] Stopped
2025-03-12T02:16:53.759Z,1741745813.759 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed](DEBUG): Uninitialize.
2025-03-12T02:16:53.759Z,1741745813.759 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:B.Pitch] Stopped
2025-03-12T02:17:58.547Z,1741745878.547 [sci2_noyo_optim](INFO): Timed out from 2025-03-12T01:17:58.2Z
2025-03-12T02:17:58.547Z,1741745878.547 [MissionManager](INFO): sci2_noyo_optim is completed.
2025-03-12T02:17:58.547Z,1741745878.547 [MissionManager](INFO): Uninitializing Mission sci2_noyo_optim
2025-03-12T02:17:58.547Z,1741745878.547 [sci2_noyo_optim] Stopped
2025-03-12T02:17:58.547Z,1741745878.547 [sci2_noyo_optim](DEBUG): Aggregate::uninitialize sci2_noyo_optim
2025-03-12T02:17:58.548Z,1741745878.548 [sci2_noyo_optim:Science] Stopped
2025-03-12T02:17:58.548Z,1741745878.548 [sci2_noyo_optim:Science](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science
2025-03-12T02:17:58.548Z,1741745878.548 [sci2_noyo_optim:Science:B] Stopped
2025-03-12T02:17:58.548Z,1741745878.548 [sci2_noyo_optim:Science:C] Stopped
2025-03-12T02:17:58.548Z,1741745878.548 [sci2_noyo_optim:Science:E] Stopped
2025-03-12T02:17:58.548Z,1741745878.548 [sci2_noyo_optim:Science:OceanCurrent] Stopped
2025-03-12T02:17:58.548Z,1741745878.548 [sci2_noyo_optim:Science:OceanCurrent](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:OceanCurrent
2025-03-12T02:17:58.548Z,1741745878.548 [sci2_noyo_optim:Science:OceanCurrent:A.] Stopped
2025-03-12T02:17:58.548Z,1741745878.548 [sci2_noyo_optim:StandardEnvelopes] Stopped
2025-03-12T02:17:58.548Z,1741745878.548 [sci2_noyo_optim:StandardEnvelopes](DEBUG): Aggregate::uninitialize sci2_noyo_optim:StandardEnvelopes
2025-03-12T02:17:58.548Z,1741745878.548 [sci2_noyo_optim:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-03-12T02:17:58.548Z,1741745878.548 [sci2_noyo_optim:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-03-12T02:17:58.548Z,1741745878.548 [sci2_noyo_optim:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-03-12T02:17:58.549Z,1741745878.549 [sci2_noyo_optim:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-03-12T02:17:58.549Z,1741745878.549 [sci2_noyo_optim:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-03-12T02:17:58.549Z,1741745878.549 [sci2_noyo_optim:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-03-12T02:17:58.549Z,1741745878.549 [sci2_noyo_optim:BackseatDriver] Stopped
2025-03-12T02:17:58.549Z,1741745878.549 [sci2_noyo_optim:BackseatDriver](DEBUG): Aggregate::uninitialize sci2_noyo_optim:BackseatDriver
2025-03-12T02:17:58.549Z,1741745878.549 [sci2_noyo_optim:BackseatDriver:A.BackseatDriver] Stopped
2025-03-12T02:17:58.549Z,1741745878.549 [sci2_noyo_optim:J] Stopped
2025-03-12T02:17:58.549Z,1741745878.549 [sci2_noyo_optim:PowerOnly] Stopped
2025-03-12T02:17:58.549Z,1741745878.549 [sci2_noyo_optim:PowerOnly](DEBUG): Aggregate::uninitialize sci2_noyo_optim:PowerOnly
2025-03-12T02:17:58.549Z,1741745878.549 [sci2_noyo_optim:PowerOnly:B] Stopped
2025-03-12T02:17:58.549Z,1741745878.549 [sci2_noyo_optim:PowerOnly:E.Wait] Stopped
2025-03-12T02:17:58.549Z,1741745878.549 [sci2_noyo_optim:PowerOnly:E.Wait](DEBUG): Uninitialize Wait Component.
2025-03-12T02:17:58.550Z,1741745878.550 [sci2_noyo_optim:L.Buoyancy] Stopped
2025-03-12T02:17:58.550Z,1741745878.550 [sci2_noyo_optim:L.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-03-12T02:17:58.550Z,1741745878.550 [sci2_noyo_optim:DiveCmd] Stopped
2025-03-12T02:17:58.550Z,1741745878.550 [sci2_noyo_optim:DiveCmd](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd
2025-03-12T02:17:58.550Z,1741745878.550 [sci2_noyo_optim:DiveCmd:InitialDive] Stopped
2025-03-12T02:17:58.550Z,1741745878.550 [sci2_noyo_optim:DiveCmd:InitialDive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:InitialDive
2025-03-12T02:17:58.550Z,1741745878.550 [sci2_noyo_optim:DiveCmd:SettleAtDepth] Stopped
2025-03-12T02:17:58.550Z,1741745878.550 [sci2_noyo_optim:DiveCmd:SettleAtDepth](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:SettleAtDepth
2025-03-12T02:17:58.550Z,1741745878.550 [sci2_noyo_optim:Lap] Stopped
2025-03-12T02:17:58.551Z,1741745878.551 [sci2_noyo_optim:Lap](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Lap
2025-03-12T02:17:58.551Z,1741745878.551 [sci2_noyo_optim:Lap:Dive] Stopped
2025-03-12T02:17:58.551Z,1741745878.551 [sci2_noyo_optim:Lap:Dive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Lap:Dive
2025-03-12T02:17:58.551Z,1741745878.551 [sci2_noyo_optim:Lap:Dive:A] Stopped
2025-03-12T02:17:58.551Z,1741745878.551 [sci2_noyo_optim:Lap:Dive:A](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Lap:Dive:A
2025-03-12T02:17:58.551Z,1741745878.551 [sci2_noyo_optim:Lap:Wpt1] Stopped
2025-03-12T02:17:58.551Z,1741745878.551 [sci2_noyo_optim:Lap:Wpt1](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Lap:Wpt1
2025-03-12T02:17:58.551Z,1741745878.551 [sci2_noyo_optim:Lap:Wpt1:A.Waypoint] Stopped
2025-03-12T02:17:58.551Z,1741745878.551 [sci2_noyo_optim:Lap:Wpt1:A.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-03-12T02:17:58.790Z,1741745878.790 [WetLabsBB2FL](INFO): Powering down
2025-03-12T02:17:58.938Z,1741745878.938 [MissionManager](IMPORTANT): Started mission Default
2025-03-12T02:17:58.938Z,1741745878.938 [Default] Running Loop=1
2025-03-12T02:17:58.938Z,1741745878.938 [Default](DEBUG): Aggregate::initialize Default
2025-03-12T02:17:58.938Z,1741745878.938 [Default:B.GoToSurface] Running Loop=1
2025-03-12T02:17:58.938Z,1741745878.938 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-03-12T02:17:58.939Z,1741745878.939 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-03-12T02:17:58.939Z,1741745878.939 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-03-12T02:17:58.939Z,1741745878.939 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-03-12T02:17:58.940Z,1741745878.940 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-03-12T02:17:58.940Z,1741745878.940 [Default:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-03-12T02:17:58.940Z,1741745878.940 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-03-12T02:17:58.941Z,1741745878.941 [Default:A.Wait] Running Loop=1
2025-03-12T02:17:58.941Z,1741745878.941 [Default:A.Wait](DEBUG): Initialize Wait Component.
2025-03-12T02:17:59.622Z,1741745879.622 [Radio_Surface](INFO): Powering up
2025-03-12T02:17:59.826Z,1741745879.826 [BackseatComponent](INFO): Sent LCM shutdown request.
2025-03-12T02:17:59.827Z,1741745879.827 [BackseatComponent](INFO): Shutdown requested. Waiting (18.00 sec to power down.).
2025-03-12T02:18:05.056Z,1741745885.056 [DataOverHttps](INFO): Radio surface powered ON.
2025-03-12T02:18:12.167Z,1741745892.167 [Default:A.Wait](INFO): Done Waiting.
2025-03-12T02:18:12.167Z,1741745892.167 [Default:A.Wait] Stopped
2025-03-12T02:18:12.167Z,1741745892.167 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2025-03-12T02:18:18.015Z,1741745898.015 [BackseatComponent](INFO): Powering down and starting shutdown timer (18.00 sec).
2025-03-12T02:18:18.015Z,1741745898.015 [BackseatComponent](INFO): Unsubscribing from LCM channels.
2025-03-12T02:18:18.015Z,1741745898.015 [LcmUniversalReporter](INFO): Deactivating messaging.
2025-03-12T02:18:35.175Z,1741745915.175 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T02:18:47.844Z,1741745927.844 [Waterlinked](ERROR): only read 3 of 5 data items. Device response::BI,    +0,    +00.00,  0.00
2025-03-12T02:18:50.694Z,1741745930.694 [Default:CheckIn] Running Loop=1
2025-03-12T02:18:50.694Z,1741745930.694 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-03-12T02:18:50.694Z,1741745930.694 [Default:CheckIn:Read_GPS] Running Loop=1
2025-03-12T02:18:51.054Z,1741745931.054 [Waterlinked](INFO): Powering down
2025-03-12T02:19:10.314Z,1741745950.314 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T02:19:28.913Z,1741745968.913 [PowerOnly](INFO): Powering down loadControl
2025-03-12T02:19:45.454Z,1741745985.454 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T02:20:20.602Z,1741746020.602 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T02:20:55.746Z,1741746055.746 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T02:21:29.269Z,1741746089.269 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.005468
2025-03-12T02:21:59.605Z,1741746119.605 [NAL9602](INFO): SBD MO Status=0, MOMSN=18500, MT Status=0, MTMSN=0
2025-03-12T02:21:59.606Z,1741746119.606 [NAL9602](INFO): No messages in MT queue
2025-03-12T02:22:00.826Z,1741746120.826 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,022200.00,A,3647.95739,N,12150.34500,W,0.972,200.48,120325,,,A*79
2025-03-12T02:22:00.829Z,1741746120.829 [NAL9602](INFO): GPS fix at 20250312T022200: (36.799290, -121.839083)
2025-03-12T02:22:00.839Z,1741746120.839 [Default:CheckIn:Read_GPS] Stopped
2025-03-12T02:22:00.839Z,1741746120.839 [Default:CheckIn:Read_Iridium] Running Loop=1
2025-03-12T02:22:08.135Z,1741746128.135 [DataOverHttps](INFO): Sending 72 bytes from file Logs/20250311T232940/Courier0042.lzma
2025-03-12T02:22:09.136Z,1741746129.136 [DataOverHttps](INFO): Moved sent file to Logs/20250311T232940/Courier0042.lzma.bak
2025-03-12T02:22:09.136Z,1741746129.136 [DataOverHttps](INFO): SBD MOMSN=24181731
2025-03-12T02:22:24.947Z,1741746144.947 [DataOverHttps](INFO): Sending 434 bytes from file Logs/20250311T232940/Express0043.lzma
2025-03-12T02:22:25.948Z,1741746145.948 [DataOverHttps](INFO): Moved sent file to Logs/20250311T232940/Express0043.lzma.bak
2025-03-12T02:22:25.948Z,1741746145.948 [DataOverHttps](INFO): SBD MOMSN=24181735
2025-03-12T02:22:27.097Z,1741746147.097 [Default:CheckIn:Read_Iridium] Stopped
2025-03-12T02:22:27.098Z,1741746147.098 [Default:CheckIn:C.Wait] Running Loop=1
2025-03-12T02:22:27.098Z,1741746147.098 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2025-03-12T02:22:33.540Z,1741746153.540 [NAL9602](INFO): Not Powering down - fast GPS
2025-03-12T02:24:20.716Z,1741746260.716 [DataOverHttps](IMPORTANT): SBD MTMSN=20250312T022419
2025-03-12T02:24:28.046Z,1741746268.046 [DataOverHttps](INFO): Received command: run Maintenance/ballast_and_trim.tl
2025-03-12T02:24:28.113Z,1741746268.113 [CommandExec](IMPORTANT): got command run ./Missions/Maintenance/ballast_and_trim.tl
2025-03-12T02:24:28.114Z,1741746268.114 [MissionManager](INFO): Loading Mission from file: ./Missions/Maintenance/ballast_and_trim.tl
2025-03-12T02:24:28.114Z,1741746268.114 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Maintenance/ballast_and_trim.tl
2025-03-12T02:24:28.119Z,1741746268.119 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Maintenance/ballast_and_trim.tl
2025-03-12T02:24:29.049Z,1741746269.049 [DataOverHttps](IMPORTANT): SBD MTMSN=20250312T022428
2025-03-12T02:24:32.265Z,1741746272.265 [MissionManager](DEBUG): TethyslAPI: ./Missions/Maintenance/ballast_and_trim.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Mission Id="ballast_and_trim">
    <DefineArg Name="MissionTimeout">
        <Units:minute />
        <Value>90</Value>
    </DefineArg>
    <DefineArg Name="SkipComms">
        <False />
    </DefineArg>
    <DefineArg Name="Depth1">
        <Units:meter />
        <Value>35</Value>
    </DefineArg>
    <DefineArg Name="Depth2">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="DepthDeadband">
        <Units:meter />
        <Value>0.1</Value>
    </DefineArg>
    <DefineArg Name="ApproachSpeed">
        <Units:meter_per_second />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="ApproachDepthTimeout">
        <Units:minute />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="ApproachDepthRate">
        <Units:meter_per_second />
        <Value>0.4</Value>
    </DefineArg>
    <DefineArg Name="ApproachPitchLimit">
        <Units:degree />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="ApproachSettleTimePreDive">
        <Units:minute />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="SettleTime">
        <Units:minute />
        <Value>10</Value>
    </DefineArg>
    <DefineArg Name="EstimationTimeout">
        <Units:minute />
        <Value>45</Value>
    </DefineArg>
    <DefineArg Name="MinEstimationTime">
        <Units:minute />
        <Value>10</Value>
    </DefineArg>
    <DefineArg Name="MassEstimationErrorBound">
        <Units:millimeter />
        <Value>0.5</Value>
    </DefineArg>
    <DefineArg Name="BuoyEstimationErrorBound">
        <Units:cubic_centimeter />
        <Value>25</Value>
    </DefineArg>
    <DefineArg Name="EstimationConfidence">
        <Units:percent />
        <Value>98.0</Value>
    </DefineArg>
    <DefineArg Name="massDeadband">
        <Units:millimeter />
        <Value>0.25</Value>
    </DefineArg>
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>52</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:kilometer />
        <Value>2</Value>
    </DefineArg>
    <DefineArg Name="CheckDepths">
        <Units:bool />
        <Value>1</Value>
    </DefineArg>
    <Timeout Duration="MissionTimeout" />
    <Insert Filename="Insert/Science.tl" />
    <Insert Id="NeedComms" Filename="Insert/NeedComms.tl" />
    <Assign>
        <Sequence />
        <Arg Name="NeedComms:DiveInterval" />
        <Arg Name="MissionTimeout" />
    </Assign>
    <Insert Filename="Insert/StandardEnvelopes.tl" />
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MinAltitude" />
        <Arg Name="MinAltitude" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MaxDepth" />
        <Arg Name="MaxDepth" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MinOffshore" />
        <Arg Name="MinOffshore" />
    </Assign>
    <Insert Filename="Insert/BackseatDriver.tl" />
    <Insert Filename="Insert/PowerOnly.tl" />
    <Aggregate Id="CheckTargetDepths">
        <Sequence />
        <Break>
            <Not>
                <Arg Name="CheckDepths" />
            </Not>
        </Break>
        <Aggregate Id="CheckDepth1">
            <Sequence />
            <Break>
                <Not>
                    <Arg Name="Depth1" />
                    <Gt>
                        <Arg Name="MaxDepth" />
                    </Gt>
                </Not>
            </Break>
            <Syslog Severity="Important">Aborting ballast and trim mission. Target depth Depth1 exceeds the mission&apos;s MaxDepth setting (review mission parameters).</Syslog>
            <Guidance:Execute>
                <Sequence />
                <Setting>
                    <Guidance:Execute.command />
                    <String>stop</String>
                </Setting>
            </Guidance:Execute>
        </Aggregate>
        <Aggregate Id="CheckDepth2">
            <Sequence />
            <Break>
                <Not>
                    <Arg Name="Depth2" />
                    <Gt>
                        <Arg Name="MaxDepth" />
                    </Gt>
                </Not>
            </Break>
            <Syslog Severity="Important">Aborting ballast and trim mission. Target depth Depth2 exceeds the mission&apos;s MaxDepth setting (review mission parameters).</Syslog>
            <Guidance:Execute>
                <Sequence />
                <Setting>
                    <Guidance:Execute.command />
                    <String>stop</String>
                </Setting>
            </Guidance:Execute>
        </Aggregate>
        <Assign>
            <Sequence />
            <Arg Name="CheckDepths" />
            <Units:bool />
            <Value>0</Value>
        </Assign>
    </Aggregate>
    <Aggregate Id="StartingMission">
        <Sequence />
        <Break>
            <Arg Name="SkipComms" />
        </Break>
        <Syslog Severity="Info">Checking for additional instructions before submerging.</Syslog>
        <Call RefId="NeedComms" Id="StartingMission" />
    </Aggregate>
    <Aggregate Id="RunBallastAndTrim">
        <Sequence />
        <Insert Filename="Insert/BallastAndTrim.tl">
            <RedefineArg Name="InsertDepthDeadband">
                <Arg Name="DepthDeadband" />
            </RedefineArg>
            <RedefineArg Name="InsertApproachSpeed">
                <Arg Name="ApproachSpeed" />
            </RedefineArg>
            <RedefineArg Name="InsertApproachDepthRate">
                <Arg Name="ApproachDepthRate" />
            </RedefineArg>
            <RedefineArg Name="InsertApproachPitchLimit">
                <Arg Name="ApproachPitchLimit" />
            </RedefineArg>
            <RedefineArg Name="InsertApproachSettleTimePreDive">
                <Arg Name="ApproachSettleTimePreDive" />
            </RedefineArg>
            <RedefineArg Name="InsertApproachDepthTimeout">
                <Arg Name="ApproachDepthTimeout" />
            </RedefineArg>
            <RedefineArg Name="InsertSettleTime">
                <Arg Name="SettleTime" />
            </RedefineArg>
            <RedefineArg Name="EstTimeout">
                <Arg Name="EstimationTimeout" />
            </RedefineArg>
            <RedefineArg Name="MinEstTime">
                <Arg Name="MinEstimationTime" />
            </RedefineArg>
            <RedefineArg Name="MassEstErrorBound">
                <Arg Name="MassEstimationErrorBound" />
            </RedefineArg>
            <RedefineArg Name="BuoyEstErrorBound">
                <Arg Name="BuoyEstimationErrorBound" />
            </RedefineArg>
            <RedefineArg Name="EstConfidence">
                <Arg Name="EstimationConfidence" />
            </RedefineArg>
            <RedefineArg Name="InsertMassDeadband">
                <Arg Name="massDeadband" />
            </RedefineArg>
        </Insert>
        <Aggregate Id="RunDepth1">
            <Sequence />
            <Break>
                <IsNaN>
                    <Arg Name="Depth1" />
                </IsNaN>
            </Break>
            <Assign>
                <Sequence />
                <Arg Name="BallastAndTrim:InsertDepth" />
                <Arg Name="Depth1" />
            </Assign>
            <Call RefId="BallastAndTrim" />
        </Aggregate>
        <Aggregate Id="RunDepth2">
            <Sequence />
            <Break>
                <IsNaN>
                    <Arg Name="Depth2" />
                </IsNaN>
            </Break>
            <Assign>
                <Sequence />
                <Arg Name="BallastAndTrim:InsertDepth" />
                <Arg Name="Depth2" />
            </Assign>
            <Call RefId="BallastAndTrim" />
        </Aggregate>
    </Aggregate>
    <Call RefId="NeedComms" Id="EndingMission" />
</Mission>

2025-03-12T02:24:32.287Z,1741746272.287 [MissionManager](INFO): DefineArg ballast_and_trim.MissionTimeout = 90.000000 min
2025-03-12T02:24:32.294Z,1741746272.294 [MissionManager](INFO): DefineArg ballast_and_trim.SkipComms = 0 bool
2025-03-12T02:24:32.297Z,1741746272.297 [MissionManager](INFO): DefineArg ballast_and_trim.Depth1 = 35.000000 m
2025-03-12T02:24:32.378Z,1741746272.378 [MissionManager](INFO): DefineArg ballast_and_trim.Depth2 = nan m
2025-03-12T02:24:32.388Z,1741746272.388 [MissionManager](INFO): DefineArg ballast_and_trim.DepthDeadband = 0.100000 m
2025-03-12T02:24:32.392Z,1741746272.392 [MissionManager](INFO): DefineArg ballast_and_trim.ApproachSpeed = 1.000000 m/s
2025-03-12T02:24:32.413Z,1741746272.413 [MissionManager](INFO): DefineArg ballast_and_trim.ApproachDepthTimeout = 20.000000 min
2025-03-12T02:24:32.420Z,1741746272.420 [MissionManager](INFO): DefineArg ballast_and_trim.ApproachDepthRate = 0.400000 m/s
2025-03-12T02:24:32.428Z,1741746272.428 [MissionManager](INFO): DefineArg ballast_and_trim.ApproachPitchLimit = 20.000000 arcdeg
2025-03-12T02:24:32.443Z,1741746272.443 [MissionManager](INFO): DefineArg ballast_and_trim.ApproachSettleTimePreDive = 0.000000 min
2025-03-12T02:24:32.451Z,1741746272.451 [MissionManager](INFO): DefineArg ballast_and_trim.SettleTime = 10.000000 min
2025-03-12T02:24:32.467Z,1741746272.467 [MissionManager](INFO): DefineArg ballast_and_trim.EstimationTimeout = 45.000000 min
2025-03-12T02:24:32.479Z,1741746272.479 [MissionManager](INFO): DefineArg ballast_and_trim.MinEstimationTime = 10.000000 min
2025-03-12T02:24:32.490Z,1741746272.490 [MissionManager](INFO): DefineArg ballast_and_trim.MassEstimationErrorBound = 0.500000 mm
2025-03-12T02:24:32.494Z,1741746272.494 [MissionManager](INFO): DefineArg ballast_and_trim.BuoyEstimationErrorBound = 25.000000 cc
2025-03-12T02:24:32.505Z,1741746272.505 [MissionManager](INFO): DefineArg ballast_and_trim.EstimationConfidence = 98.000000 %
2025-03-12T02:24:32.517Z,1741746272.517 [MissionManager](INFO): DefineArg ballast_and_trim.massDeadband = 0.250000 mm
2025-03-12T02:24:32.544Z,1741746272.544 [MissionManager](INFO): DefineArg ballast_and_trim.MinAltitude = 5.000000 m
2025-03-12T02:24:32.551Z,1741746272.551 [MissionManager](INFO): DefineArg ballast_and_trim.MaxDepth = 52.000000 m
2025-03-12T02:24:32.567Z,1741746272.567 [MissionManager](INFO): DefineArg ballast_and_trim.MinOffshore = 2.000000 km
2025-03-12T02:24:32.578Z,1741746272.578 [MissionManager](INFO): DefineArg ballast_and_trim.CheckDepths = 1.000000 bool
2025-03-12T02:24:32.579Z,1741746272.579 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/Science.tl
2025-03-12T02:24:32.579Z,1741746272.579 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/Science.tl
2025-03-12T02:24:32.591Z,1741746272.591 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/Science.tl
2025-03-12T02:24:38.133Z,1741746278.133 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/Science.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="Science">
    <DefineArg Name="PeakDetectChlActive">
        <False />
    </DefineArg>
    <DefineArg Name="EdgeDetectChlActive">
        <False />
    </DefineArg>
    <DefineArg Name="TimeWindowPeakReport">
        <Units:minute />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="HighestChlPeakReportActive">
        <False />
    </DefineArg>
    <DefineArg Name="HighestSaltPeakReportActive">
        <False />
    </DefineArg>
    <DefineArg Name="HighestOilPeakReportActive">
        <False />
    </DefineArg>
    <DefineArg Name="PatchTracking">
        <False />
    </DefineArg>
    <DefineArg Name="FilterWidthHorizontal">
        <Units:count />
        <Value>3</Value>
    </DefineArg>
    <DefineArg Name="NumProfilesSlidingwindow">
        <Units:count />
        <Value>100</Value>
    </DefineArg>
    <DefineArg Name="OffPeakFractionHorizontal">
        <Units:percent />
        <Value>80</Value>
    </DefineArg>
    <DefineArg Name="PeakDetectNO3Active">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectOilActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectFDOMActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectSalinityActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreLMavgROIActive">
        <False />
    </DefineArg>
    <DefineArg Name="EdgeDetectPlanktivoreLMavgROIActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreHMavgROIActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreDiatomsActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreDinoflagellatesActive">
        <False />
    </DefineArg>
    <DefineArg Name="UpwardDerivativeOfTemperatureActive">
        <False />
    </DefineArg>
    <DefineArg Name="EnabledAanderaaO2">
        <Science:Aanderaa_O2.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledNeilBrown">
        <Science:CTD_NeilBrown.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledSeabird">
        <Science:CTD_Seabird.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledWetLabsBB2FL">
        <Science:WetLabsBB2FL.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledWetLabsSeaOWL_UV_A">
        <Science:WetLabsSeaOWL_UV_A.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledWetLabsUBAT">
        <Science:WetLabsUBAT.loadAtStartup />
    </DefineArg>
    <DefineArg Name="LowPassWindowLength">
        <Units:count />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="MedianFilterLen">
        <Units:count />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="ShallowBound">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="DeepBound">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="DepChangeThreshForAttitudeFlip">
        <Units:meter />
        <Value>2.0</Value>
    </DefineArg>
    <DefineArg Name="OffPeakFractionVertical">
        <Units:percent />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="ChlPeakThresh">
        <Units:microgram_per_liter />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="ChlThreshTriggerActive">
        <False />
    </DefineArg>
    <DefineArg Name="ChlLowerThresh">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="ChlUpperThresh">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="NumProfilesThresh">
        <Units:count />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="PlanktivoreLMavgROIPeakThresh">
        <Units:count_per_second />
        <Value>0</Value>
    </DefineArg>
    <DefineOutput Name="GoDown">
        <True />
    </DefineOutput>
    <DefineOutput Name="PeakChl">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChl">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChlDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChlTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChlLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChlLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3">
        <Units:micromole_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3Depth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3Latitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3Longitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOil">
        <Units:kilogram_per_cubic_meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOilDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOilLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOilLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOM">
        <Units:part_per_billion />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSalt">
        <Units:practical_salinity_unit />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROI">
        <Units:count_per_second />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROIDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROITemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROILatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROILongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROI">
        <Units:count_per_second />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROIDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROITemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROILatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROILongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROI">
        <Units:count_per_second />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROIDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROITemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROILatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROILongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatoms">
        <Units:count_per_milliliter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellates">
        <Units:count_per_milliliter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChl">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlDistance">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSalt">
        <Units:practical_salinity_unit />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltDistance">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOil">
        <Units:practical_salinity_unit />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilDistance">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="TriggeredOnChl">
        <False />
    </DefineOutput>
    <DefineOutput Name="ChlTriggering">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <Parallel />
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledAanderaaO2" />
        </While>
        <Universal:mass_concentration_of_oxygen_in_sea_water />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledNeilBrown" />
            <Or>
                <Arg Name="EnabledSeabird" />
            </Or>
        </While>
        <Universal:sea_water_temperature />
        <Universal:sea_water_salinity />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledSeabird" />
        </While>
        <Science:CTD_Seabird.sea_water_temperature />
        <Science:CTD_Seabird.sea_water_salinity />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledNeilBrown" />
            <Or>
                <Arg Name="EnabledSeabird" />
            </Or>
            <And>
                <Arg Name="UpwardDerivativeOfTemperatureActive" />
            </And>
        </While>
        <Universal:upward_derivative_of_sea_water_temperature />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledWetLabsBB2FL" />
            <Or>
                <Arg Name="PeakDetectChlActive" />
            </Or>
        </While>
        <Universal:mass_concentration_of_chlorophyll_in_sea_water />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledWetLabsUBAT" />
        </While>
        <Science:WetLabsUBAT.average_bioluminescence />
    </ReadData>
    <ReadData Id="Read_Oil" Strategy="MinError">
        <While>
            <Arg Name="EnabledWetLabsSeaOWL_UV_A" />
            <Or>
                <Arg Name="PeakDetectOilActive" />
            </Or>
        </While>
        <Universal:mass_concentration_of_petroleum_hydrocarbons_in_sea_water />
    </ReadData>
    <Aggregate Id="OceanCurrent">
        <Sequence />
        <Estimation:CurrentEstimator>
            <Parallel />
        </Estimation:CurrentEstimator>
    </Aggregate>
    <Aggregate Id="PeakDetectChl">
        <While>
            <Arg Name="PeakDetectChlActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:mass_concentration_of_chlorophyll_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakChl">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakChlDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakChlTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakChlLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakChlLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakChl" />
            <Arg Name="PeakChlDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="EdgeDetectChl">
        <While>
            <Arg Name="EdgeDetectChlActive" />
        </While>
        <Syslog Severity="Debug">EdgeDetectVsDepth</Syslog>
        <Trigger:EdgeDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:EdgeDetectVsDepth.detect />
                <Universal:mass_concentration_of_chlorophyll_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFraction />
                <Arg Name="OffPeakFractionVertical" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.peakThresh />
                <Arg Name="ChlPeakThresh" />
            </Setting>
            <OutputArg Name="GoDown">
                <Trigger:EdgeDetectVsDepth.goDown />
            </OutputArg>
            <OutputArg Name="PeakChl">
                <Trigger:EdgeDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakChlDepth">
                <Trigger:EdgeDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakChlTemperature">
                <Trigger:EdgeDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakChlLatitude">
                <Trigger:EdgeDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakChlLongitude">
                <Trigger:EdgeDetectVsDepth.peakLongitude />
            </OutputArg>
            <OutputArg Name="EdgeChl">
                <Trigger:EdgeDetectVsDepth.edgeDetect />
            </OutputArg>
            <OutputArg Name="EdgeChlDepth">
                <Trigger:EdgeDetectVsDepth.edgeDepth />
            </OutputArg>
            <OutputArg Name="EdgeChlTemperature">
                <Trigger:EdgeDetectVsDepth.edgeTemperature />
            </OutputArg>
            <OutputArg Name="EdgeChlLatitude">
                <Trigger:EdgeDetectVsDepth.edgeLatitude />
            </OutputArg>
            <OutputArg Name="EdgeChlLongitude">
                <Trigger:EdgeDetectVsDepth.edgeLongitude />
            </OutputArg>
        </Trigger:EdgeDetectVsDepth>
        <Syslog Severity="Info">
            GoDown, ChlPeakThresh, PeakChl, PeakChlDepth, EdgeChl, EdgeChlDepth = 
            <Arg Name="GoDown" />
            <Units:bool />
            , 
            <Arg Name="ChlPeakThresh" />
            <Units:microgram_per_liter />
            , 
            <Arg Name="PeakChl" />
            <Units:microgram_per_liter />
            , 
            <Arg Name="PeakChlDepth" />
            <Units:meter />
            , 
            <Arg Name="EdgeChl" />
            <Units:microgram_per_liter />
            , 
            <Arg Name="EdgeChlDepth" />
            <Units:meter />
        </Syslog>
        <SendData Service="Express">
            <Arg Name="PeakChl" />
            <Arg Name="PeakChlDepth" />
            <Arg Name="EdgeChl" />
            <Arg Name="EdgeChlDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="HighestChlPeakReport">
        <While>
            <Arg Name="HighestChlPeakReportActive" />
        </While>
        <Trigger:PeakDetectHorizontal>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectHorizontal.detectFrom />
                <Arg Name="PeakChl" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.depthFrom />
                <Arg Name="PeakChlDepth" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.latitudeFrom />
                <Arg Name="PeakChlLatitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.longitudeFrom />
                <Arg Name="PeakChlLongitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.patchTracking />
                <Arg Name="PatchTracking" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.filterWidth />
                <Arg Name="FilterWidthHorizontal" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.numProfilesSlidingwindow />
                <Arg Name="NumProfilesSlidingwindow" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.offPeakFraction />
                <Arg Name="OffPeakFractionHorizontal" />
            </Setting>
            <OutputArg Name="PatchChl">
                <Trigger:PeakDetectHorizontal.peakDetect />
            </OutputArg>
            <OutputArg Name="PatchChlDepth">
                <Trigger:PeakDetectHorizontal.peakDepth />
            </OutputArg>
            <OutputArg Name="PatchChlLatitude">
                <Trigger:PeakDetectHorizontal.peakLatitude />
            </OutputArg>
            <OutputArg Name="PatchChlLongitude">
                <Trigger:PeakDetectHorizontal.peakLongitude />
            </OutputArg>
            <OutputArg Name="PatchChlDistance">
                <Trigger:PeakDetectHorizontal.peakDistance />
            </OutputArg>
        </Trigger:PeakDetectHorizontal>
    </Aggregate>
    <Aggregate Id="PeakDetectNO3">
        <While>
            <Arg Name="PeakDetectNO3Active" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:mole_concentration_of_nitrate_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <OutputArg Name="PeakNO3">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakNO3Depth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakNO3Latitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakNO3Longitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakNO3" />
            <Arg Name="PeakNO3Depth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectOil">
        <While>
            <Arg Name="PeakDetectOilActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:mass_concentration_of_petroleum_hydrocarbons_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <OutputArg Name="PeakOil">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakOilDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakOilLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakOilLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakOil" />
            <Arg Name="PeakOilDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="HighestOilPeakReport">
        <While>
            <Arg Name="HighestOilPeakReportActive" />
        </While>
        <Trigger:PeakDetectHorizontal>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectHorizontal.detectFrom />
                <Arg Name="PeakOil" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.depthFrom />
                <Arg Name="PeakOilDepth" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.latitudeFrom />
                <Arg Name="PeakOilLatitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.longitudeFrom />
                <Arg Name="PeakOilLongitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.patchTracking />
                <Arg Name="PatchTracking" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.filterWidth />
                <Arg Name="FilterWidthHorizontal" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.numProfilesSlidingwindow />
                <Arg Name="NumProfilesSlidingwindow" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.offPeakFraction />
                <Arg Name="OffPeakFractionHorizontal" />
            </Setting>
            <OutputArg Name="PatchOil">
                <Trigger:PeakDetectHorizontal.peakDetect />
            </OutputArg>
            <OutputArg Name="PatchOilDepth">
                <Trigger:PeakDetectHorizontal.peakDepth />
            </OutputArg>
            <OutputArg Name="PatchOilLatitude">
                <Trigger:PeakDetectHorizontal.peakLatitude />
            </OutputArg>
            <OutputArg Name="PatchOilLongitude">
                <Trigger:PeakDetectHorizontal.peakLongitude />
            </OutputArg>
            <OutputArg Name="PatchOilDistance">
                <Trigger:PeakDetectHorizontal.peakDistance />
            </OutputArg>
        </Trigger:PeakDetectHorizontal>
    </Aggregate>
    <Aggregate Id="PeakDetectFDOM">
        <While>
            <Arg Name="PeakDetectFDOMActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:concentration_of_colored_dissolved_organic_matter_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <OutputArg Name="PeakFDOM">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakFDOMDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakFDOMTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakFDOMLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakFDOMLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakFDOM" />
            <Arg Name="PeakFDOMDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectSalinity">
        <While>
            <Arg Name="PeakDetectSalinityActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:sea_water_salinity />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakSalt">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakSaltDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakSaltTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakSaltLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakSaltLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakSalt" />
            <Arg Name="PeakSaltDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="HighestSaltPeakReport">
        <While>
            <Arg Name="HighestSaltPeakReportActive" />
        </While>
        <Trigger:PeakDetectHorizontal>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectHorizontal.detectFrom />
                <Arg Name="PeakSalt" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.depthFrom />
                <Arg Name="PeakSaltDepth" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.latitudeFrom />
                <Arg Name="PeakSaltLatitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.longitudeFrom />
                <Arg Name="PeakSaltLongitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.patchTracking />
                <Arg Name="PatchTracking" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.filterWidth />
                <Arg Name="FilterWidthHorizontal" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.numProfilesSlidingwindow />
                <Arg Name="NumProfilesSlidingwindow" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.offPeakFraction />
                <Arg Name="OffPeakFractionHorizontal" />
            </Setting>
            <OutputArg Name="PatchSalt">
                <Trigger:PeakDetectHorizontal.peakDetect />
            </OutputArg>
            <OutputArg Name="PatchSaltDepth">
                <Trigger:PeakDetectHorizontal.peakDepth />
            </OutputArg>
            <OutputArg Name="PatchSaltLatitude">
                <Trigger:PeakDetectHorizontal.peakLatitude />
            </OutputArg>
            <OutputArg Name="PatchSaltLongitude">
                <Trigger:PeakDetectHorizontal.peakLongitude />
            </OutputArg>
            <OutputArg Name="PatchSaltDistance">
                <Trigger:PeakDetectHorizontal.peakDistance />
            </OutputArg>
        </Trigger:PeakDetectHorizontal>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreLMavgROI">
        <While>
            <Arg Name="PeakDetectPlanktivoreLMavgROIActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_LM_AvgRois</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreLMavgROI">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROIDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROITemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROILatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROILongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreLMavgROI" />
            <Arg Name="PeakPlanktivoreLMavgROIDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="EdgeDetectPlanktivoreLMavgROI">
        <While>
            <Arg Name="EdgeDetectPlanktivoreLMavgROIActive" />
        </While>
        <Syslog Severity="Debug">EdgeDetectVsDepth</Syslog>
        <Trigger:EdgeDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:EdgeDetectVsDepth.detect />
                <String>_.planktivore_LM_AvgRois</String>
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFraction />
                <Arg Name="OffPeakFractionVertical" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.peakThresh />
                <Arg Name="PlanktivoreLMavgROIPeakThresh" />
            </Setting>
            <OutputArg Name="GoDown">
                <Trigger:EdgeDetectVsDepth.goDown />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROI">
                <Trigger:EdgeDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROIDepth">
                <Trigger:EdgeDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROITemperature">
                <Trigger:EdgeDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROILatitude">
                <Trigger:EdgeDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROILongitude">
                <Trigger:EdgeDetectVsDepth.peakLongitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROI">
                <Trigger:EdgeDetectVsDepth.edgeDetect />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROIDepth">
                <Trigger:EdgeDetectVsDepth.edgeDepth />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROITemperature">
                <Trigger:EdgeDetectVsDepth.edgeTemperature />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROILatitude">
                <Trigger:EdgeDetectVsDepth.edgeLatitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROILongitude">
                <Trigger:EdgeDetectVsDepth.edgeLongitude />
            </OutputArg>
        </Trigger:EdgeDetectVsDepth>
        <Syslog Severity="Important">
            GoDown, PlanktivoreLMavgROIPeakThresh, PeakPlanktivoreLMavgROI, PeakPlanktivoreLMavgROIDepth, EdgePlanktivoreLMavgROI, EdgePlanktivoreLMavgROIDepth = 
            <Arg Name="GoDown" />
            <Units:bool />
            , 
            <Arg Name="PlanktivoreLMavgROIPeakThresh" />
            <Units:microgram_per_liter />
            , 
            <Arg Name="PeakPlanktivoreLMavgROI" />
            <Units:microgram_per_liter />
            , 
            <Arg Name="PeakPlanktivoreLMavgROIDepth" />
            <Units:meter />
            , 
            <Arg Name="EdgePlanktivoreLMavgROI" />
            <Units:microgram_per_liter />
            , 
            <Arg Name="EdgePlanktivoreLMavgROIDepth" />
            <Units:meter />
        </Syslog>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreLMavgROI" />
            <Arg Name="PeakPlanktivoreLMavgROIDepth" />
            <Arg Name="EdgePlanktivoreLMavgROI" />
            <Arg Name="EdgePlanktivoreLMavgROIDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreHMavgROI">
        <While>
            <Arg Name="PeakDetectPlanktivoreHMavgROIActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_HM_AvgRois</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreHMavgROI">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROIDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROITemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROILatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROILongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreHMavgROI" />
            <Arg Name="PeakPlanktivoreHMavgROIDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreDiatoms">
        <While>
            <Arg Name="PeakDetectPlanktivoreDiatomsActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_diatoms</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreDiatoms">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreDiatoms" />
            <Arg Name="PeakPlanktivoreDiatomsDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreDinoflagellates">
        <While>
            <Arg Name="PeakDetectPlanktivoreDinoflagellatesActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_dinoflagellates</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreDinoflagellates">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreDinoflagellates" />
            <Arg Name="PeakPlanktivoreDinoflagellatesDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="ChlThreshTrigger">
        <While>
            <Arg Name="ChlThreshTriggerActive" />
        </While>
        <Trigger:ValueDetect>
            <Sequence />
            <Setting>
                <Trigger:ValueDetect.detect />
                <Arg Name="PeakChl" />
            </Setting>
            <Setting>
                <Trigger:ValueDetect.lowerThreshold />
                <Arg Name="ChlLowerThresh" />
            </Setting>
            <Setting>
                <Trigger:ValueDetect.upperThreshold />
                <Arg Name="ChlUpperThresh" />
            </Setting>
            <Setting>
                <Trigger:ValueDetect.numProfilesThreshold />
                <Arg Name="NumProfilesThresh" />
            </Setting>
            <OutputArg Name="ChlTriggering">
                <Trigger:ValueDetect.outputValue />
            </OutputArg>
        </Trigger:ValueDetect>
        <Assign>
            <Sequence />
            <Arg Name="TriggeredOnChl" />
            <True />
        </Assign>
        <Syslog Severity="Important">
            Triggered. PeakChl values on 
            <Arg Name="NumProfilesThresh" />
            <Units:count />
             consecutive yo-yo profiles fall in [
            <Arg Name="ChlLowerThresh" />
            <Units:microgram_per_liter />
            <Arg Name="ChlUpperThresh" />
            <Units:microgram_per_liter />
            ] (NaN bound is ignored).
        </Syslog>
    </Aggregate>
</Aggregate>

2025-03-12T02:24:38.192Z,1741746278.192 [MissionManager](INFO): DefineArg ballast_and_trim:Science.PeakDetectChlActive = 0 bool
2025-03-12T02:24:38.207Z,1741746278.207 [MissionManager](INFO): DefineArg ballast_and_trim:Science.EdgeDetectChlActive = 0 bool
2025-03-12T02:24:38.210Z,1741746278.210 [MissionManager](INFO): DefineArg ballast_and_trim:Science.TimeWindowPeakReport = nan min
2025-03-12T02:24:38.225Z,1741746278.225 [MissionManager](INFO): DefineArg ballast_and_trim:Science.HighestChlPeakReportActive = 0 bool
2025-03-12T02:24:38.252Z,1741746278.252 [MissionManager](INFO): DefineArg ballast_and_trim:Science.HighestSaltPeakReportActive = 0 bool
2025-03-12T02:24:38.255Z,1741746278.255 [MissionManager](INFO): DefineArg ballast_and_trim:Science.HighestOilPeakReportActive = 0 bool
2025-03-12T02:24:38.258Z,1741746278.258 [MissionManager](INFO): DefineArg ballast_and_trim:Science.PatchTracking = 0 bool
2025-03-12T02:24:38.302Z,1741746278.302 [MissionManager](INFO): DefineArg ballast_and_trim:Science.FilterWidthHorizontal = 3.000000 count
2025-03-12T02:24:38.305Z,1741746278.305 [MissionManager](INFO): DefineArg ballast_and_trim:Science.NumProfilesSlidingwindow = 100.000000 count
2025-03-12T02:24:38.343Z,1741746278.343 [MissionManager](INFO): DefineArg ballast_and_trim:Science.OffPeakFractionHorizontal = 80.000000 %
2025-03-12T02:24:38.346Z,1741746278.346 [MissionManager](INFO): DefineArg ballast_and_trim:Science.PeakDetectNO3Active = 0 bool
2025-03-12T02:24:38.394Z,1741746278.394 [MissionManager](INFO): DefineArg ballast_and_trim:Science.PeakDetectOilActive = 0 bool
2025-03-12T02:24:38.397Z,1741746278.397 [MissionManager](INFO): DefineArg ballast_and_trim:Science.PeakDetectFDOMActive = 0 bool
2025-03-12T02:24:38.414Z,1741746278.414 [MissionManager](INFO): DefineArg ballast_and_trim:Science.PeakDetectSalinityActive = 0 bool
2025-03-12T02:24:38.421Z,1741746278.421 [MissionManager](INFO): DefineArg ballast_and_trim:Science.PeakDetectPlanktivoreLMavgROIActive = 0 bool
2025-03-12T02:24:38.445Z,1741746278.445 [MissionManager](INFO): DefineArg ballast_and_trim:Science.EdgeDetectPlanktivoreLMavgROIActive = 0 bool
2025-03-12T02:24:38.460Z,1741746278.460 [MissionManager](INFO): DefineArg ballast_and_trim:Science.PeakDetectPlanktivoreHMavgROIActive = 0 bool
2025-03-12T02:24:38.467Z,1741746278.467 [MissionManager](INFO): DefineArg ballast_and_trim:Science.PeakDetectPlanktivoreDiatomsActive = 0 bool
2025-03-12T02:24:38.479Z,1741746278.479 [MissionManager](INFO): DefineArg ballast_and_trim:Science.PeakDetectPlanktivoreDinoflagellatesActive = 0 bool
2025-03-12T02:24:38.482Z,1741746278.482 [MissionManager](INFO): DefineArg ballast_and_trim:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2025-03-12T02:24:38.502Z,1741746278.502 [MissionManager](INFO): DefineArg ballast_and_trim:Science.EnabledAanderaaO2 = 0 bool
2025-03-12T02:24:38.514Z,1741746278.514 [MissionManager](INFO): DefineArg ballast_and_trim:Science.EnabledNeilBrown = 0 bool
2025-03-12T02:24:38.527Z,1741746278.527 [MissionManager](INFO): DefineArg ballast_and_trim:Science.EnabledSeabird = 1 bool
2025-03-12T02:24:38.547Z,1741746278.547 [MissionManager](INFO): DefineArg ballast_and_trim:Science.EnabledWetLabsBB2FL = 1 bool
2025-03-12T02:24:38.556Z,1741746278.556 [MissionManager](INFO): DefineArg ballast_and_trim:Science.EnabledWetLabsSeaOWL_UV_A = 0 bool
2025-03-12T02:24:38.576Z,1741746278.576 [MissionManager](INFO): DefineArg ballast_and_trim:Science.EnabledWetLabsUBAT = 0 bool
2025-03-12T02:24:38.583Z,1741746278.583 [MissionManager](INFO): DefineArg ballast_and_trim:Science.LowPassWindowLength = 20.000000 count
2025-03-12T02:24:38.599Z,1741746278.599 [MissionManager](INFO): DefineArg ballast_and_trim:Science.MedianFilterLen = 5.000000 count
2025-03-12T02:24:38.610Z,1741746278.610 [MissionManager](INFO): DefineArg ballast_and_trim:Science.ShallowBound = nan m
2025-03-12T02:24:38.613Z,1741746278.613 [MissionManager](INFO): DefineArg ballast_and_trim:Science.DeepBound = nan m
2025-03-12T02:24:38.625Z,1741746278.625 [MissionManager](INFO): DefineArg ballast_and_trim:Science.DepChangeThreshForAttitudeFlip = 2.000000 m
2025-03-12T02:24:38.636Z,1741746278.636 [MissionManager](INFO): DefineArg ballast_and_trim:Science.OffPeakFractionVertical = nan %
2025-03-12T02:24:38.645Z,1741746278.645 [MissionManager](INFO): DefineArg ballast_and_trim:Science.ChlPeakThresh = 0.000000 ug/l
2025-03-12T02:24:38.661Z,1741746278.661 [MissionManager](INFO): DefineArg ballast_and_trim:Science.ChlThreshTriggerActive = 0 bool
2025-03-12T02:24:38.673Z,1741746278.673 [MissionManager](INFO): DefineArg ballast_and_trim:Science.ChlLowerThresh = nan ug/l
2025-03-12T02:24:38.696Z,1741746278.696 [MissionManager](INFO): DefineArg ballast_and_trim:Science.ChlUpperThresh = nan ug/l
2025-03-12T02:24:38.705Z,1741746278.705 [MissionManager](INFO): DefineArg ballast_and_trim:Science.NumProfilesThresh = 5.000000 count
2025-03-12T02:24:38.721Z,1741746278.721 [MissionManager](INFO): DefineArg ballast_and_trim:Science.PlanktivoreLMavgROIPeakThresh = 0.000000 count/s
2025-03-12T02:24:38.729Z,1741746278.729 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.GoDown = 1 bool
2025-03-12T02:24:38.748Z,1741746278.748 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakChl = nan ug/l
2025-03-12T02:24:38.791Z,1741746278.791 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakChlDepth = nan m
2025-03-12T02:24:38.807Z,1741746278.807 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakChlTemperature = nan degC
2025-03-12T02:24:38.822Z,1741746278.822 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakChlLatitude = nan arcdeg
2025-03-12T02:24:38.826Z,1741746278.826 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakChlLongitude = nan arcdeg
2025-03-12T02:24:38.837Z,1741746278.837 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.EdgeChl = nan ug/l
2025-03-12T02:24:38.858Z,1741746278.858 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.EdgeChlDepth = nan m
2025-03-12T02:24:38.873Z,1741746278.873 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.EdgeChlTemperature = nan degC
2025-03-12T02:24:38.885Z,1741746278.885 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.EdgeChlLatitude = nan arcdeg
2025-03-12T02:24:38.908Z,1741746278.908 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.EdgeChlLongitude = nan arcdeg
2025-03-12T02:24:38.916Z,1741746278.916 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakNO3 = nan umol/l
2025-03-12T02:24:38.926Z,1741746278.926 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakNO3Depth = nan m
2025-03-12T02:24:38.945Z,1741746278.945 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakNO3Latitude = nan arcdeg
2025-03-12T02:24:38.957Z,1741746278.957 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakNO3Longitude = nan arcdeg
2025-03-12T02:24:38.969Z,1741746278.969 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakOil = nan kg/m3
2025-03-12T02:24:38.995Z,1741746278.995 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakOilDepth = nan m
2025-03-12T02:24:39.003Z,1741746279.003 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakOilLatitude = nan arcdeg
2025-03-12T02:24:39.014Z,1741746279.014 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakOilLongitude = nan arcdeg
2025-03-12T02:24:39.022Z,1741746279.022 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakFDOM = nan ppb
2025-03-12T02:24:39.029Z,1741746279.029 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakFDOMDepth = nan m
2025-03-12T02:24:39.041Z,1741746279.041 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakFDOMTemperature = nan degC
2025-03-12T02:24:39.049Z,1741746279.049 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakFDOMLatitude = nan arcdeg
2025-03-12T02:24:39.068Z,1741746279.068 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakFDOMLongitude = nan arcdeg
2025-03-12T02:24:39.080Z,1741746279.080 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakSalt = nan psu
2025-03-12T02:24:39.088Z,1741746279.088 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakSaltDepth = nan m
2025-03-12T02:24:39.103Z,1741746279.103 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakSaltTemperature = nan degC
2025-03-12T02:24:39.112Z,1741746279.112 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakSaltLatitude = nan arcdeg
2025-03-12T02:24:39.131Z,1741746279.131 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakSaltLongitude = nan arcdeg
2025-03-12T02:24:39.135Z,1741746279.135 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakPlanktivoreLMavgROI = nan count/s
2025-03-12T02:24:39.154Z,1741746279.154 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakPlanktivoreLMavgROIDepth = nan m
2025-03-12T02:24:39.158Z,1741746279.158 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakPlanktivoreLMavgROITemperature = nan degC
2025-03-12T02:24:39.161Z,1741746279.161 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakPlanktivoreLMavgROILatitude = nan arcdeg
2025-03-12T02:24:39.212Z,1741746279.212 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakPlanktivoreLMavgROILongitude = nan arcdeg
2025-03-12T02:24:39.224Z,1741746279.224 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.EdgePlanktivoreLMavgROI = nan count/s
2025-03-12T02:24:39.244Z,1741746279.244 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.EdgePlanktivoreLMavgROIDepth = nan m
2025-03-12T02:24:39.256Z,1741746279.256 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.EdgePlanktivoreLMavgROITemperature = nan degC
2025-03-12T02:24:39.276Z,1741746279.276 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.EdgePlanktivoreLMavgROILatitude = nan arcdeg
2025-03-12T02:24:39.291Z,1741746279.291 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.EdgePlanktivoreLMavgROILongitude = nan arcdeg
2025-03-12T02:24:39.300Z,1741746279.300 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakPlanktivoreHMavgROI = nan count/s
2025-03-12T02:24:39.316Z,1741746279.316 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakPlanktivoreHMavgROIDepth = nan m
2025-03-12T02:24:39.323Z,1741746279.323 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakPlanktivoreHMavgROITemperature = nan degC
2025-03-12T02:24:39.331Z,1741746279.331 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakPlanktivoreHMavgROILatitude = nan arcdeg
2025-03-12T02:24:39.355Z,1741746279.355 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakPlanktivoreHMavgROILongitude = nan arcdeg
2025-03-12T02:24:39.367Z,1741746279.367 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakPlanktivoreDiatoms = nan count/ml
2025-03-12T02:24:39.374Z,1741746279.374 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakPlanktivoreDiatomsDepth = nan m
2025-03-12T02:24:39.390Z,1741746279.390 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakPlanktivoreDiatomsTemperature = nan degC
2025-03-12T02:24:39.394Z,1741746279.394 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakPlanktivoreDiatomsLatitude = nan arcdeg
2025-03-12T02:24:39.406Z,1741746279.406 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakPlanktivoreDiatomsLongitude = nan arcdeg
2025-03-12T02:24:39.409Z,1741746279.409 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakPlanktivoreDinoflagellates = nan count/ml
2025-03-12T02:24:39.426Z,1741746279.426 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakPlanktivoreDinoflagellatesDepth = nan m
2025-03-12T02:24:39.429Z,1741746279.429 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakPlanktivoreDinoflagellatesTemperature = nan degC
2025-03-12T02:24:39.433Z,1741746279.433 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakPlanktivoreDinoflagellatesLatitude = nan arcdeg
2025-03-12T02:24:39.463Z,1741746279.463 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakPlanktivoreDinoflagellatesLongitude = nan arcdeg
2025-03-12T02:24:39.467Z,1741746279.467 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PatchChl = nan ug/l
2025-03-12T02:24:39.482Z,1741746279.482 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PatchChlDepth = nan m
2025-03-12T02:24:39.493Z,1741746279.493 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PatchChlLatitude = nan arcdeg
2025-03-12T02:24:39.497Z,1741746279.497 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PatchChlLongitude = nan arcdeg
2025-03-12T02:24:39.500Z,1741746279.500 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PatchChlDistance = nan m
2025-03-12T02:24:39.522Z,1741746279.522 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PatchSalt = nan psu
2025-03-12T02:24:39.525Z,1741746279.525 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PatchSaltDepth = nan m
2025-03-12T02:24:39.529Z,1741746279.529 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PatchSaltLatitude = nan arcdeg
2025-03-12T02:24:39.540Z,1741746279.540 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PatchSaltLongitude = nan arcdeg
2025-03-12T02:24:39.544Z,1741746279.544 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PatchSaltDistance = nan m
2025-03-12T02:24:39.547Z,1741746279.547 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PatchOil = nan psu
2025-03-12T02:24:39.603Z,1741746279.603 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PatchOilDepth = nan m
2025-03-12T02:24:39.615Z,1741746279.615 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PatchOilLatitude = nan arcdeg
2025-03-12T02:24:39.626Z,1741746279.626 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PatchOilLongitude = nan arcdeg
2025-03-12T02:24:39.639Z,1741746279.639 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PatchOilDistance = nan m
2025-03-12T02:24:39.643Z,1741746279.643 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.TriggeredOnChl = 0 bool
2025-03-12T02:24:39.650Z,1741746279.650 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.ChlTriggering = nan ug/l
2025-03-12T02:24:39.701Z,1741746279.701 [ballast_and_trim:Science:PeakDetectChl:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-03-12T02:24:39.732Z,1741746279.732 [ballast_and_trim:Science:EdgeDetectChl:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-03-12T02:24:39.770Z,1741746279.770 [ballast_and_trim:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-03-12T02:24:39.793Z,1741746279.793 [ballast_and_trim:Science:PeakDetectNO3:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-03-12T02:24:39.834Z,1741746279.834 [ballast_and_trim:Science:PeakDetectOil:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-03-12T02:24:39.864Z,1741746279.864 [ballast_and_trim:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-03-12T02:24:39.887Z,1741746279.887 [ballast_and_trim:Science:PeakDetectFDOM:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-03-12T02:24:39.928Z,1741746279.928 [ballast_and_trim:Science:PeakDetectSalinity:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-03-12T02:24:39.959Z,1741746279.959 [ballast_and_trim:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-03-12T02:24:40.025Z,1741746280.025 [ballast_and_trim:Science:PeakDetectPlanktivoreLMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-03-12T02:24:40.076Z,1741746280.076 [ballast_and_trim:Science:EdgeDetectPlanktivoreLMavgROI:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-03-12T02:24:40.134Z,1741746280.134 [ballast_and_trim:Science:PeakDetectPlanktivoreHMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-03-12T02:24:40.164Z,1741746280.164 [ballast_and_trim:Science:PeakDetectPlanktivoreDiatoms:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-03-12T02:24:40.197Z,1741746280.197 [ballast_and_trim:Science:PeakDetectPlanktivoreDinoflagellates:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-03-12T02:24:40.234Z,1741746280.234 [ballast_and_trim:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Construct ValueDetect.
2025-03-12T02:24:40.253Z,1741746280.253 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl
2025-03-12T02:24:40.253Z,1741746280.253 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl
2025-03-12T02:24:40.259Z,1741746280.259 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl
2025-03-12T02:24:40.446Z,1741746280.446 [DataOverHttps](INFO): Received command: schedule resume
2025-03-12T02:24:40.717Z,1741746280.717 [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>

2025-03-12T02:24:40.728Z,1741746280.728 [MissionManager](INFO): DefineArg ballast_and_trim:NeedComms.DiveInterval = 1.000000 h
2025-03-12T02:24:40.732Z,1741746280.732 [MissionManager](INFO): DefineArg ballast_and_trim:NeedComms.WaitForPitchUp = 10.000000 min
2025-03-12T02:24:40.735Z,1741746280.735 [MissionManager](INFO): DefineArg ballast_and_trim:NeedComms.SurfacePitch = 20.000000 arcdeg
2025-03-12T02:24:40.760Z,1741746280.760 [MissionManager](INFO): DefineArg ballast_and_trim:NeedComms.SurfaceDepthRate = nan m/s
2025-03-12T02:24:40.765Z,1741746280.765 [MissionManager](INFO): DefineArg ballast_and_trim:NeedComms.SurfaceSpeed = 1.000000 m/s
2025-03-12T02:24:40.769Z,1741746280.769 [MissionManager](INFO): DefineArg ballast_and_trim:NeedComms.SurfacingTimeout = 1000.000000 s
2025-03-12T02:24:40.772Z,1741746280.772 [MissionManager](INFO): DefineArg ballast_and_trim:NeedComms.GPSTimeout = 7.000000 min
2025-03-12T02:24:40.815Z,1741746280.815 [MissionManager](INFO): DefineArg ballast_and_trim:NeedComms.CommsTimeout = 30.000000 min
2025-03-12T02:24:40.840Z,1741746280.840 [ballast_and_trim:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2025-03-12T02:24:40.900Z,1741746280.900 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-03-12T02:24:40.900Z,1741746280.900 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-03-12T02:24:40.901Z,1741746280.901 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-03-12T02:24:41.047Z,1741746281.047 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/StandardEnvelopes.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="StandardEnvelopes">
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="MaxDepthIgnore">
        <Units:meter />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>200</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:meter />
        <Value>2000</Value>
    </DefineArg>
    <Parallel />
    <Guidance:AltitudeEnvelope>
        <Parallel />
        <Setting>
            <Guidance:AltitudeEnvelope.minAltitude />
            <Arg Name="MinAltitude" />
        </Setting>
        <Setting>
            <Guidance:AltitudeEnvelope.maxDepthIgnore />
            <Arg Name="MaxDepthIgnore" />
        </Setting>
    </Guidance:AltitudeEnvelope>
    <Guidance:DepthEnvelope>
        <Parallel />
        <Setting>
            <Guidance:DepthEnvelope.maxDepth />
            <Arg Name="MaxDepth" />
        </Setting>
    </Guidance:DepthEnvelope>
    <Guidance:OffshoreEnvelope>
        <Parallel />
        <Setting>
            <Guidance:OffshoreEnvelope.minOffshore />
            <Arg Name="MinOffshore" />
        </Setting>
    </Guidance:OffshoreEnvelope>
</Aggregate>

2025-03-12T02:24:41.056Z,1741746281.056 [MissionManager](INFO): DefineArg ballast_and_trim:StandardEnvelopes.MinAltitude = 5.000000 m
2025-03-12T02:24:41.060Z,1741746281.060 [MissionManager](INFO): DefineArg ballast_and_trim:StandardEnvelopes.MaxDepthIgnore = 0.000000 m
2025-03-12T02:24:41.071Z,1741746281.071 [MissionManager](INFO): DefineArg ballast_and_trim:StandardEnvelopes.MaxDepth = 200.000000 m
2025-03-12T02:24:41.079Z,1741746281.079 [MissionManager](INFO): DefineArg ballast_and_trim:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-03-12T02:24:41.080Z,1741746281.080 [ballast_and_trim:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-03-12T02:24:41.093Z,1741746281.093 [ballast_and_trim:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-03-12T02:24:41.119Z,1741746281.119 [ballast_and_trim:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-03-12T02:24:41.144Z,1741746281.144 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2025-03-12T02:24:41.144Z,1741746281.144 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2025-03-12T02:24:41.145Z,1741746281.145 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2025-03-12T02:24:41.235Z,1741746281.235 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/BackseatDriver.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="BackseatDriver">
    <DefineArg Name="EnableBackseat">
        <False />
    </DefineArg>
    <Parallel />
    <Guidance:BackseatDriver>
        <Sequence />
        <Setting>
            <Guidance:BackseatDriver.powerBackseat />
            <Arg Name="EnableBackseat" />
        </Setting>
    </Guidance:BackseatDriver>
</Aggregate>

2025-03-12T02:24:41.248Z,1741746281.248 [MissionManager](INFO): DefineArg ballast_and_trim:BackseatDriver.EnableBackseat = 0 bool
2025-03-12T02:24:41.258Z,1741746281.258 [ballast_and_trim:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2025-03-12T02:24:41.261Z,1741746281.261 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2025-03-12T02:24:41.262Z,1741746281.262 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2025-03-12T02:24:41.269Z,1741746281.269 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2025-03-12T02:24:41.448Z,1741746281.448 [DataOverHttps](IMPORTANT): SBD MTMSN=20250312T022440
2025-03-12T02:24:41.485Z,1741746281.485 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/PowerOnly.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="PowerOnly">
    <DefineArg Name="SampleAll">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad1">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad2">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad3">
        <False />
    </DefineArg>
    <DefineArg Name="EnabledPowerOnly">
        <Sensor:PowerOnly.loadAtStartup />
    </DefineArg>
    <Parallel />
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleAll" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.samplePowerOnly />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad1" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad1 />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad2" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad2 />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad3" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad3 />
    </ReadData>
    <Guidance:Wait>
        <Sequence />
        <Setting>
            <Guidance:Wait.duration />
            <Units:hour />
            <Value>99999</Value>
        </Setting>
    </Guidance:Wait>
</Aggregate>

2025-03-12T02:24:41.498Z,1741746281.498 [MissionManager](INFO): DefineArg ballast_and_trim:PowerOnly.SampleAll = 0 bool
2025-03-12T02:24:41.501Z,1741746281.501 [MissionManager](INFO): DefineArg ballast_and_trim:PowerOnly.SampleLoad1 = 0 bool
2025-03-12T02:24:41.508Z,1741746281.508 [MissionManager](INFO): DefineArg ballast_and_trim:PowerOnly.SampleLoad2 = 0 bool
2025-03-12T02:24:41.512Z,1741746281.512 [MissionManager](INFO): DefineArg ballast_and_trim:PowerOnly.SampleLoad3 = 0 bool
2025-03-12T02:24:41.524Z,1741746281.524 [MissionManager](INFO): DefineArg ballast_and_trim:PowerOnly.EnabledPowerOnly = 1 bool
2025-03-12T02:24:41.540Z,1741746281.540 [ballast_and_trim:PowerOnly:E.Wait](DEBUG): Construct Wait.
2025-03-12T02:24:41.550Z,1741746281.550 [ballast_and_trim:CheckTargetDepths:CheckDepth1:B.Execute](DEBUG): Construct Execute.
2025-03-12T02:24:41.567Z,1741746281.567 [ballast_and_trim:CheckTargetDepths:CheckDepth2:B.Execute](DEBUG): Construct Execute.
2025-03-12T02:24:41.582Z,1741746281.582 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BallastAndTrim.tl
2025-03-12T02:24:41.582Z,1741746281.582 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BallastAndTrim.tl
2025-03-12T02:24:41.589Z,1741746281.589 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BallastAndTrim.tl
2025-03-12T02:24:42.579Z,1741746282.579 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/BallastAndTrim.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="BallastAndTrim">
    <DefineArg Name="InsertDepth">
        <Units:meter />
        <Value>25</Value>
    </DefineArg>
    <DefineArg Name="InsertApproachSpeed">
        <Units:meter_per_second />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="InsertApproachDepthRate">
        <Units:meter_per_second />
        <Value>0.4</Value>
    </DefineArg>
    <DefineArg Name="InsertApproachPitchLimit">
        <Units:degree />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="InsertApproachSettleTimePreDive">
        <Units:minute />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="InsertApproachDepthTimeout">
        <Units:minute />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="InsertSettleTime">
        <Units:minute />
        <Value>10</Value>
    </DefineArg>
    <DefineArg Name="EstTimeout">
        <Units:minute />
        <Value>45</Value>
    </DefineArg>
    <DefineArg Name="MinEstTime">
        <Units:minute />
        <Value>10</Value>
    </DefineArg>
    <DefineArg Name="MassEstErrorBound">
        <Units:millimeter />
        <Value>0.25</Value>
    </DefineArg>
    <DefineArg Name="BuoyEstErrorBound">
        <Units:cubic_centimeter />
        <Value>15</Value>
    </DefineArg>
    <DefineArg Name="EstConfidence">
        <Units:percent />
        <Value>99.9</Value>
    </DefineArg>
    <DefineArg Name="InsertDepthDeadband">
        <Units:meter />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="InsertMassDeadband">
        <Units:millimeter />
        <Value>0.25</Value>
    </DefineArg>
    <When>
        <Called />
    </When>
    <Assign>
        <Parallel />
        <Control:VerticalControl.kpPitchMass />
        <Units:ratio />
        <Value>0.005</Value>
    </Assign>
    <Assign>
        <Parallel />
        <Control:VerticalControl.kiPitchMass />
        <Units:reciprocal_second />
        <Value>0.00075</Value>
    </Assign>
    <Assign>
        <Parallel />
        <Control:VerticalControl.kdPitchMass />
        <Units:second />
        <Value>0</Value>
    </Assign>
    <Assign>
        <Parallel />
        <Control:VerticalControl.massDeadband />
        <Arg Name="InsertMassDeadband" />
    </Assign>
    <Assign>
        <Parallel />
        <Control:VerticalControl.depthDeadband />
        <Arg Name="InsertDepthDeadband" />
    </Assign>
    <Syslog Severity="Info">
        Going to target depth. Speed set to 
        <Arg Name="InsertApproachSpeed" />
        <Units:meter_per_second />
    </Syslog>
    <Aggregate Id="GoToTargetDepth">
        <Sequence />
        <Assign>
            <Parallel />
            <Control:VerticalControl.pitchLimit />
            <Arg Name="InsertApproachPitchLimit" />
        </Assign>
        <Aggregate Id="ActuatorHold">
            <While>
                <Arg Name="InsertApproachSpeed" />
                <Gt>
                    <Units:meter_per_second />
                    <Value>0</Value>
                </Gt>
            </While>
            <Guidance:Point>
                <Parallel />
                <Setting>
                    <Guidance:Point.rudderAngle />
                    <Units:degree />
                    <Value>13</Value>
                </Setting>
            </Guidance:Point>
            <Guidance:Buoyancy>
                <Parallel />
                <Setting>
                    <Guidance:Buoyancy.position />
                    <Control:VerticalControl.buoyancyNeutral />
                </Setting>
            </Guidance:Buoyancy>
            <Guidance:Pitch>
                <Parallel />
                <Setting>
                    <Guidance:Pitch.massPosition />
                    <Control:VerticalControl.massDefault />
                </Setting>
            </Guidance:Pitch>
        </Aggregate>
        <Aggregate Id="WaitPreDive">
            <Sequence />
            <Break>
                <Arg Name="InsertApproachSettleTimePreDive" />
                <Le>
                    <Units:minute />
                    <Value>0</Value>
                </Le>
            </Break>
            <Syslog Severity="Info">
                Waiting for 
                <Arg Name="InsertApproachSettleTimePreDive" />
                <Units:minute />
                while pumping down to neutral.
            </Syslog>
            <Guidance:Wait>
                <Sequence />
                <Setting>
                    <Guidance:Wait.duration />
                    <Arg Name="InsertApproachSettleTimePreDive" />
                </Setting>
            </Guidance:Wait>
        </Aggregate>
        <Aggregate Id="ApproachDepth">
            <Sequence />
            <Syslog>
                Moving to 
                <Arg Name="InsertDepth" />
                <Units:meter />
            </Syslog>
            <Guidance:SetSpeed>
                <Parallel />
                <Setting>
                    <Guidance:SetSpeed.speed />
                    <Arg Name="InsertApproachSpeed" />
                </Setting>
            </Guidance:SetSpeed>
            <Guidance:Pitch>
                <Sequence />
                <Timeout Duration="InsertApproachDepthTimeout">
                    <Syslog Severity="Important">
                        Timed out trying to reach the target depth. Stopping mission at current depth of 
                        <Universal:depth />
                        <Units:meter />
                    </Syslog>
                    <Guidance:Execute>
                        <Sequence />
                        <Setting>
                            <Guidance:Execute.command />
                            <String>stop</String>
                        </Setting>
                    </Guidance:Execute>
                </Timeout>
                <Setting>
                    <Guidance:Pitch.depth />
                    <Arg Name="InsertDepth" />
                </Setting>
                <Setting>
                    <Guidance:Pitch.depthRate />
                    <Arg Name="InsertApproachDepthRate" />
                </Setting>
            </Guidance:Pitch>
        </Aggregate>
    </Aggregate>
    <Aggregate Id="BallastAndTrimAtTargetDepth">
        <Sequence />
        <Guidance:SetSpeed>
            <Parallel />
            <Setting>
                <Guidance:SetSpeed.speed />
                <Units:meter_per_second />
                <Value>0</Value>
            </Setting>
        </Guidance:SetSpeed>
        <Guidance:Pitch>
            <Parallel />
            <Setting>
                <Guidance:Pitch.depth />
                <Arg Name="InsertDepth" />
            </Setting>
        </Guidance:Pitch>
        <Syslog Severity="Info">
            Waiting for the vehicle to settle. Depth = 
            <Universal:depth />
            <Units:meter />
        </Syslog>
        <Guidance:Wait>
            <Sequence />
            <Setting>
                <Guidance:Wait.duration />
                <Arg Name="InsertSettleTime" />
            </Setting>
        </Guidance:Wait>
        <Guidance:Execute>
            <Sequence />
            <Setting>
                <Guidance:Execute.command />
                <String>gfscan</String>
            </Setting>
        </Guidance:Execute>
        <Syslog Severity="Info">
            Running ballast and trim. Depth = 
            <Universal:depth />
            <Units:meter />
        </Syslog>
        <Estimation:BallastAndTrim>
            <Sequence />
            <Setting>
                <Estimation:BallastAndTrim.estimationTimeout />
                <Arg Name="EstTimeout" />
            </Setting>
            <Setting>
                <Estimation:BallastAndTrim.minEstimationTime />
                <Arg Name="MinEstTime" />
            </Setting>
            <Setting>
                <Estimation:BallastAndTrim.massErrorBound />
                <Arg Name="MassEstErrorBound" />
            </Setting>
            <Setting>
                <Estimation:BallastAndTrim.buoyErrorBound />
                <Arg Name="BuoyEstErrorBound" />
            </Setting>
            <Setting>
                <Estimation:BallastAndTrim.confidenceLevel />
                <Arg Name="EstConfidence" />
            </Setting>
        </Estimation:BallastAndTrim>
    </Aggregate>
</Aggregate>

2025-03-12T02:24:42.592Z,1741746282.592 [MissionManager](INFO): DefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertDepth = 25.000000 m
2025-03-12T02:24:42.603Z,1741746282.603 [MissionManager](INFO): DefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertApproachSpeed = 0.000000 m/s
2025-03-12T02:24:42.607Z,1741746282.607 [MissionManager](INFO): DefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertApproachDepthRate = 0.400000 m/s
2025-03-12T02:24:42.619Z,1741746282.619 [MissionManager](INFO): DefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertApproachPitchLimit = 20.000000 arcdeg
2025-03-12T02:24:42.626Z,1741746282.626 [MissionManager](INFO): DefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertApproachSettleTimePreDive = 0.000000 min
2025-03-12T02:24:42.629Z,1741746282.629 [MissionManager](INFO): DefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertApproachDepthTimeout = 20.000000 min
2025-03-12T02:24:42.637Z,1741746282.637 [MissionManager](INFO): DefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertSettleTime = 10.000000 min
2025-03-12T02:24:42.645Z,1741746282.645 [MissionManager](INFO): DefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.EstTimeout = 45.000000 min
2025-03-12T02:24:42.648Z,1741746282.648 [MissionManager](INFO): DefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.MinEstTime = 10.000000 min
2025-03-12T02:24:42.660Z,1741746282.660 [MissionManager](INFO): DefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.MassEstErrorBound = 0.250000 mm
2025-03-12T02:24:42.667Z,1741746282.667 [MissionManager](INFO): DefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.BuoyEstErrorBound = 15.000000 cc
2025-03-12T02:24:42.672Z,1741746282.672 [MissionManager](INFO): DefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.EstConfidence = 99.900002 %
2025-03-12T02:24:42.683Z,1741746282.683 [MissionManager](INFO): DefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertDepthDeadband = 1.000000 m
2025-03-12T02:24:42.691Z,1741746282.691 [MissionManager](INFO): DefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertMassDeadband = 0.250000 mm
2025-03-12T02:24:42.735Z,1741746282.735 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold:A.Point](DEBUG): Construct.
2025-03-12T02:24:42.751Z,1741746282.751 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold:B.Buoyancy](DEBUG): Construct Buoyancy.
2025-03-12T02:24:42.759Z,1741746282.759 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold:C.Pitch](DEBUG): Construct.
2025-03-12T02:24:42.784Z,1741746282.784 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:WaitPreDive:B.Wait](DEBUG): Construct Wait.
2025-03-12T02:24:42.792Z,1741746282.792 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth:B.SetSpeed](DEBUG): Construct.
2025-03-12T02:24:42.797Z,1741746282.797 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth:C.Pitch](DEBUG): Construct.
2025-03-12T02:24:42.842Z,1741746282.842 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth:C.Pitch:A_Timeout:B.Execute](DEBUG): Construct Execute.
2025-03-12T02:24:42.854Z,1741746282.854 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:A.SetSpeed](DEBUG): Construct.
2025-03-12T02:24:42.866Z,1741746282.866 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:B.Pitch](DEBUG): Construct.
2025-03-12T02:24:42.893Z,1741746282.893 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:D.Wait](DEBUG): Construct Wait.
2025-03-12T02:24:42.900Z,1741746282.900 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:E.Execute](DEBUG): Construct Execute.
2025-03-12T02:24:42.915Z,1741746282.915 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:G.](DEBUG): Construct BallastAndTrim.
2025-03-12T02:24:42.961Z,1741746282.961 [MissionManager](INFO): RedefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertDepthDeadband = reader:ballast_and_trim.DepthDeadband
2025-03-12T02:24:42.963Z,1741746282.963 [MissionManager](INFO): RedefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertApproachSpeed = reader:ballast_and_trim.ApproachSpeed
2025-03-12T02:24:42.965Z,1741746282.965 [MissionManager](INFO): RedefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertApproachDepthRate = reader:ballast_and_trim.ApproachDepthRate
2025-03-12T02:24:42.977Z,1741746282.977 [MissionManager](INFO): RedefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertApproachPitchLimit = reader:ballast_and_trim.ApproachPitchLimit
2025-03-12T02:24:42.979Z,1741746282.979 [MissionManager](INFO): RedefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertApproachSettleTimePreDive = reader:ballast_and_trim.ApproachSettleTimePreDive
2025-03-12T02:24:42.981Z,1741746282.981 [MissionManager](INFO): RedefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertApproachDepthTimeout = reader:ballast_and_trim.ApproachDepthTimeout
2025-03-12T02:24:42.983Z,1741746282.983 [MissionManager](INFO): RedefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertSettleTime = reader:ballast_and_trim.SettleTime
2025-03-12T02:24:42.985Z,1741746282.985 [MissionManager](INFO): RedefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.EstTimeout = reader:ballast_and_trim.EstimationTimeout
2025-03-12T02:24:43.007Z,1741746283.007 [MissionManager](INFO): RedefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.MinEstTime = reader:ballast_and_trim.MinEstimationTime
2025-03-12T02:24:43.009Z,1741746283.009 [MissionManager](INFO): RedefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.MassEstErrorBound = reader:ballast_and_trim.MassEstimationErrorBound
2025-03-12T02:24:43.011Z,1741746283.011 [MissionManager](INFO): RedefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.BuoyEstErrorBound = reader:ballast_and_trim.BuoyEstimationErrorBound
2025-03-12T02:24:43.013Z,1741746283.013 [MissionManager](INFO): RedefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.EstConfidence = reader:ballast_and_trim.EstimationConfidence
2025-03-12T02:24:43.015Z,1741746283.015 [MissionManager](INFO): RedefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertMassDeadband = reader:ballast_and_trim.massDeadband
2025-03-12T02:24:43.147Z,1741746283.147 [MissionManager](DEBUG): 
#   Copyright (c) 2024 MBARI
#   MBARI Proprietary Information. Confidential. All Rights Reserved
#   Unauthorized copying or distribution of this file via any medium is strictly
#   prohibited.
#
#   WARNING - This file contains information whose export is restricted by the
#   Export Administration Act of 1979 (Title 50, U.S.C., App. 2401 et seq.), as
#   amended. Violations of these export laws are subject to severe civil and/or
#   criminal penalties.

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

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

    Depth1 = 35 meter

    Depth2 = NaN meter

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

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

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

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

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

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

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

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

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

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

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

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

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

    MinAltitude = 5 meter

    MaxDepth = 52 meter

    MinOffshore = 2 kilometer

    CheckDepths = 1 bool
  }

  timeout duration=MissionTimeout

  insert Insert/Science.tl

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

  insert Insert/StandardEnvelopes.tl

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

  insert Insert/BackseatDriver.tl

  insert Insert/PowerOnly.tl

  aggregate CheckTargetDepths {
    run in sequence

    break if ( not ( CheckDepths ) )

    aggregate CheckDepth1 {
      run in sequence

      break if ( not ( Depth1 > MaxDepth ) )

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

      behavior Guidance:Execute {
        run in sequence

        set command = "stop"
      }
    }

    aggregate CheckDepth2 {
      run in sequence

      break if ( not ( Depth2 > MaxDepth ) )

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

      behavior Guidance:Execute {
        run in sequence

        set command = "stop"
      }
    }

    assign in sequence CheckDepths = 0 bool
  }

  aggregate StartingMission {
    run in sequence

    break if ( SkipComms )

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

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

  aggregate RunBallastAndTrim {
    run in sequence

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

    aggregate RunDepth1 {
      run in sequence

      break if ( isNaN ( Depth1 ) )

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

    aggregate RunDepth2 {
      run in sequence

      break if ( isNaN ( Depth2 ) )

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

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


2025-03-12T02:24:43.152Z,1741746283.152 [CommandExec](IMPORTANT): Running ./Missions/Maintenance/ballast_and_trim.tl
2025-03-12T02:24:43.154Z,1741746283.154 [CommandExec](IMPORTANT): got command schedule resume
2025-03-12T02:24:43.154Z,1741746283.154 [CommandExec](IMPORTANT): Scheduling is resumed
2025-03-12T02:24:43.251Z,1741746283.251 [Default] Stopped
2025-03-12T02:24:43.251Z,1741746283.251 [Default](DEBUG): Aggregate::uninitialize Default
2025-03-12T02:24:43.252Z,1741746283.252 [Default:B.GoToSurface] Stopped
2025-03-12T02:24:43.252Z,1741746283.252 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-03-12T02:24:43.252Z,1741746283.252 [Default:CheckIn] Stopped
2025-03-12T02:24:43.252Z,1741746283.252 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-03-12T02:24:43.252Z,1741746283.252 [Default:CheckIn:C.Wait] Stopped
2025-03-12T02:24:43.252Z,1741746283.252 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2025-03-12T02:24:43.252Z,1741746283.252 [MissionManager](IMPORTANT): Started mission ballast_and_trim
2025-03-12T02:24:43.252Z,1741746283.252 [ballast_and_trim] Running Loop=1
2025-03-12T02:24:43.253Z,1741746283.253 [ballast_and_trim](DEBUG): Aggregate::initialize ballast_and_trim
2025-03-12T02:24:43.253Z,1741746283.253 [ballast_and_trim:Science] Running Loop=1
2025-03-12T02:24:43.253Z,1741746283.253 [ballast_and_trim:Science](DEBUG): Aggregate::initialize ballast_and_trim:Science
2025-03-12T02:24:43.253Z,1741746283.253 [ballast_and_trim:Science:A] Running Loop=1
2025-03-12T02:24:43.253Z,1741746283.253 [ballast_and_trim:Science:B] Running Loop=1
2025-03-12T02:24:43.253Z,1741746283.253 [ballast_and_trim:Science:C] Running Loop=1
2025-03-12T02:24:43.253Z,1741746283.253 [ballast_and_trim:Science:D] Running Loop=1
2025-03-12T02:24:43.253Z,1741746283.253 [ballast_and_trim:Science:E] Running Loop=1
2025-03-12T02:24:43.253Z,1741746283.253 [ballast_and_trim:Science:F] Running Loop=1
2025-03-12T02:24:43.253Z,1741746283.253 [ballast_and_trim:Science:Read_Oil] Running Loop=1
2025-03-12T02:24:43.253Z,1741746283.253 [ballast_and_trim:Science:PeakDetectChl] Running Loop=1
2025-03-12T02:24:43.253Z,1741746283.253 [ballast_and_trim:Science:PeakDetectChl](DEBUG): Aggregate::initialize ballast_and_trim:Science:PeakDetectChl
2025-03-12T02:24:43.253Z,1741746283.253 [ballast_and_trim:Science:PeakDetectChl:A] Running Loop=1
2025-03-12T02:24:43.254Z,1741746283.254 [ballast_and_trim:Science:EdgeDetectChl] Running Loop=1
2025-03-12T02:24:43.254Z,1741746283.254 [ballast_and_trim:Science:EdgeDetectChl](DEBUG): Aggregate::initialize ballast_and_trim:Science:EdgeDetectChl
2025-03-12T02:24:43.258Z,1741746283.258 [ballast_and_trim:Science:EdgeDetectChl:A] Running Loop=1
2025-03-12T02:24:43.258Z,1741746283.258 [ballast_and_trim:Science:HighestChlPeakReport] Running Loop=1
2025-03-12T02:24:43.258Z,1741746283.258 [ballast_and_trim:Science:HighestChlPeakReport](DEBUG): Aggregate::initialize ballast_and_trim:Science:HighestChlPeakReport
2025-03-12T02:24:43.258Z,1741746283.258 [ballast_and_trim:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-03-12T02:24:43.258Z,1741746283.258 [ballast_and_trim:Science:HighestChlPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-03-12T02:24:43.259Z,1741746283.259 [ballast_and_trim:Science:PeakDetectNO3] Running Loop=1
2025-03-12T02:24:43.261Z,1741746283.261 [ballast_and_trim:Science:PeakDetectNO3](DEBUG): Aggregate::initialize ballast_and_trim:Science:PeakDetectNO3
2025-03-12T02:24:43.261Z,1741746283.261 [ballast_and_trim:Science:PeakDetectNO3:A] Running Loop=1
2025-03-12T02:24:43.261Z,1741746283.261 [ballast_and_trim:Science:PeakDetectOil] Running Loop=1
2025-03-12T02:24:43.261Z,1741746283.261 [ballast_and_trim:Science:PeakDetectOil](DEBUG): Aggregate::initialize ballast_and_trim:Science:PeakDetectOil
2025-03-12T02:24:43.261Z,1741746283.261 [ballast_and_trim:Science:PeakDetectOil:A] Running Loop=1
2025-03-12T02:24:43.262Z,1741746283.262 [ballast_and_trim:Science:HighestOilPeakReport] Running Loop=1
2025-03-12T02:24:43.262Z,1741746283.262 [ballast_and_trim:Science:HighestOilPeakReport](DEBUG): Aggregate::initialize ballast_and_trim:Science:HighestOilPeakReport
2025-03-12T02:24:43.262Z,1741746283.262 [ballast_and_trim:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-03-12T02:24:43.271Z,1741746283.271 [ballast_and_trim:Science:HighestOilPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-03-12T02:24:43.292Z,1741746283.292 [ballast_and_trim:Science:PeakDetectFDOM] Running Loop=1
2025-03-12T02:24:43.293Z,1741746283.293 [ballast_and_trim:Science:PeakDetectFDOM](DEBUG): Aggregate::initialize ballast_and_trim:Science:PeakDetectFDOM
2025-03-12T02:24:43.294Z,1741746283.294 [ballast_and_trim:Science:PeakDetectFDOM:A] Running Loop=1
2025-03-12T02:24:43.294Z,1741746283.294 [ballast_and_trim:Science:PeakDetectSalinity] Running Loop=1
2025-03-12T02:24:43.294Z,1741746283.294 [ballast_and_trim:Science:PeakDetectSalinity](DEBUG): Aggregate::initialize ballast_and_trim:Science:PeakDetectSalinity
2025-03-12T02:24:43.295Z,1741746283.295 [ballast_and_trim:Science:PeakDetectSalinity:A] Running Loop=1
2025-03-12T02:24:43.295Z,1741746283.295 [ballast_and_trim:Science:HighestSaltPeakReport] Running Loop=1
2025-03-12T02:24:43.295Z,1741746283.295 [ballast_and_trim:Science:HighestSaltPeakReport](DEBUG): Aggregate::initialize ballast_and_trim:Science:HighestSaltPeakReport
2025-03-12T02:24:43.295Z,1741746283.295 [ballast_and_trim:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-03-12T02:24:43.295Z,1741746283.295 [ballast_and_trim:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-03-12T02:24:43.295Z,1741746283.295 [ballast_and_trim:Science:PeakDetectPlanktivoreLMavgROI] Running Loop=1
2025-03-12T02:24:43.296Z,1741746283.296 [ballast_and_trim:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::initialize ballast_and_trim:Science:PeakDetectPlanktivoreLMavgROI
2025-03-12T02:24:43.296Z,1741746283.296 [ballast_and_trim:Science:PeakDetectPlanktivoreLMavgROI:A] Running Loop=1
2025-03-12T02:24:43.296Z,1741746283.296 [ballast_and_trim:Science:EdgeDetectPlanktivoreLMavgROI] Running Loop=1
2025-03-12T02:24:43.296Z,1741746283.296 [ballast_and_trim:Science:EdgeDetectPlanktivoreLMavgROI](DEBUG): Aggregate::initialize ballast_and_trim:Science:EdgeDetectPlanktivoreLMavgROI
2025-03-12T02:24:43.296Z,1741746283.296 [ballast_and_trim:Science:EdgeDetectPlanktivoreLMavgROI:A] Running Loop=1
2025-03-12T02:24:43.296Z,1741746283.296 [ballast_and_trim:Science:PeakDetectPlanktivoreHMavgROI] Running Loop=1
2025-03-12T02:24:43.296Z,1741746283.296 [ballast_and_trim:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::initialize ballast_and_trim:Science:PeakDetectPlanktivoreHMavgROI
2025-03-12T02:24:43.296Z,1741746283.296 [ballast_and_trim:Science:PeakDetectPlanktivoreHMavgROI:A] Running Loop=1
2025-03-12T02:24:43.296Z,1741746283.296 [ballast_and_trim:Science:PeakDetectPlanktivoreDiatoms] Running Loop=1
2025-03-12T02:24:43.296Z,1741746283.296 [ballast_and_trim:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::initialize ballast_and_trim:Science:PeakDetectPlanktivoreDiatoms
2025-03-12T02:24:43.297Z,1741746283.297 [ballast_and_trim:Science:PeakDetectPlanktivoreDiatoms:A] Running Loop=1
2025-03-12T02:24:43.297Z,1741746283.297 [ballast_and_trim:Science:PeakDetectPlanktivoreDinoflagellates] Running Loop=1
2025-03-12T02:24:43.297Z,1741746283.297 [ballast_and_trim:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::initialize ballast_and_trim:Science:PeakDetectPlanktivoreDinoflagellates
2025-03-12T02:24:43.297Z,1741746283.297 [ballast_and_trim:Science:PeakDetectPlanktivoreDinoflagellates:A] Running Loop=1
2025-03-12T02:24:43.297Z,1741746283.297 [ballast_and_trim:Science:ChlThreshTrigger] Running Loop=1
2025-03-12T02:24:43.297Z,1741746283.297 [ballast_and_trim:Science:ChlThreshTrigger](DEBUG): Aggregate::initialize ballast_and_trim:Science:ChlThreshTrigger
2025-03-12T02:24:43.298Z,1741746283.298 [ballast_and_trim:Science:ChlThreshTrigger:A.ValueDetect] Running Loop=1
2025-03-12T02:24:43.298Z,1741746283.298 [ballast_and_trim:Science:ChlThreshTrigger:A.ValueDetect](INFO): Initialize.
2025-03-12T02:24:43.318Z,1741746283.318 [ballast_and_trim:Science:OceanCurrent] Running Loop=1
2025-03-12T02:24:43.319Z,1741746283.319 [ballast_and_trim:Science:OceanCurrent](DEBUG): Aggregate::initialize ballast_and_trim:Science:OceanCurrent
2025-03-12T02:24:43.319Z,1741746283.319 [ballast_and_trim:Science:OceanCurrent:A.] Running Loop=1
2025-03-12T02:24:43.319Z,1741746283.319 [ballast_and_trim:Science:OceanCurrent:A.](INFO): Initializing CurrentEstimator.
2025-03-12T02:24:43.319Z,1741746283.319 [ballast_and_trim:StandardEnvelopes] Running Loop=1
2025-03-12T02:24:43.319Z,1741746283.319 [ballast_and_trim:StandardEnvelopes](DEBUG): Aggregate::initialize ballast_and_trim:StandardEnvelopes
2025-03-12T02:24:43.319Z,1741746283.319 [ballast_and_trim:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-03-12T02:24:43.319Z,1741746283.319 [ballast_and_trim:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-03-12T02:24:43.319Z,1741746283.319 [ballast_and_trim:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-03-12T02:24:43.319Z,1741746283.319 [ballast_and_trim:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-03-12T02:24:43.319Z,1741746283.319 [ballast_and_trim:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-03-12T02:24:43.319Z,1741746283.319 [ballast_and_trim:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-03-12T02:24:43.320Z,1741746283.320 [ballast_and_trim:BackseatDriver] Running Loop=1
2025-03-12T02:24:43.320Z,1741746283.320 [ballast_and_trim:BackseatDriver](DEBUG): Aggregate::initialize ballast_and_trim:BackseatDriver
2025-03-12T02:24:43.320Z,1741746283.320 [ballast_and_trim:BackseatDriver:A.BackseatDriver] Running Loop=1
2025-03-12T02:24:43.320Z,1741746283.320 [ballast_and_trim:PowerOnly] Running Loop=1
2025-03-12T02:24:43.320Z,1741746283.320 [ballast_and_trim:PowerOnly](DEBUG): Aggregate::initialize ballast_and_trim:PowerOnly
2025-03-12T02:24:43.320Z,1741746283.320 [ballast_and_trim:PowerOnly:A] Running Loop=1
2025-03-12T02:24:43.320Z,1741746283.320 [ballast_and_trim:PowerOnly:B] Running Loop=1
2025-03-12T02:24:43.320Z,1741746283.320 [ballast_and_trim:PowerOnly:C] Running Loop=1
2025-03-12T02:24:43.320Z,1741746283.320 [ballast_and_trim:PowerOnly:D] Running Loop=1
2025-03-12T02:24:43.320Z,1741746283.320 [ballast_and_trim:PowerOnly:E.Wait] Running Loop=1
2025-03-12T02:24:43.320Z,1741746283.320 [ballast_and_trim:PowerOnly:E.Wait](DEBUG): Initialize Wait Component.
2025-03-12T02:24:43.321Z,1741746283.321 [ballast_and_trim:C] Running Loop=1
2025-03-12T02:24:43.321Z,1741746283.321 [ballast_and_trim:PowerOnly] Running Loop=1
2025-03-12T02:24:43.322Z,1741746283.322 [ballast_and_trim:PowerOnly:D] Stopped
2025-03-12T02:24:43.322Z,1741746283.322 [ballast_and_trim:PowerOnly:C] Stopped
2025-03-12T02:24:43.322Z,1741746283.322 [ballast_and_trim:PowerOnly:B] Stopped
2025-03-12T02:24:43.330Z,1741746283.330 [ballast_and_trim:PowerOnly:A] Stopped
2025-03-12T02:24:43.330Z,1741746283.330 [ballast_and_trim:BackseatDriver] Running Loop=1
2025-03-12T02:24:43.330Z,1741746283.330 [ballast_and_trim:StandardEnvelopes] Running Loop=1
2025-03-12T02:24:43.330Z,1741746283.330 [ballast_and_trim:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-03-12T02:24:43.331Z,1741746283.331 [ballast_and_trim:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-03-12T02:24:43.331Z,1741746283.331 [ballast_and_trim:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-03-12T02:24:43.331Z,1741746283.331 [ballast_and_trim:C] Stopped
2025-03-12T02:24:43.332Z,1741746283.332 [ballast_and_trim:E] Running Loop=1
2025-03-12T02:24:43.332Z,1741746283.332 [ballast_and_trim:Science] Running Loop=1
2025-03-12T02:24:43.333Z,1741746283.333 [ballast_and_trim:Science:ChlThreshTrigger] Stopped
2025-03-12T02:24:43.333Z,1741746283.333 [ballast_and_trim:Science:ChlThreshTrigger](DEBUG): Aggregate::uninitialize ballast_and_trim:Science:ChlThreshTrigger
2025-03-12T02:24:43.333Z,1741746283.333 [ballast_and_trim:Science:ChlThreshTrigger:A.ValueDetect] Stopped
2025-03-12T02:24:43.333Z,1741746283.333 [ballast_and_trim:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Uninitialize.
2025-03-12T02:24:43.333Z,1741746283.333 [ballast_and_trim:Science:PeakDetectPlanktivoreDinoflagellates] Stopped
2025-03-12T02:24:43.333Z,1741746283.333 [ballast_and_trim:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::uninitialize ballast_and_trim:Science:PeakDetectPlanktivoreDinoflagellates
2025-03-12T02:24:43.334Z,1741746283.334 [ballast_and_trim:Science:PeakDetectPlanktivoreDinoflagellates:A] Stopped
2025-03-12T02:24:43.334Z,1741746283.334 [ballast_and_trim:Science:PeakDetectPlanktivoreDiatoms] Stopped
2025-03-12T02:24:43.334Z,1741746283.334 [ballast_and_trim:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::uninitialize ballast_and_trim:Science:PeakDetectPlanktivoreDiatoms
2025-03-12T02:24:43.334Z,1741746283.334 [ballast_and_trim:Science:PeakDetectPlanktivoreDiatoms:A] Stopped
2025-03-12T02:24:43.354Z,1741746283.354 [ballast_and_trim:Science:PeakDetectPlanktivoreHMavgROI] Stopped
2025-03-12T02:24:43.354Z,1741746283.354 [ballast_and_trim:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::uninitialize ballast_and_trim:Science:PeakDetectPlanktivoreHMavgROI
2025-03-12T02:24:43.354Z,1741746283.354 [ballast_and_trim:Science:PeakDetectPlanktivoreHMavgROI:A] Stopped
2025-03-12T02:24:43.354Z,1741746283.354 [ballast_and_trim:Science:EdgeDetectPlanktivoreLMavgROI] Stopped
2025-03-12T02:24:43.354Z,1741746283.354 [ballast_and_trim:Science:EdgeDetectPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize ballast_and_trim:Science:EdgeDetectPlanktivoreLMavgROI
2025-03-12T02:24:43.354Z,1741746283.354 [ballast_and_trim:Science:EdgeDetectPlanktivoreLMavgROI:A] Stopped
2025-03-12T02:24:43.354Z,1741746283.354 [ballast_and_trim:Science:PeakDetectPlanktivoreLMavgROI] Stopped
2025-03-12T02:24:43.355Z,1741746283.355 [ballast_and_trim:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize ballast_and_trim:Science:PeakDetectPlanktivoreLMavgROI
2025-03-12T02:24:43.355Z,1741746283.355 [ballast_and_trim:Science:PeakDetectPlanktivoreLMavgROI:A] Stopped
2025-03-12T02:24:43.355Z,1741746283.355 [ballast_and_trim:Science:HighestSaltPeakReport] Stopped
2025-03-12T02:24:43.356Z,1741746283.356 [ballast_and_trim:Science:HighestSaltPeakReport](DEBUG): Aggregate::uninitialize ballast_and_trim:Science:HighestSaltPeakReport
2025-03-12T02:24:43.356Z,1741746283.356 [ballast_and_trim:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Stopped
2025-03-12T02:24:43.356Z,1741746283.356 [ballast_and_trim:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-03-12T02:24:43.356Z,1741746283.356 [ballast_and_trim:Science:PeakDetectSalinity] Stopped
2025-03-12T02:24:43.356Z,1741746283.356 [ballast_and_trim:Science:PeakDetectSalinity](DEBUG): Aggregate::uninitialize ballast_and_trim:Science:PeakDetectSalinity
2025-03-12T02:24:43.356Z,1741746283.356 [ballast_and_trim:Science:PeakDetectSalinity:A] Stopped
2025-03-12T02:24:43.356Z,1741746283.356 [ballast_and_trim:Science:PeakDetectFDOM] Stopped
2025-03-12T02:24:43.357Z,1741746283.357 [ballast_and_trim:Science:PeakDetectFDOM](DEBUG): Aggregate::uninitialize ballast_and_trim:Science:PeakDetectFDOM
2025-03-12T02:24:43.357Z,1741746283.357 [ballast_and_trim:Science:PeakDetectFDOM:A] Stopped
2025-03-12T02:24:43.357Z,1741746283.357 [ballast_and_trim:Science:HighestOilPeakReport] Stopped
2025-03-12T02:24:43.357Z,1741746283.357 [ballast_and_trim:Science:HighestOilPeakReport](DEBUG): Aggregate::uninitialize ballast_and_trim:Science:HighestOilPeakReport
2025-03-12T02:24:43.357Z,1741746283.357 [ballast_and_trim:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Stopped
2025-03-12T02:24:43.357Z,1741746283.357 [ballast_and_trim:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-03-12T02:24:43.357Z,1741746283.357 [ballast_and_trim:Science:PeakDetectOil] Stopped
2025-03-12T02:24:43.357Z,1741746283.357 [ballast_and_trim:Science:PeakDetectOil](DEBUG): Aggregate::uninitialize ballast_and_trim:Science:PeakDetectOil
2025-03-12T02:24:43.357Z,1741746283.357 [ballast_and_trim:Science:PeakDetectOil:A] Stopped
2025-03-12T02:24:43.357Z,1741746283.357 [ballast_and_trim:Science:PeakDetectNO3] Stopped
2025-03-12T02:24:43.359Z,1741746283.359 [ballast_and_trim:Science:PeakDetectNO3](DEBUG): Aggregate::uninitialize ballast_and_trim:Science:PeakDetectNO3
2025-03-12T02:24:43.359Z,1741746283.359 [ballast_and_trim:Science:PeakDetectNO3:A] Stopped
2025-03-12T02:24:43.359Z,1741746283.359 [ballast_and_trim:Science:HighestChlPeakReport] Stopped
2025-03-12T02:24:43.359Z,1741746283.359 [ballast_and_trim:Science:HighestChlPeakReport](DEBUG): Aggregate::uninitialize ballast_and_trim:Science:HighestChlPeakReport
2025-03-12T02:24:43.359Z,1741746283.359 [ballast_and_trim:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Stopped
2025-03-12T02:24:43.359Z,1741746283.359 [ballast_and_trim:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-03-12T02:24:43.359Z,1741746283.359 [ballast_and_trim:Science:EdgeDetectChl] Stopped
2025-03-12T02:24:43.359Z,1741746283.359 [ballast_and_trim:Science:EdgeDetectChl](DEBUG): Aggregate::uninitialize ballast_and_trim:Science:EdgeDetectChl
2025-03-12T02:24:43.359Z,1741746283.359 [ballast_and_trim:Science:EdgeDetectChl:A] Stopped
2025-03-12T02:24:43.359Z,1741746283.359 [ballast_and_trim:Science:PeakDetectChl] Stopped
2025-03-12T02:24:43.359Z,1741746283.359 [ballast_and_trim:Science:PeakDetectChl](DEBUG): Aggregate::uninitialize ballast_and_trim:Science:PeakDetectChl
2025-03-12T02:24:43.359Z,1741746283.359 [ballast_and_trim:Science:PeakDetectChl:A] Stopped
2025-03-12T02:24:43.360Z,1741746283.360 [ballast_and_trim:Science:OceanCurrent:A.] Running Loop=1
2025-03-12T02:24:43.360Z,1741746283.360 [ballast_and_trim:Science:Read_Oil] Stopped
2025-03-12T02:24:43.360Z,1741746283.360 [ballast_and_trim:Science:F] Stopped
2025-03-12T02:24:43.360Z,1741746283.360 [ballast_and_trim:Science:E] Running Loop=1
2025-03-12T02:24:43.361Z,1741746283.361 [ballast_and_trim:Science:E](DEBUG): Initialize ReadDataComponent to sense mass_concentration_of_chlorophyll_in_sea_water
2025-03-12T02:24:43.361Z,1741746283.361 [ballast_and_trim:Science:D] Stopped
2025-03-12T02:24:43.361Z,1741746283.361 [ballast_and_trim:Science:C] Running Loop=1
2025-03-12T02:24:43.361Z,1741746283.361 [ballast_and_trim:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_temperature
2025-03-12T02:24:43.369Z,1741746283.369 [ballast_and_trim:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_salinity
2025-03-12T02:24:43.369Z,1741746283.369 [ballast_and_trim:Science:B] Running Loop=1
2025-03-12T02:24:43.371Z,1741746283.371 [ballast_and_trim:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_temperature
2025-03-12T02:24:43.372Z,1741746283.372 [ballast_and_trim:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_salinity
2025-03-12T02:24:43.372Z,1741746283.372 [ballast_and_trim:Science:A] Stopped
2025-03-12T02:24:43.586Z,1741746283.586 [WetLabsBB2FL](INFO): Powering up
2025-03-12T02:24:43.683Z,1741746283.683 [ballast_and_trim:E] Stopped
2025-03-12T02:24:43.683Z,1741746283.683 [ballast_and_trim:F] Running Loop=1
2025-03-12T02:24:44.059Z,1741746284.059 [ballast_and_trim:F] Stopped
2025-03-12T02:24:44.059Z,1741746284.059 [ballast_and_trim:G] Running Loop=1
2025-03-12T02:24:44.454Z,1741746284.454 [ballast_and_trim:G] Stopped
2025-03-12T02:24:44.455Z,1741746284.455 [ballast_and_trim:CheckTargetDepths] Running Loop=1
2025-03-12T02:24:44.455Z,1741746284.455 [ballast_and_trim:CheckTargetDepths](DEBUG): Aggregate::initialize ballast_and_trim:CheckTargetDepths
2025-03-12T02:24:44.456Z,1741746284.456 [ballast_and_trim:CheckTargetDepths:CheckDepth1] Running Loop=1
2025-03-12T02:24:44.456Z,1741746284.456 [ballast_and_trim:CheckTargetDepths:CheckDepth1](DEBUG): Aggregate::initialize ballast_and_trim:CheckTargetDepths:CheckDepth1
2025-03-12T02:24:44.456Z,1741746284.456 [ballast_and_trim:CheckTargetDepths:CheckDepth1:A] Running Loop=1
2025-03-12T02:24:44.878Z,1741746284.878 [ballast_and_trim:CheckTargetDepths:CheckDepth1] Stopped
2025-03-12T02:24:44.878Z,1741746284.878 [ballast_and_trim:CheckTargetDepths:CheckDepth1](DEBUG): Aggregate::uninitialize ballast_and_trim:CheckTargetDepths:CheckDepth1
2025-03-12T02:24:44.878Z,1741746284.878 [ballast_and_trim:CheckTargetDepths:CheckDepth1:A] Stopped
2025-03-12T02:24:44.882Z,1741746284.882 [ballast_and_trim:CheckTargetDepths:CheckDepth2] Running Loop=1
2025-03-12T02:24:44.882Z,1741746284.882 [ballast_and_trim:CheckTargetDepths:CheckDepth2](DEBUG): Aggregate::initialize ballast_and_trim:CheckTargetDepths:CheckDepth2
2025-03-12T02:24:44.882Z,1741746284.882 [ballast_and_trim:CheckTargetDepths:CheckDepth2:A] Running Loop=1
2025-03-12T02:24:45.291Z,1741746285.291 [ballast_and_trim:CheckTargetDepths:CheckDepth2] Stopped
2025-03-12T02:24:45.292Z,1741746285.292 [ballast_and_trim:CheckTargetDepths:CheckDepth2](DEBUG): Aggregate::uninitialize ballast_and_trim:CheckTargetDepths:CheckDepth2
2025-03-12T02:24:45.292Z,1741746285.292 [ballast_and_trim:CheckTargetDepths:CheckDepth2:A] Stopped
2025-03-12T02:24:45.292Z,1741746285.292 [ballast_and_trim:CheckTargetDepths:C] Running Loop=1
2025-03-12T02:24:45.671Z,1741746285.671 [ballast_and_trim:CheckTargetDepths:C] Stopped
2025-03-12T02:24:45.671Z,1741746285.671 [ballast_and_trim:CheckTargetDepths](INFO): Completed ballast_and_trim:CheckTargetDepths
2025-03-12T02:24:45.671Z,1741746285.671 [ballast_and_trim:CheckTargetDepths] Stopped
2025-03-12T02:24:45.671Z,1741746285.671 [ballast_and_trim:CheckTargetDepths](DEBUG): Aggregate::uninitialize ballast_and_trim:CheckTargetDepths
2025-03-12T02:24:45.672Z,1741746285.672 [ballast_and_trim:StartingMission] Running Loop=1
2025-03-12T02:24:45.672Z,1741746285.672 [ballast_and_trim:StartingMission](DEBUG): Aggregate::initialize ballast_and_trim:StartingMission
2025-03-12T02:24:45.672Z,1741746285.672 [ballast_and_trim:StartingMission:A] Running Loop=1
2025-03-12T02:24:45.876Z,1741746285.876 [CTD_Seabird](ERROR): Pressure reading out of range: -10.100000 decibar
2025-03-12T02:24:45.877Z,1741746285.877 [CTD_Seabird](INFO): some bad data, not updating bins
2025-03-12T02:24:46.087Z,1741746286.087 [ballast_and_trim:StartingMission:A](INFO): Checking for additional instructions before submerging.
2025-03-12T02:24:46.087Z,1741746286.087 [ballast_and_trim:StartingMission:A] Stopped
2025-03-12T02:24:46.087Z,1741746286.087 [ballast_and_trim:StartingMission:StartingMission] Running Loop=1
2025-03-12T02:24:46.087Z,1741746286.087 [ballast_and_trim:StartingMission:StartingMission](DEBUG): Aggregate::initialize ballast_and_trim:StartingMission:StartingMission
2025-03-12T02:24:46.495Z,1741746286.495 [ballast_and_trim:NeedComms] Running Loop=1
2025-03-12T02:24:46.495Z,1741746286.495 [ballast_and_trim:NeedComms](DEBUG): Aggregate::initialize ballast_and_trim:NeedComms
2025-03-12T02:24:46.495Z,1741746286.495 [ballast_and_trim:NeedComms:B.GoToSurface] Running Loop=1
2025-03-12T02:24:46.495Z,1741746286.495 [ballast_and_trim:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-03-12T02:24:46.495Z,1741746286.495 [ballast_and_trim:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-03-12T02:24:46.496Z,1741746286.496 [ballast_and_trim:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-03-12T02:24:46.496Z,1741746286.496 [ballast_and_trim:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-03-12T02:24:46.496Z,1741746286.496 [ballast_and_trim:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-03-12T02:24:46.497Z,1741746286.497 [ballast_and_trim:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-03-12T02:24:46.497Z,1741746286.497 [ballast_and_trim:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-03-12T02:24:46.497Z,1741746286.497 [ballast_and_trim:NeedComms:A] Running Loop=1
2025-03-12T02:24:46.503Z,1741746286.503 [ballast_and_trim:NeedComms:A](INFO): last time_fix was:  1741746120.000000 second since 1970/01/01T00:00:00Z 
2025-03-12T02:24:46.503Z,1741746286.503 [ballast_and_trim:NeedComms:A] Stopped
2025-03-12T02:24:46.908Z,1741746286.908 [ballast_and_trim:NeedComms:C] Running Loop=1
2025-03-12T02:24:47.289Z,1741746287.289 [ballast_and_trim:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-03-12T02:24:48.893Z,1741746288.893 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,022448.00,A,3647.95723,N,12150.34070,W,0.253,272.86,120325,,,A*75
2025-03-12T02:24:48.895Z,1741746288.895 [NAL9602](INFO): GPS fix at 20250312T022448: (36.799287, -121.839012)
2025-03-12T02:24:48.907Z,1741746288.907 [ballast_and_trim:NeedComms:C] Stopped
2025-03-12T02:24:48.907Z,1741746288.907 [ballast_and_trim:NeedComms:D] Running Loop=1
2025-03-12T02:24:49.046Z,1741746289.046 [DataOverHttps](INFO): Received command: sched "run Maintenance/calibrate_sparton_compass.tl"
2025-03-12T02:24:49.100Z,1741746289.100 [CommandExec](IMPORTANT): got command schedule "run Maintenance/calibrate_sparton_compass.tl"
2025-03-12T02:24:49.100Z,1741746289.100 [CommandExec](IMPORTANT): Scheduled #7: "run Maintenance/calibrate_sparton_compass.tl", AFTER MISSION
2025-03-12T02:24:49.320Z,1741746289.320 [ballast_and_trim:NeedComms:D](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-03-12T02:24:57.794Z,1741746297.794 [DataOverHttps](INFO): Sending 72 bytes from file Logs/20250311T232940/Courier0045.lzma
2025-03-12T02:24:58.796Z,1741746298.796 [DataOverHttps](INFO): Moved sent file to Logs/20250311T232940/Courier0045.lzma.bak
2025-03-12T02:24:58.797Z,1741746298.797 [DataOverHttps](IMPORTANT): SBD MOMSN=24181754, MTMSN=20250312T022457
2025-03-12T02:25:06.378Z,1741746306.378 [DataOverHttps](INFO): Received command: stop
2025-03-12T02:25:06.415Z,1741746306.415 [CommandExec](IMPORTANT): got command stop
2025-03-12T02:25:06.415Z,1741746306.415 [CommandExec](IMPORTANT): Scheduling is paused for 1 commands
2025-03-12T02:25:06.415Z,1741746306.415 [Supervisor](INFO): Stop Mission called by CommandExec::commandStop
2025-03-12T02:25:06.694Z,1741746306.694 [MissionManager](INFO): MissionManager is completed.
2025-03-12T02:25:06.695Z,1741746306.695 [MissionManager](INFO): Uninitializing Mission ballast_and_trim
2025-03-12T02:25:06.695Z,1741746306.695 [ballast_and_trim] Stopped
2025-03-12T02:25:06.695Z,1741746306.695 [ballast_and_trim](DEBUG): Aggregate::uninitialize ballast_and_trim
2025-03-12T02:25:06.695Z,1741746306.695 [ballast_and_trim:Science] Stopped
2025-03-12T02:25:06.695Z,1741746306.695 [ballast_and_trim:Science](DEBUG): Aggregate::uninitialize ballast_and_trim:Science
2025-03-12T02:25:06.695Z,1741746306.695 [ballast_and_trim:Science:B] Stopped
2025-03-12T02:25:06.695Z,1741746306.695 [ballast_and_trim:Science:C] Stopped
2025-03-12T02:25:06.695Z,1741746306.695 [ballast_and_trim:Science:E] Stopped
2025-03-12T02:25:06.695Z,1741746306.695 [ballast_and_trim:Science:OceanCurrent] Stopped
2025-03-12T02:25:06.695Z,1741746306.695 [ballast_and_trim:Science:OceanCurrent](DEBUG): Aggregate::uninitialize ballast_and_trim:Science:OceanCurrent
2025-03-12T02:25:06.695Z,1741746306.695 [ballast_and_trim:Science:OceanCurrent:A.] Stopped
2025-03-12T02:25:06.695Z,1741746306.695 [ballast_and_trim:NeedComms] Stopped
2025-03-12T02:25:06.696Z,1741746306.696 [ballast_and_trim:NeedComms](DEBUG): Aggregate::uninitialize ballast_and_trim:NeedComms
2025-03-12T02:25:06.696Z,1741746306.696 [ballast_and_trim:NeedComms:B.GoToSurface] Stopped
2025-03-12T02:25:06.696Z,1741746306.696 [ballast_and_trim:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-03-12T02:25:06.696Z,1741746306.696 [ballast_and_trim:NeedComms:D] Stopped
2025-03-12T02:25:06.696Z,1741746306.696 [ballast_and_trim:StandardEnvelopes] Stopped
2025-03-12T02:25:06.696Z,1741746306.696 [ballast_and_trim:StandardEnvelopes](DEBUG): Aggregate::uninitialize ballast_and_trim:StandardEnvelopes
2025-03-12T02:25:06.696Z,1741746306.696 [ballast_and_trim:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-03-12T02:25:06.696Z,1741746306.696 [ballast_and_trim:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-03-12T02:25:06.696Z,1741746306.696 [ballast_and_trim:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-03-12T02:25:06.696Z,1741746306.696 [ballast_and_trim:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-03-12T02:25:06.696Z,1741746306.696 [ballast_and_trim:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-03-12T02:25:06.696Z,1741746306.696 [ballast_and_trim:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-03-12T02:25:06.696Z,1741746306.696 [ballast_and_trim:BackseatDriver] Stopped
2025-03-12T02:25:06.697Z,1741746306.697 [ballast_and_trim:BackseatDriver](DEBUG): Aggregate::uninitialize ballast_and_trim:BackseatDriver
2025-03-12T02:25:06.697Z,1741746306.697 [ballast_and_trim:BackseatDriver:A.BackseatDriver] Stopped
2025-03-12T02:25:06.697Z,1741746306.697 [ballast_and_trim:PowerOnly] Stopped
2025-03-12T02:25:06.697Z,1741746306.697 [ballast_and_trim:PowerOnly](DEBUG): Aggregate::uninitialize ballast_and_trim:PowerOnly
2025-03-12T02:25:06.697Z,1741746306.697 [ballast_and_trim:PowerOnly:E.Wait] Stopped
2025-03-12T02:25:06.697Z,1741746306.697 [ballast_and_trim:PowerOnly:E.Wait](DEBUG): Uninitialize Wait Component.
2025-03-12T02:25:06.697Z,1741746306.697 [ballast_and_trim:StartingMission] Stopped
2025-03-12T02:25:06.697Z,1741746306.697 [ballast_and_trim:StartingMission](DEBUG): Aggregate::uninitialize ballast_and_trim:StartingMission
2025-03-12T02:25:06.697Z,1741746306.697 [ballast_and_trim:StartingMission:StartingMission] Stopped
2025-03-12T02:25:06.697Z,1741746306.697 [ballast_and_trim:StartingMission:StartingMission](DEBUG): Aggregate::uninitialize ballast_and_trim:StartingMission:StartingMission
2025-03-12T02:25:06.850Z,1741746306.850 [WetLabsBB2FL](INFO): Powering down
2025-03-12T02:25:07.075Z,1741746307.075 [MissionManager](IMPORTANT): Started mission Default
2025-03-12T02:25:07.075Z,1741746307.075 [Default] Running Loop=1
2025-03-12T02:25:07.075Z,1741746307.075 [Default](DEBUG): Aggregate::initialize Default
2025-03-12T02:25:07.075Z,1741746307.075 [Default:B.GoToSurface] Running Loop=1
2025-03-12T02:25:07.075Z,1741746307.075 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-03-12T02:25:07.076Z,1741746307.076 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-03-12T02:25:07.076Z,1741746307.076 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-03-12T02:25:07.076Z,1741746307.076 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-03-12T02:25:07.076Z,1741746307.076 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-03-12T02:25:07.077Z,1741746307.077 [Default:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-03-12T02:25:07.077Z,1741746307.077 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-03-12T02:25:07.077Z,1741746307.077 [Default:A.Wait] Running Loop=1
2025-03-12T02:25:07.077Z,1741746307.077 [Default:A.Wait](DEBUG): Initialize Wait Component.
2025-03-12T02:25:14.823Z,1741746314.823 [DataOverHttps](INFO): Sending 346 bytes from file Logs/20250311T232940/Express0046.lzma
2025-03-12T02:25:15.824Z,1741746315.824 [DataOverHttps](INFO): Moved sent file to Logs/20250311T232940/Express0046.lzma.bak
2025-03-12T02:25:15.824Z,1741746315.824 [DataOverHttps](INFO): SBD MOMSN=24181758
2025-03-12T02:25:20.407Z,1741746320.407 [Default:A.Wait](INFO): Done Waiting.
2025-03-12T02:25:20.407Z,1741746320.407 [Default:A.Wait] Stopped
2025-03-12T02:25:20.407Z,1741746320.407 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2025-03-12T02:25:20.835Z,1741746320.835 [Default:CheckIn] Running Loop=1
2025-03-12T02:25:20.835Z,1741746320.835 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-03-12T02:25:20.836Z,1741746320.836 [Default:CheckIn:Read_GPS] Running Loop=1
2025-03-12T02:26:09.733Z,1741746369.733 [NAL9602](INFO): SBD MO Status=0, MOMSN=18501, MT Status=0, MTMSN=0
2025-03-12T02:26:09.733Z,1741746369.733 [NAL9602](INFO): No messages in MT queue
2025-03-12T02:26:10.957Z,1741746370.957 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,022610.00,A,3647.95737,N,12150.33942,W,0.797,272.86,120325,,,A*7D
2025-03-12T02:26:10.959Z,1741746370.959 [NAL9602](INFO): GPS fix at 20250312T022610: (36.799290, -121.838990)
2025-03-12T02:26:10.969Z,1741746370.969 [Default:CheckIn:Read_GPS] Stopped
2025-03-12T02:26:10.969Z,1741746370.969 [Default:CheckIn:Read_Iridium] Running Loop=1
2025-03-12T02:26:18.586Z,1741746378.586 [DataOverHttps](INFO): Sending 73 bytes from file Logs/20250311T232940/Courier0051.lzma
2025-03-12T02:26:19.588Z,1741746379.588 [DataOverHttps](INFO): Moved sent file to Logs/20250311T232940/Courier0051.lzma.bak
2025-03-12T02:26:19.588Z,1741746379.588 [DataOverHttps](INFO): SBD MOMSN=24181770
2025-03-12T02:26:35.486Z,1741746395.486 [DataOverHttps](INFO): Sending 62 bytes from file Logs/20250311T232940/Express0049.lzma
2025-03-12T02:26:36.488Z,1741746396.488 [DataOverHttps](INFO): Moved sent file to Logs/20250311T232940/Express0049.lzma.bak
2025-03-12T02:26:36.489Z,1741746396.489 [DataOverHttps](INFO): SBD MOMSN=24181773
2025-03-12T02:26:43.283Z,1741746403.283 [NAL9602](INFO): Not Powering down - fast GPS
2025-03-12T02:26:52.398Z,1741746412.398 [DataOverHttps](INFO): Sending 245 bytes from file Logs/20250311T232940/Express0052.lzma
2025-03-12T02:26:53.400Z,1741746413.400 [DataOverHttps](INFO): Moved sent file to Logs/20250311T232940/Express0052.lzma.bak
2025-03-12T02:26:53.400Z,1741746413.400 [DataOverHttps](INFO): SBD MOMSN=24181776
2025-03-12T02:27:09.102Z,1741746429.102 [DataOverHttps](INFO): Sending 62 bytes from file Logs/20250311T232940/Express0055.lzma
2025-03-12T02:27:10.104Z,1741746430.104 [DataOverHttps](INFO): Moved sent file to Logs/20250311T232940/Express0055.lzma.bak
2025-03-12T02:27:10.104Z,1741746430.104 [DataOverHttps](INFO): SBD MOMSN=24181782
2025-03-12T02:27:11.192Z,1741746431.192 [Default:CheckIn:Read_Iridium] Stopped
2025-03-12T02:27:11.193Z,1741746431.193 [Default:CheckIn:C.Wait] Running Loop=1
2025-03-12T02:27:11.193Z,1741746431.193 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2025-03-12T02:30:15.964Z,1741746615.964 [DataOverHttps](IMPORTANT): SBD MTMSN=20250312T023015
2025-03-12T02:30:23.378Z,1741746623.378 [DataOverHttps](INFO): Received command: run Maintenance/ballast_and_trim.tl
2025-03-12T02:30:23.440Z,1741746623.440 [CommandExec](IMPORTANT): got command run ./Missions/Maintenance/ballast_and_trim.tl
2025-03-12T02:30:23.441Z,1741746623.441 [MissionManager](INFO): Loading Mission from file: ./Missions/Maintenance/ballast_and_trim.tl
2025-03-12T02:30:23.441Z,1741746623.441 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Maintenance/ballast_and_trim.tl
2025-03-12T02:30:23.471Z,1741746623.471 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Maintenance/ballast_and_trim.tl
2025-03-12T02:30:24.380Z,1741746624.380 [DataOverHttps](IMPORTANT): SBD MTMSN=20250312T023023
2025-03-12T02:30:27.761Z,1741746627.761 [MissionManager](DEBUG): TethyslAPI: ./Missions/Maintenance/ballast_and_trim.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Mission Id="ballast_and_trim">
    <DefineArg Name="MissionTimeout">
        <Units:minute />
        <Value>90</Value>
    </DefineArg>
    <DefineArg Name="SkipComms">
        <False />
    </DefineArg>
    <DefineArg Name="Depth1">
        <Units:meter />
        <Value>35</Value>
    </DefineArg>
    <DefineArg Name="Depth2">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="DepthDeadband">
        <Units:meter />
        <Value>0.1</Value>
    </DefineArg>
    <DefineArg Name="ApproachSpeed">
        <Units:meter_per_second />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="ApproachDepthTimeout">
        <Units:minute />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="ApproachDepthRate">
        <Units:meter_per_second />
        <Value>0.4</Value>
    </DefineArg>
    <DefineArg Name="ApproachPitchLimit">
        <Units:degree />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="ApproachSettleTimePreDive">
        <Units:minute />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="SettleTime">
        <Units:minute />
        <Value>10</Value>
    </DefineArg>
    <DefineArg Name="EstimationTimeout">
        <Units:minute />
        <Value>45</Value>
    </DefineArg>
    <DefineArg Name="MinEstimationTime">
        <Units:minute />
        <Value>10</Value>
    </DefineArg>
    <DefineArg Name="MassEstimationErrorBound">
        <Units:millimeter />
        <Value>0.5</Value>
    </DefineArg>
    <DefineArg Name="BuoyEstimationErrorBound">
        <Units:cubic_centimeter />
        <Value>25</Value>
    </DefineArg>
    <DefineArg Name="EstimationConfidence">
        <Units:percent />
        <Value>98.0</Value>
    </DefineArg>
    <DefineArg Name="massDeadband">
        <Units:millimeter />
        <Value>0.25</Value>
    </DefineArg>
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>52</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:kilometer />
        <Value>2</Value>
    </DefineArg>
    <DefineArg Name="CheckDepths">
        <Units:bool />
        <Value>1</Value>
    </DefineArg>
    <Timeout Duration="MissionTimeout" />
    <Insert Filename="Insert/Science.tl" />
    <Insert Id="NeedComms" Filename="Insert/NeedComms.tl" />
    <Assign>
        <Sequence />
        <Arg Name="NeedComms:DiveInterval" />
        <Arg Name="MissionTimeout" />
    </Assign>
    <Insert Filename="Insert/StandardEnvelopes.tl" />
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MinAltitude" />
        <Arg Name="MinAltitude" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MaxDepth" />
        <Arg Name="MaxDepth" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MinOffshore" />
        <Arg Name="MinOffshore" />
    </Assign>
    <Insert Filename="Insert/BackseatDriver.tl" />
    <Insert Filename="Insert/PowerOnly.tl" />
    <Aggregate Id="CheckTargetDepths">
        <Sequence />
        <Break>
            <Not>
                <Arg Name="CheckDepths" />
            </Not>
        </Break>
        <Aggregate Id="CheckDepth1">
            <Sequence />
            <Break>
                <Not>
                    <Arg Name="Depth1" />
                    <Gt>
                        <Arg Name="MaxDepth" />
                    </Gt>
                </Not>
            </Break>
            <Syslog Severity="Important">Aborting ballast and trim mission. Target depth Depth1 exceeds the mission&apos;s MaxDepth setting (review mission parameters).</Syslog>
            <Guidance:Execute>
                <Sequence />
                <Setting>
                    <Guidance:Execute.command />
                    <String>stop</String>
                </Setting>
            </Guidance:Execute>
        </Aggregate>
        <Aggregate Id="CheckDepth2">
            <Sequence />
            <Break>
                <Not>
                    <Arg Name="Depth2" />
                    <Gt>
                        <Arg Name="MaxDepth" />
                    </Gt>
                </Not>
            </Break>
            <Syslog Severity="Important">Aborting ballast and trim mission. Target depth Depth2 exceeds the mission&apos;s MaxDepth setting (review mission parameters).</Syslog>
            <Guidance:Execute>
                <Sequence />
                <Setting>
                    <Guidance:Execute.command />
                    <String>stop</String>
                </Setting>
            </Guidance:Execute>
        </Aggregate>
        <Assign>
            <Sequence />
            <Arg Name="CheckDepths" />
            <Units:bool />
            <Value>0</Value>
        </Assign>
    </Aggregate>
    <Aggregate Id="StartingMission">
        <Sequence />
        <Break>
            <Arg Name="SkipComms" />
        </Break>
        <Syslog Severity="Info">Checking for additional instructions before submerging.</Syslog>
        <Call RefId="NeedComms" Id="StartingMission" />
    </Aggregate>
    <Aggregate Id="RunBallastAndTrim">
        <Sequence />
        <Insert Filename="Insert/BallastAndTrim.tl">
            <RedefineArg Name="InsertDepthDeadband">
                <Arg Name="DepthDeadband" />
            </RedefineArg>
            <RedefineArg Name="InsertApproachSpeed">
                <Arg Name="ApproachSpeed" />
            </RedefineArg>
            <RedefineArg Name="InsertApproachDepthRate">
                <Arg Name="ApproachDepthRate" />
            </RedefineArg>
            <RedefineArg Name="InsertApproachPitchLimit">
                <Arg Name="ApproachPitchLimit" />
            </RedefineArg>
            <RedefineArg Name="InsertApproachSettleTimePreDive">
                <Arg Name="ApproachSettleTimePreDive" />
            </RedefineArg>
            <RedefineArg Name="InsertApproachDepthTimeout">
                <Arg Name="ApproachDepthTimeout" />
            </RedefineArg>
            <RedefineArg Name="InsertSettleTime">
                <Arg Name="SettleTime" />
            </RedefineArg>
            <RedefineArg Name="EstTimeout">
                <Arg Name="EstimationTimeout" />
            </RedefineArg>
            <RedefineArg Name="MinEstTime">
                <Arg Name="MinEstimationTime" />
            </RedefineArg>
            <RedefineArg Name="MassEstErrorBound">
                <Arg Name="MassEstimationErrorBound" />
            </RedefineArg>
            <RedefineArg Name="BuoyEstErrorBound">
                <Arg Name="BuoyEstimationErrorBound" />
            </RedefineArg>
            <RedefineArg Name="EstConfidence">
                <Arg Name="EstimationConfidence" />
            </RedefineArg>
            <RedefineArg Name="InsertMassDeadband">
                <Arg Name="massDeadband" />
            </RedefineArg>
        </Insert>
        <Aggregate Id="RunDepth1">
            <Sequence />
            <Break>
                <IsNaN>
                    <Arg Name="Depth1" />
                </IsNaN>
            </Break>
            <Assign>
                <Sequence />
                <Arg Name="BallastAndTrim:InsertDepth" />
                <Arg Name="Depth1" />
            </Assign>
            <Call RefId="BallastAndTrim" />
        </Aggregate>
        <Aggregate Id="RunDepth2">
            <Sequence />
            <Break>
                <IsNaN>
                    <Arg Name="Depth2" />
                </IsNaN>
            </Break>
            <Assign>
                <Sequence />
                <Arg Name="BallastAndTrim:InsertDepth" />
                <Arg Name="Depth2" />
            </Assign>
            <Call RefId="BallastAndTrim" />
        </Aggregate>
    </Aggregate>
    <Call RefId="NeedComms" Id="EndingMission" />
</Mission>

2025-03-12T02:30:27.784Z,1741746627.784 [MissionManager](INFO): DefineArg ballast_and_trim.MissionTimeout = 90.000000 min
2025-03-12T02:30:27.786Z,1741746627.786 [MissionManager](INFO): DefineArg ballast_and_trim.SkipComms = 0 bool
2025-03-12T02:30:27.792Z,1741746627.792 [MissionManager](INFO): DefineArg ballast_and_trim.Depth1 = 35.000000 m
2025-03-12T02:30:27.798Z,1741746627.798 [MissionManager](INFO): DefineArg ballast_and_trim.Depth2 = nan m
2025-03-12T02:30:27.801Z,1741746627.801 [MissionManager](INFO): DefineArg ballast_and_trim.DepthDeadband = 0.100000 m
2025-03-12T02:30:27.807Z,1741746627.807 [MissionManager](INFO): DefineArg ballast_and_trim.ApproachSpeed = 1.000000 m/s
2025-03-12T02:30:27.809Z,1741746627.809 [MissionManager](INFO): DefineArg ballast_and_trim.ApproachDepthTimeout = 20.000000 min
2025-03-12T02:30:27.816Z,1741746627.816 [MissionManager](INFO): DefineArg ballast_and_trim.ApproachDepthRate = 0.400000 m/s
2025-03-12T02:30:27.857Z,1741746627.857 [MissionManager](INFO): DefineArg ballast_and_trim.ApproachPitchLimit = 20.000000 arcdeg
2025-03-12T02:30:27.860Z,1741746627.860 [MissionManager](INFO): DefineArg ballast_and_trim.ApproachSettleTimePreDive = 0.000000 min
2025-03-12T02:30:27.878Z,1741746627.878 [MissionManager](INFO): DefineArg ballast_and_trim.SettleTime = 10.000000 min
2025-03-12T02:30:27.881Z,1741746627.881 [MissionManager](INFO): DefineArg ballast_and_trim.EstimationTimeout = 45.000000 min
2025-03-12T02:30:27.883Z,1741746627.883 [MissionManager](INFO): DefineArg ballast_and_trim.MinEstimationTime = 10.000000 min
2025-03-12T02:30:27.885Z,1741746627.885 [MissionManager](INFO): DefineArg ballast_and_trim.MassEstimationErrorBound = 0.500000 mm
2025-03-12T02:30:27.944Z,1741746627.944 [MissionManager](INFO): DefineArg ballast_and_trim.BuoyEstimationErrorBound = 25.000000 cc
2025-03-12T02:30:27.961Z,1741746627.961 [MissionManager](INFO): DefineArg ballast_and_trim.EstimationConfidence = 98.000000 %
2025-03-12T02:30:27.978Z,1741746627.978 [MissionManager](INFO): DefineArg ballast_and_trim.massDeadband = 0.250000 mm
2025-03-12T02:30:27.980Z,1741746627.980 [MissionManager](INFO): DefineArg ballast_and_trim.MinAltitude = 5.000000 m
2025-03-12T02:30:27.998Z,1741746627.998 [MissionManager](INFO): DefineArg ballast_and_trim.MaxDepth = 52.000000 m
2025-03-12T02:30:28.003Z,1741746628.003 [MissionManager](INFO): DefineArg ballast_and_trim.MinOffshore = 2.000000 km
2025-03-12T02:30:28.006Z,1741746628.006 [MissionManager](INFO): DefineArg ballast_and_trim.CheckDepths = 1.000000 bool
2025-03-12T02:30:28.011Z,1741746628.011 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/Science.tl
2025-03-12T02:30:28.011Z,1741746628.011 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/Science.tl
2025-03-12T02:30:28.023Z,1741746628.023 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/Science.tl
2025-03-12T02:30:33.289Z,1741746633.289 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/Science.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="Science">
    <DefineArg Name="PeakDetectChlActive">
        <False />
    </DefineArg>
    <DefineArg Name="EdgeDetectChlActive">
        <False />
    </DefineArg>
    <DefineArg Name="TimeWindowPeakReport">
        <Units:minute />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="HighestChlPeakReportActive">
        <False />
    </DefineArg>
    <DefineArg Name="HighestSaltPeakReportActive">
        <False />
    </DefineArg>
    <DefineArg Name="HighestOilPeakReportActive">
        <False />
    </DefineArg>
    <DefineArg Name="PatchTracking">
        <False />
    </DefineArg>
    <DefineArg Name="FilterWidthHorizontal">
        <Units:count />
        <Value>3</Value>
    </DefineArg>
    <DefineArg Name="NumProfilesSlidingwindow">
        <Units:count />
        <Value>100</Value>
    </DefineArg>
    <DefineArg Name="OffPeakFractionHorizontal">
        <Units:percent />
        <Value>80</Value>
    </DefineArg>
    <DefineArg Name="PeakDetectNO3Active">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectOilActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectFDOMActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectSalinityActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreLMavgROIActive">
        <False />
    </DefineArg>
    <DefineArg Name="EdgeDetectPlanktivoreLMavgROIActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreHMavgROIActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreDiatomsActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreDinoflagellatesActive">
        <False />
    </DefineArg>
    <DefineArg Name="UpwardDerivativeOfTemperatureActive">
        <False />
    </DefineArg>
    <DefineArg Name="EnabledAanderaaO2">
        <Science:Aanderaa_O2.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledNeilBrown">
        <Science:CTD_NeilBrown.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledSeabird">
        <Science:CTD_Seabird.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledWetLabsBB2FL">
        <Science:WetLabsBB2FL.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledWetLabsSeaOWL_UV_A">
        <Science:WetLabsSeaOWL_UV_A.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledWetLabsUBAT">
        <Science:WetLabsUBAT.loadAtStartup />
    </DefineArg>
    <DefineArg Name="LowPassWindowLength">
        <Units:count />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="MedianFilterLen">
        <Units:count />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="ShallowBound">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="DeepBound">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="DepChangeThreshForAttitudeFlip">
        <Units:meter />
        <Value>2.0</Value>
    </DefineArg>
    <DefineArg Name="OffPeakFractionVertical">
        <Units:percent />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="ChlPeakThresh">
        <Units:microgram_per_liter />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="ChlThreshTriggerActive">
        <False />
    </DefineArg>
    <DefineArg Name="ChlLowerThresh">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="ChlUpperThresh">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="NumProfilesThresh">
        <Units:count />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="PlanktivoreLMavgROIPeakThresh">
        <Units:count_per_second />
        <Value>0</Value>
    </DefineArg>
    <DefineOutput Name="GoDown">
        <True />
    </DefineOutput>
    <DefineOutput Name="PeakChl">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChl">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChlDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChlTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChlLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChlLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3">
        <Units:micromole_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3Depth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3Latitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3Longitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOil">
        <Units:kilogram_per_cubic_meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOilDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOilLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOilLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOM">
        <Units:part_per_billion />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSalt">
        <Units:practical_salinity_unit />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROI">
        <Units:count_per_second />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROIDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROITemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROILatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROILongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROI">
        <Units:count_per_second />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROIDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROITemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROILatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROILongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROI">
        <Units:count_per_second />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROIDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROITemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROILatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROILongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatoms">
        <Units:count_per_milliliter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellates">
        <Units:count_per_milliliter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChl">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlDistance">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSalt">
        <Units:practical_salinity_unit />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltDistance">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOil">
        <Units:practical_salinity_unit />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilDistance">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="TriggeredOnChl">
        <False />
    </DefineOutput>
    <DefineOutput Name="ChlTriggering">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <Parallel />
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledAanderaaO2" />
        </While>
        <Universal:mass_concentration_of_oxygen_in_sea_water />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledNeilBrown" />
            <Or>
                <Arg Name="EnabledSeabird" />
            </Or>
        </While>
        <Universal:sea_water_temperature />
        <Universal:sea_water_salinity />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledSeabird" />
        </While>
        <Science:CTD_Seabird.sea_water_temperature />
        <Science:CTD_Seabird.sea_water_salinity />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledNeilBrown" />
            <Or>
                <Arg Name="EnabledSeabird" />
            </Or>
            <And>
                <Arg Name="UpwardDerivativeOfTemperatureActive" />
            </And>
        </While>
        <Universal:upward_derivative_of_sea_water_temperature />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledWetLabsBB2FL" />
            <Or>
                <Arg Name="PeakDetectChlActive" />
            </Or>
        </While>
        <Universal:mass_concentration_of_chlorophyll_in_sea_water />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledWetLabsUBAT" />
        </While>
        <Science:WetLabsUBAT.average_bioluminescence />
    </ReadData>
    <ReadData Id="Read_Oil" Strategy="MinError">
        <While>
            <Arg Name="EnabledWetLabsSeaOWL_UV_A" />
            <Or>
                <Arg Name="PeakDetectOilActive" />
            </Or>
        </While>
        <Universal:mass_concentration_of_petroleum_hydrocarbons_in_sea_water />
    </ReadData>
    <Aggregate Id="OceanCurrent">
        <Sequence />
        <Estimation:CurrentEstimator>
            <Parallel />
        </Estimation:CurrentEstimator>
    </Aggregate>
    <Aggregate Id="PeakDetectChl">
        <While>
            <Arg Name="PeakDetectChlActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:mass_concentration_of_chlorophyll_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakChl">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakChlDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakChlTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakChlLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakChlLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakChl" />
            <Arg Name="PeakChlDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="EdgeDetectChl">
        <While>
            <Arg Name="EdgeDetectChlActive" />
        </While>
        <Syslog Severity="Debug">EdgeDetectVsDepth</Syslog>
        <Trigger:EdgeDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:EdgeDetectVsDepth.detect />
                <Universal:mass_concentration_of_chlorophyll_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFraction />
                <Arg Name="OffPeakFractionVertical" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.peakThresh />
                <Arg Name="ChlPeakThresh" />
            </Setting>
            <OutputArg Name="GoDown">
                <Trigger:EdgeDetectVsDepth.goDown />
            </OutputArg>
            <OutputArg Name="PeakChl">
                <Trigger:EdgeDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakChlDepth">
                <Trigger:EdgeDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakChlTemperature">
                <Trigger:EdgeDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakChlLatitude">
                <Trigger:EdgeDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakChlLongitude">
                <Trigger:EdgeDetectVsDepth.peakLongitude />
            </OutputArg>
            <OutputArg Name="EdgeChl">
                <Trigger:EdgeDetectVsDepth.edgeDetect />
            </OutputArg>
            <OutputArg Name="EdgeChlDepth">
                <Trigger:EdgeDetectVsDepth.edgeDepth />
            </OutputArg>
            <OutputArg Name="EdgeChlTemperature">
                <Trigger:EdgeDetectVsDepth.edgeTemperature />
            </OutputArg>
            <OutputArg Name="EdgeChlLatitude">
                <Trigger:EdgeDetectVsDepth.edgeLatitude />
            </OutputArg>
            <OutputArg Name="EdgeChlLongitude">
                <Trigger:EdgeDetectVsDepth.edgeLongitude />
            </OutputArg>
        </Trigger:EdgeDetectVsDepth>
        <Syslog Severity="Info">
            GoDown, ChlPeakThresh, PeakChl, PeakChlDepth, EdgeChl, EdgeChlDepth = 
            <Arg Name="GoDown" />
            <Units:bool />
            , 
            <Arg Name="ChlPeakThresh" />
            <Units:microgram_per_liter />
            , 
            <Arg Name="PeakChl" />
            <Units:microgram_per_liter />
            , 
            <Arg Name="PeakChlDepth" />
            <Units:meter />
            , 
            <Arg Name="EdgeChl" />
            <Units:microgram_per_liter />
            , 
            <Arg Name="EdgeChlDepth" />
            <Units:meter />
        </Syslog>
        <SendData Service="Express">
            <Arg Name="PeakChl" />
            <Arg Name="PeakChlDepth" />
            <Arg Name="EdgeChl" />
            <Arg Name="EdgeChlDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="HighestChlPeakReport">
        <While>
            <Arg Name="HighestChlPeakReportActive" />
        </While>
        <Trigger:PeakDetectHorizontal>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectHorizontal.detectFrom />
                <Arg Name="PeakChl" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.depthFrom />
                <Arg Name="PeakChlDepth" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.latitudeFrom />
                <Arg Name="PeakChlLatitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.longitudeFrom />
                <Arg Name="PeakChlLongitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.patchTracking />
                <Arg Name="PatchTracking" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.filterWidth />
                <Arg Name="FilterWidthHorizontal" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.numProfilesSlidingwindow />
                <Arg Name="NumProfilesSlidingwindow" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.offPeakFraction />
                <Arg Name="OffPeakFractionHorizontal" />
            </Setting>
            <OutputArg Name="PatchChl">
                <Trigger:PeakDetectHorizontal.peakDetect />
            </OutputArg>
            <OutputArg Name="PatchChlDepth">
                <Trigger:PeakDetectHorizontal.peakDepth />
            </OutputArg>
            <OutputArg Name="PatchChlLatitude">
                <Trigger:PeakDetectHorizontal.peakLatitude />
            </OutputArg>
            <OutputArg Name="PatchChlLongitude">
                <Trigger:PeakDetectHorizontal.peakLongitude />
            </OutputArg>
            <OutputArg Name="PatchChlDistance">
                <Trigger:PeakDetectHorizontal.peakDistance />
            </OutputArg>
        </Trigger:PeakDetectHorizontal>
    </Aggregate>
    <Aggregate Id="PeakDetectNO3">
        <While>
            <Arg Name="PeakDetectNO3Active" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:mole_concentration_of_nitrate_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <OutputArg Name="PeakNO3">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakNO3Depth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakNO3Latitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakNO3Longitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakNO3" />
            <Arg Name="PeakNO3Depth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectOil">
        <While>
            <Arg Name="PeakDetectOilActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:mass_concentration_of_petroleum_hydrocarbons_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <OutputArg Name="PeakOil">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakOilDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakOilLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakOilLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakOil" />
            <Arg Name="PeakOilDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="HighestOilPeakReport">
        <While>
            <Arg Name="HighestOilPeakReportActive" />
        </While>
        <Trigger:PeakDetectHorizontal>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectHorizontal.detectFrom />
                <Arg Name="PeakOil" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.depthFrom />
                <Arg Name="PeakOilDepth" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.latitudeFrom />
                <Arg Name="PeakOilLatitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.longitudeFrom />
                <Arg Name="PeakOilLongitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.patchTracking />
                <Arg Name="PatchTracking" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.filterWidth />
                <Arg Name="FilterWidthHorizontal" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.numProfilesSlidingwindow />
                <Arg Name="NumProfilesSlidingwindow" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.offPeakFraction />
                <Arg Name="OffPeakFractionHorizontal" />
            </Setting>
            <OutputArg Name="PatchOil">
                <Trigger:PeakDetectHorizontal.peakDetect />
            </OutputArg>
            <OutputArg Name="PatchOilDepth">
                <Trigger:PeakDetectHorizontal.peakDepth />
            </OutputArg>
            <OutputArg Name="PatchOilLatitude">
                <Trigger:PeakDetectHorizontal.peakLatitude />
            </OutputArg>
            <OutputArg Name="PatchOilLongitude">
                <Trigger:PeakDetectHorizontal.peakLongitude />
            </OutputArg>
            <OutputArg Name="PatchOilDistance">
                <Trigger:PeakDetectHorizontal.peakDistance />
            </OutputArg>
        </Trigger:PeakDetectHorizontal>
    </Aggregate>
    <Aggregate Id="PeakDetectFDOM">
        <While>
            <Arg Name="PeakDetectFDOMActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:concentration_of_colored_dissolved_organic_matter_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <OutputArg Name="PeakFDOM">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakFDOMDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakFDOMTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakFDOMLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakFDOMLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakFDOM" />
            <Arg Name="PeakFDOMDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectSalinity">
        <While>
            <Arg Name="PeakDetectSalinityActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:sea_water_salinity />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakSalt">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakSaltDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakSaltTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakSaltLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakSaltLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakSalt" />
            <Arg Name="PeakSaltDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="HighestSaltPeakReport">
        <While>
            <Arg Name="HighestSaltPeakReportActive" />
        </While>
        <Trigger:PeakDetectHorizontal>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectHorizontal.detectFrom />
                <Arg Name="PeakSalt" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.depthFrom />
                <Arg Name="PeakSaltDepth" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.latitudeFrom />
                <Arg Name="PeakSaltLatitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.longitudeFrom />
                <Arg Name="PeakSaltLongitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.patchTracking />
                <Arg Name="PatchTracking" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.filterWidth />
                <Arg Name="FilterWidthHorizontal" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.numProfilesSlidingwindow />
                <Arg Name="NumProfilesSlidingwindow" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.offPeakFraction />
                <Arg Name="OffPeakFractionHorizontal" />
            </Setting>
            <OutputArg Name="PatchSalt">
                <Trigger:PeakDetectHorizontal.peakDetect />
            </OutputArg>
            <OutputArg Name="PatchSaltDepth">
                <Trigger:PeakDetectHorizontal.peakDepth />
            </OutputArg>
            <OutputArg Name="PatchSaltLatitude">
                <Trigger:PeakDetectHorizontal.peakLatitude />
            </OutputArg>
            <OutputArg Name="PatchSaltLongitude">
                <Trigger:PeakDetectHorizontal.peakLongitude />
            </OutputArg>
            <OutputArg Name="PatchSaltDistance">
                <Trigger:PeakDetectHorizontal.peakDistance />
            </OutputArg>
        </Trigger:PeakDetectHorizontal>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreLMavgROI">
        <While>
            <Arg Name="PeakDetectPlanktivoreLMavgROIActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_LM_AvgRois</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreLMavgROI">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROIDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROITemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROILatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROILongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreLMavgROI" />
            <Arg Name="PeakPlanktivoreLMavgROIDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="EdgeDetectPlanktivoreLMavgROI">
        <While>
            <Arg Name="EdgeDetectPlanktivoreLMavgROIActive" />
        </While>
        <Syslog Severity="Debug">EdgeDetectVsDepth</Syslog>
        <Trigger:EdgeDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:EdgeDetectVsDepth.detect />
                <String>_.planktivore_LM_AvgRois</String>
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFraction />
                <Arg Name="OffPeakFractionVertical" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.peakThresh />
                <Arg Name="PlanktivoreLMavgROIPeakThresh" />
            </Setting>
            <OutputArg Name="GoDown">
                <Trigger:EdgeDetectVsDepth.goDown />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROI">
                <Trigger:EdgeDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROIDepth">
                <Trigger:EdgeDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROITemperature">
                <Trigger:EdgeDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROILatitude">
                <Trigger:EdgeDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROILongitude">
                <Trigger:EdgeDetectVsDepth.peakLongitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROI">
                <Trigger:EdgeDetectVsDepth.edgeDetect />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROIDepth">
                <Trigger:EdgeDetectVsDepth.edgeDepth />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROITemperature">
                <Trigger:EdgeDetectVsDepth.edgeTemperature />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROILatitude">
                <Trigger:EdgeDetectVsDepth.edgeLatitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROILongitude">
                <Trigger:EdgeDetectVsDepth.edgeLongitude />
            </OutputArg>
        </Trigger:EdgeDetectVsDepth>
        <Syslog Severity="Important">
            GoDown, PlanktivoreLMavgROIPeakThresh, PeakPlanktivoreLMavgROI, PeakPlanktivoreLMavgROIDepth, EdgePlanktivoreLMavgROI, EdgePlanktivoreLMavgROIDepth = 
            <Arg Name="GoDown" />
            <Units:bool />
            , 
            <Arg Name="PlanktivoreLMavgROIPeakThresh" />
            <Units:microgram_per_liter />
            , 
            <Arg Name="PeakPlanktivoreLMavgROI" />
            <Units:microgram_per_liter />
            , 
            <Arg Name="PeakPlanktivoreLMavgROIDepth" />
            <Units:meter />
            , 
            <Arg Name="EdgePlanktivoreLMavgROI" />
            <Units:microgram_per_liter />
            , 
            <Arg Name="EdgePlanktivoreLMavgROIDepth" />
            <Units:meter />
        </Syslog>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreLMavgROI" />
            <Arg Name="PeakPlanktivoreLMavgROIDepth" />
            <Arg Name="EdgePlanktivoreLMavgROI" />
            <Arg Name="EdgePlanktivoreLMavgROIDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreHMavgROI">
        <While>
            <Arg Name="PeakDetectPlanktivoreHMavgROIActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_HM_AvgRois</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreHMavgROI">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROIDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROITemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROILatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROILongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreHMavgROI" />
            <Arg Name="PeakPlanktivoreHMavgROIDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreDiatoms">
        <While>
            <Arg Name="PeakDetectPlanktivoreDiatomsActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_diatoms</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreDiatoms">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreDiatoms" />
            <Arg Name="PeakPlanktivoreDiatomsDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreDinoflagellates">
        <While>
            <Arg Name="PeakDetectPlanktivoreDinoflagellatesActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_dinoflagellates</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreDinoflagellates">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreDinoflagellates" />
            <Arg Name="PeakPlanktivoreDinoflagellatesDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="ChlThreshTrigger">
        <While>
            <Arg Name="ChlThreshTriggerActive" />
        </While>
        <Trigger:ValueDetect>
            <Sequence />
            <Setting>
                <Trigger:ValueDetect.detect />
                <Arg Name="PeakChl" />
            </Setting>
            <Setting>
                <Trigger:ValueDetect.lowerThreshold />
                <Arg Name="ChlLowerThresh" />
            </Setting>
            <Setting>
                <Trigger:ValueDetect.upperThreshold />
                <Arg Name="ChlUpperThresh" />
            </Setting>
            <Setting>
                <Trigger:ValueDetect.numProfilesThreshold />
                <Arg Name="NumProfilesThresh" />
            </Setting>
            <OutputArg Name="ChlTriggering">
                <Trigger:ValueDetect.outputValue />
            </OutputArg>
        </Trigger:ValueDetect>
        <Assign>
            <Sequence />
            <Arg Name="TriggeredOnChl" />
            <True />
        </Assign>
        <Syslog Severity="Important">
            Triggered. PeakChl values on 
            <Arg Name="NumProfilesThresh" />
            <Units:count />
             consecutive yo-yo profiles fall in [
            <Arg Name="ChlLowerThresh" />
            <Units:microgram_per_liter />
            <Arg Name="ChlUpperThresh" />
            <Units:microgram_per_liter />
            ] (NaN bound is ignored).
        </Syslog>
    </Aggregate>
</Aggregate>

2025-03-12T02:30:33.343Z,1741746633.343 [MissionManager](INFO): DefineArg ballast_and_trim:Science.PeakDetectChlActive = 0 bool
2025-03-12T02:30:33.345Z,1741746633.345 [MissionManager](INFO): DefineArg ballast_and_trim:Science.EdgeDetectChlActive = 0 bool
2025-03-12T02:30:33.347Z,1741746633.347 [MissionManager](INFO): DefineArg ballast_and_trim:Science.TimeWindowPeakReport = nan min
2025-03-12T02:30:33.349Z,1741746633.349 [MissionManager](INFO): DefineArg ballast_and_trim:Science.HighestChlPeakReportActive = 0 bool
2025-03-12T02:30:33.363Z,1741746633.363 [MissionManager](INFO): DefineArg ballast_and_trim:Science.HighestSaltPeakReportActive = 0 bool
2025-03-12T02:30:33.365Z,1741746633.365 [MissionManager](INFO): DefineArg ballast_and_trim:Science.HighestOilPeakReportActive = 0 bool
2025-03-12T02:30:33.367Z,1741746633.367 [MissionManager](INFO): DefineArg ballast_and_trim:Science.PatchTracking = 0 bool
2025-03-12T02:30:33.369Z,1741746633.369 [MissionManager](INFO): DefineArg ballast_and_trim:Science.FilterWidthHorizontal = 3.000000 count
2025-03-12T02:30:33.418Z,1741746633.418 [MissionManager](INFO): DefineArg ballast_and_trim:Science.NumProfilesSlidingwindow = 100.000000 count
2025-03-12T02:30:33.420Z,1741746633.420 [MissionManager](INFO): DefineArg ballast_and_trim:Science.OffPeakFractionHorizontal = 80.000000 %
2025-03-12T02:30:33.436Z,1741746633.436 [MissionManager](INFO): DefineArg ballast_and_trim:Science.PeakDetectNO3Active = 0 bool
2025-03-12T02:30:33.438Z,1741746633.438 [MissionManager](INFO): DefineArg ballast_and_trim:Science.PeakDetectOilActive = 0 bool
2025-03-12T02:30:33.453Z,1741746633.453 [MissionManager](INFO): DefineArg ballast_and_trim:Science.PeakDetectFDOMActive = 0 bool
2025-03-12T02:30:33.455Z,1741746633.455 [MissionManager](INFO): DefineArg ballast_and_trim:Science.PeakDetectSalinityActive = 0 bool
2025-03-12T02:30:33.465Z,1741746633.465 [MissionManager](INFO): DefineArg ballast_and_trim:Science.PeakDetectPlanktivoreLMavgROIActive = 0 bool
2025-03-12T02:30:33.467Z,1741746633.467 [MissionManager](INFO): DefineArg ballast_and_trim:Science.EdgeDetectPlanktivoreLMavgROIActive = 0 bool
2025-03-12T02:30:33.469Z,1741746633.469 [MissionManager](INFO): DefineArg ballast_and_trim:Science.PeakDetectPlanktivoreHMavgROIActive = 0 bool
2025-03-12T02:30:33.492Z,1741746633.492 [MissionManager](INFO): DefineArg ballast_and_trim:Science.PeakDetectPlanktivoreDiatomsActive = 0 bool
2025-03-12T02:30:33.495Z,1741746633.495 [MissionManager](INFO): DefineArg ballast_and_trim:Science.PeakDetectPlanktivoreDinoflagellatesActive = 0 bool
2025-03-12T02:30:33.496Z,1741746633.496 [MissionManager](INFO): DefineArg ballast_and_trim:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2025-03-12T02:30:33.525Z,1741746633.525 [MissionManager](INFO): DefineArg ballast_and_trim:Science.EnabledAanderaaO2 = 0 bool
2025-03-12T02:30:33.528Z,1741746633.528 [MissionManager](INFO): DefineArg ballast_and_trim:Science.EnabledNeilBrown = 0 bool
2025-03-12T02:30:33.542Z,1741746633.542 [MissionManager](INFO): DefineArg ballast_and_trim:Science.EnabledSeabird = 1 bool
2025-03-12T02:30:33.545Z,1741746633.545 [MissionManager](INFO): DefineArg ballast_and_trim:Science.EnabledWetLabsBB2FL = 1 bool
2025-03-12T02:30:33.604Z,1741746633.604 [MissionManager](INFO): DefineArg ballast_and_trim:Science.EnabledWetLabsSeaOWL_UV_A = 0 bool
2025-03-12T02:30:33.627Z,1741746633.627 [MissionManager](INFO): DefineArg ballast_and_trim:Science.EnabledWetLabsUBAT = 0 bool
2025-03-12T02:30:33.651Z,1741746633.651 [MissionManager](INFO): DefineArg ballast_and_trim:Science.LowPassWindowLength = 20.000000 count
2025-03-12T02:30:33.653Z,1741746633.653 [MissionManager](INFO): DefineArg ballast_and_trim:Science.MedianFilterLen = 5.000000 count
2025-03-12T02:30:33.664Z,1741746633.664 [MissionManager](INFO): DefineArg ballast_and_trim:Science.ShallowBound = nan m
2025-03-12T02:30:33.682Z,1741746633.682 [MissionManager](INFO): DefineArg ballast_and_trim:Science.DeepBound = nan m
2025-03-12T02:30:33.684Z,1741746633.684 [MissionManager](INFO): DefineArg ballast_and_trim:Science.DepChangeThreshForAttitudeFlip = 2.000000 m
2025-03-12T02:30:33.706Z,1741746633.706 [MissionManager](INFO): DefineArg ballast_and_trim:Science.OffPeakFractionVertical = nan %
2025-03-12T02:30:33.709Z,1741746633.709 [MissionManager](INFO): DefineArg ballast_and_trim:Science.ChlPeakThresh = 0.000000 ug/l
2025-03-12T02:30:33.719Z,1741746633.719 [MissionManager](INFO): DefineArg ballast_and_trim:Science.ChlThreshTriggerActive = 0 bool
2025-03-12T02:30:33.721Z,1741746633.721 [MissionManager](INFO): DefineArg ballast_and_trim:Science.ChlLowerThresh = nan ug/l
2025-03-12T02:30:33.732Z,1741746633.732 [MissionManager](INFO): DefineArg ballast_and_trim:Science.ChlUpperThresh = nan ug/l
2025-03-12T02:30:33.742Z,1741746633.742 [MissionManager](INFO): DefineArg ballast_and_trim:Science.NumProfilesThresh = 5.000000 count
2025-03-12T02:30:33.744Z,1741746633.744 [MissionManager](INFO): DefineArg ballast_and_trim:Science.PlanktivoreLMavgROIPeakThresh = 0.000000 count/s
2025-03-12T02:30:33.751Z,1741746633.751 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.GoDown = 1 bool
2025-03-12T02:30:33.753Z,1741746633.753 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakChl = nan ug/l
2025-03-12T02:30:33.768Z,1741746633.768 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakChlDepth = nan m
2025-03-12T02:30:33.778Z,1741746633.778 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakChlTemperature = nan degC
2025-03-12T02:30:33.781Z,1741746633.781 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakChlLatitude = nan arcdeg
2025-03-12T02:30:33.789Z,1741746633.789 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakChlLongitude = nan arcdeg
2025-03-12T02:30:33.807Z,1741746633.807 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.EdgeChl = nan ug/l
2025-03-12T02:30:33.810Z,1741746633.810 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.EdgeChlDepth = nan m
2025-03-12T02:30:33.828Z,1741746633.828 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.EdgeChlTemperature = nan degC
2025-03-12T02:30:33.839Z,1741746633.839 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.EdgeChlLatitude = nan arcdeg
2025-03-12T02:30:33.841Z,1741746633.841 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.EdgeChlLongitude = nan arcdeg
2025-03-12T02:30:33.856Z,1741746633.856 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakNO3 = nan umol/l
2025-03-12T02:30:33.866Z,1741746633.866 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakNO3Depth = nan m
2025-03-12T02:30:33.869Z,1741746633.869 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakNO3Latitude = nan arcdeg
2025-03-12T02:30:33.875Z,1741746633.875 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakNO3Longitude = nan arcdeg
2025-03-12T02:30:33.887Z,1741746633.887 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakOil = nan kg/m3
2025-03-12T02:30:33.889Z,1741746633.889 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakOilDepth = nan m
2025-03-12T02:30:33.913Z,1741746633.913 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakOilLatitude = nan arcdeg
2025-03-12T02:30:33.916Z,1741746633.916 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakOilLongitude = nan arcdeg
2025-03-12T02:30:33.940Z,1741746633.940 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakFDOM = nan ppb
2025-03-12T02:30:33.943Z,1741746633.943 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakFDOMDepth = nan m
2025-03-12T02:30:33.946Z,1741746633.946 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakFDOMTemperature = nan degC
2025-03-12T02:30:33.988Z,1741746633.988 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakFDOMLatitude = nan arcdeg
2025-03-12T02:30:34.007Z,1741746634.007 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakFDOMLongitude = nan arcdeg
2025-03-12T02:30:34.009Z,1741746634.009 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakSalt = nan psu
2025-03-12T02:30:34.042Z,1741746634.042 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakSaltDepth = nan m
2025-03-12T02:30:34.045Z,1741746634.045 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakSaltTemperature = nan degC
2025-03-12T02:30:34.059Z,1741746634.059 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakSaltLatitude = nan arcdeg
2025-03-12T02:30:34.070Z,1741746634.070 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakSaltLongitude = nan arcdeg
2025-03-12T02:30:34.072Z,1741746634.072 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakPlanktivoreLMavgROI = nan count/s
2025-03-12T02:30:34.083Z,1741746634.083 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakPlanktivoreLMavgROIDepth = nan m
2025-03-12T02:30:34.085Z,1741746634.085 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakPlanktivoreLMavgROITemperature = nan degC
2025-03-12T02:30:34.112Z,1741746634.112 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakPlanktivoreLMavgROILatitude = nan arcdeg
2025-03-12T02:30:34.122Z,1741746634.122 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakPlanktivoreLMavgROILongitude = nan arcdeg
2025-03-12T02:30:34.125Z,1741746634.125 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.EdgePlanktivoreLMavgROI = nan count/s
2025-03-12T02:30:34.131Z,1741746634.131 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.EdgePlanktivoreLMavgROIDepth = nan m
2025-03-12T02:30:34.134Z,1741746634.134 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.EdgePlanktivoreLMavgROITemperature = nan degC
2025-03-12T02:30:34.149Z,1741746634.149 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.EdgePlanktivoreLMavgROILatitude = nan arcdeg
2025-03-12T02:30:34.157Z,1741746634.157 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.EdgePlanktivoreLMavgROILongitude = nan arcdeg
2025-03-12T02:30:34.176Z,1741746634.176 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakPlanktivoreHMavgROI = nan count/s
2025-03-12T02:30:34.186Z,1741746634.186 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakPlanktivoreHMavgROIDepth = nan m
2025-03-12T02:30:34.189Z,1741746634.189 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakPlanktivoreHMavgROITemperature = nan degC
2025-03-12T02:30:34.203Z,1741746634.203 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakPlanktivoreHMavgROILatitude = nan arcdeg
2025-03-12T02:30:34.213Z,1741746634.213 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakPlanktivoreHMavgROILongitude = nan arcdeg
2025-03-12T02:30:34.232Z,1741746634.232 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakPlanktivoreDiatoms = nan count/ml
2025-03-12T02:30:34.243Z,1741746634.243 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakPlanktivoreDiatomsDepth = nan m
2025-03-12T02:30:34.245Z,1741746634.245 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakPlanktivoreDiatomsTemperature = nan degC
2025-03-12T02:30:34.252Z,1741746634.252 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakPlanktivoreDiatomsLatitude = nan arcdeg
2025-03-12T02:30:34.275Z,1741746634.275 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakPlanktivoreDiatomsLongitude = nan arcdeg
2025-03-12T02:30:34.277Z,1741746634.277 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakPlanktivoreDinoflagellates = nan count/ml
2025-03-12T02:30:34.283Z,1741746634.283 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakPlanktivoreDinoflagellatesDepth = nan m
2025-03-12T02:30:34.294Z,1741746634.294 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakPlanktivoreDinoflagellatesTemperature = nan degC
2025-03-12T02:30:34.297Z,1741746634.297 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakPlanktivoreDinoflagellatesLatitude = nan arcdeg
2025-03-12T02:30:34.307Z,1741746634.307 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakPlanktivoreDinoflagellatesLongitude = nan arcdeg
2025-03-12T02:30:34.310Z,1741746634.310 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PatchChl = nan ug/l
2025-03-12T02:30:34.320Z,1741746634.320 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PatchChlDepth = nan m
2025-03-12T02:30:34.327Z,1741746634.327 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PatchChlLatitude = nan arcdeg
2025-03-12T02:30:34.330Z,1741746634.330 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PatchChlLongitude = nan arcdeg
2025-03-12T02:30:34.380Z,1741746634.380 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PatchChlDistance = nan m
2025-03-12T02:30:34.390Z,1741746634.390 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PatchSalt = nan psu
2025-03-12T02:30:34.392Z,1741746634.392 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PatchSaltDepth = nan m
2025-03-12T02:30:34.407Z,1741746634.407 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PatchSaltLatitude = nan arcdeg
2025-03-12T02:30:34.409Z,1741746634.409 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PatchSaltLongitude = nan arcdeg
2025-03-12T02:30:34.424Z,1741746634.424 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PatchSaltDistance = nan m
2025-03-12T02:30:34.443Z,1741746634.443 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PatchOil = nan psu
2025-03-12T02:30:34.445Z,1741746634.445 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PatchOilDepth = nan m
2025-03-12T02:30:34.462Z,1741746634.462 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PatchOilLatitude = nan arcdeg
2025-03-12T02:30:34.465Z,1741746634.465 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PatchOilLongitude = nan arcdeg
2025-03-12T02:30:34.475Z,1741746634.475 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PatchOilDistance = nan m
2025-03-12T02:30:34.478Z,1741746634.478 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.TriggeredOnChl = 0 bool
2025-03-12T02:30:34.504Z,1741746634.504 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.ChlTriggering = nan ug/l
2025-03-12T02:30:34.573Z,1741746634.573 [ballast_and_trim:Science:PeakDetectChl:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-03-12T02:30:34.620Z,1741746634.620 [ballast_and_trim:Science:EdgeDetectChl:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-03-12T02:30:34.705Z,1741746634.705 [ballast_and_trim:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-03-12T02:30:34.748Z,1741746634.748 [ballast_and_trim:Science:PeakDetectNO3:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-03-12T02:30:34.823Z,1741746634.823 [ballast_and_trim:Science:PeakDetectOil:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-03-12T02:30:34.861Z,1741746634.861 [ballast_and_trim:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-03-12T02:30:34.903Z,1741746634.903 [ballast_and_trim:Science:PeakDetectFDOM:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-03-12T02:30:34.943Z,1741746634.943 [ballast_and_trim:Science:PeakDetectSalinity:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-03-12T02:30:34.964Z,1741746634.964 [ballast_and_trim:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-03-12T02:30:35.003Z,1741746635.003 [ballast_and_trim:Science:PeakDetectPlanktivoreLMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-03-12T02:30:35.032Z,1741746635.032 [ballast_and_trim:Science:EdgeDetectPlanktivoreLMavgROI:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-03-12T02:30:35.085Z,1741746635.085 [ballast_and_trim:Science:PeakDetectPlanktivoreHMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-03-12T02:30:35.114Z,1741746635.114 [ballast_and_trim:Science:PeakDetectPlanktivoreDiatoms:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-03-12T02:30:35.148Z,1741746635.148 [ballast_and_trim:Science:PeakDetectPlanktivoreDinoflagellates:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-03-12T02:30:35.167Z,1741746635.167 [ballast_and_trim:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Construct ValueDetect.
2025-03-12T02:30:35.206Z,1741746635.206 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl
2025-03-12T02:30:35.206Z,1741746635.206 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl
2025-03-12T02:30:35.207Z,1741746635.207 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl
2025-03-12T02:30:35.435Z,1741746635.435 [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>

2025-03-12T02:30:35.440Z,1741746635.440 [MissionManager](INFO): DefineArg ballast_and_trim:NeedComms.DiveInterval = 1.000000 h
2025-03-12T02:30:35.443Z,1741746635.443 [MissionManager](INFO): DefineArg ballast_and_trim:NeedComms.WaitForPitchUp = 10.000000 min
2025-03-12T02:30:35.445Z,1741746635.445 [MissionManager](INFO): DefineArg ballast_and_trim:NeedComms.SurfacePitch = 20.000000 arcdeg
2025-03-12T02:30:35.448Z,1741746635.448 [MissionManager](INFO): DefineArg ballast_and_trim:NeedComms.SurfaceDepthRate = nan m/s
2025-03-12T02:30:35.450Z,1741746635.450 [MissionManager](INFO): DefineArg ballast_and_trim:NeedComms.SurfaceSpeed = 1.000000 m/s
2025-03-12T02:30:35.452Z,1741746635.452 [MissionManager](INFO): DefineArg ballast_and_trim:NeedComms.SurfacingTimeout = 1000.000000 s
2025-03-12T02:30:35.455Z,1741746635.455 [MissionManager](INFO): DefineArg ballast_and_trim:NeedComms.GPSTimeout = 7.000000 min
2025-03-12T02:30:35.457Z,1741746635.457 [MissionManager](INFO): DefineArg ballast_and_trim:NeedComms.CommsTimeout = 30.000000 min
2025-03-12T02:30:35.463Z,1741746635.463 [ballast_and_trim:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2025-03-12T02:30:35.507Z,1741746635.507 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-03-12T02:30:35.507Z,1741746635.507 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-03-12T02:30:35.508Z,1741746635.508 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-03-12T02:30:35.670Z,1741746635.670 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/StandardEnvelopes.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="StandardEnvelopes">
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="MaxDepthIgnore">
        <Units:meter />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>200</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:meter />
        <Value>2000</Value>
    </DefineArg>
    <Parallel />
    <Guidance:AltitudeEnvelope>
        <Parallel />
        <Setting>
            <Guidance:AltitudeEnvelope.minAltitude />
            <Arg Name="MinAltitude" />
        </Setting>
        <Setting>
            <Guidance:AltitudeEnvelope.maxDepthIgnore />
            <Arg Name="MaxDepthIgnore" />
        </Setting>
    </Guidance:AltitudeEnvelope>
    <Guidance:DepthEnvelope>
        <Parallel />
        <Setting>
            <Guidance:DepthEnvelope.maxDepth />
            <Arg Name="MaxDepth" />
        </Setting>
    </Guidance:DepthEnvelope>
    <Guidance:OffshoreEnvelope>
        <Parallel />
        <Setting>
            <Guidance:OffshoreEnvelope.minOffshore />
            <Arg Name="MinOffshore" />
        </Setting>
    </Guidance:OffshoreEnvelope>
</Aggregate>

2025-03-12T02:30:35.674Z,1741746635.674 [MissionManager](INFO): DefineArg ballast_and_trim:StandardEnvelopes.MinAltitude = 5.000000 m
2025-03-12T02:30:35.677Z,1741746635.677 [MissionManager](INFO): DefineArg ballast_and_trim:StandardEnvelopes.MaxDepthIgnore = 0.000000 m
2025-03-12T02:30:35.679Z,1741746635.679 [MissionManager](INFO): DefineArg ballast_and_trim:StandardEnvelopes.MaxDepth = 200.000000 m
2025-03-12T02:30:35.681Z,1741746635.681 [MissionManager](INFO): DefineArg ballast_and_trim:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-03-12T02:30:35.682Z,1741746635.682 [ballast_and_trim:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-03-12T02:30:35.688Z,1741746635.688 [ballast_and_trim:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-03-12T02:30:35.722Z,1741746635.722 [ballast_and_trim:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-03-12T02:30:35.730Z,1741746635.730 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2025-03-12T02:30:35.731Z,1741746635.731 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2025-03-12T02:30:35.732Z,1741746635.732 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2025-03-12T02:30:35.761Z,1741746635.761 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/BackseatDriver.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="BackseatDriver">
    <DefineArg Name="EnableBackseat">
        <False />
    </DefineArg>
    <Parallel />
    <Guidance:BackseatDriver>
        <Sequence />
        <Setting>
            <Guidance:BackseatDriver.powerBackseat />
            <Arg Name="EnableBackseat" />
        </Setting>
    </Guidance:BackseatDriver>
</Aggregate>

2025-03-12T02:30:35.764Z,1741746635.764 [MissionManager](INFO): DefineArg ballast_and_trim:BackseatDriver.EnableBackseat = 0 bool
2025-03-12T02:30:35.766Z,1741746635.766 [ballast_and_trim:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2025-03-12T02:30:35.769Z,1741746635.769 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2025-03-12T02:30:35.769Z,1741746635.769 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2025-03-12T02:30:35.770Z,1741746635.770 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2025-03-12T02:30:35.887Z,1741746635.887 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/PowerOnly.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="PowerOnly">
    <DefineArg Name="SampleAll">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad1">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad2">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad3">
        <False />
    </DefineArg>
    <DefineArg Name="EnabledPowerOnly">
        <Sensor:PowerOnly.loadAtStartup />
    </DefineArg>
    <Parallel />
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleAll" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.samplePowerOnly />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad1" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad1 />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad2" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad2 />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad3" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad3 />
    </ReadData>
    <Guidance:Wait>
        <Sequence />
        <Setting>
            <Guidance:Wait.duration />
            <Units:hour />
            <Value>99999</Value>
        </Setting>
    </Guidance:Wait>
</Aggregate>

2025-03-12T02:30:35.891Z,1741746635.891 [MissionManager](INFO): DefineArg ballast_and_trim:PowerOnly.SampleAll = 0 bool
2025-03-12T02:30:35.893Z,1741746635.893 [MissionManager](INFO): DefineArg ballast_and_trim:PowerOnly.SampleLoad1 = 0 bool
2025-03-12T02:30:35.895Z,1741746635.895 [MissionManager](INFO): DefineArg ballast_and_trim:PowerOnly.SampleLoad2 = 0 bool
2025-03-12T02:30:35.896Z,1741746635.896 [MissionManager](INFO): DefineArg ballast_and_trim:PowerOnly.SampleLoad3 = 0 bool
2025-03-12T02:30:35.923Z,1741746635.923 [MissionManager](INFO): DefineArg ballast_and_trim:PowerOnly.EnabledPowerOnly = 1 bool
2025-03-12T02:30:35.938Z,1741746635.938 [DataOverHttps](INFO): Received command: schedule resume
2025-03-12T02:30:35.939Z,1741746635.939 [ballast_and_trim:PowerOnly:E.Wait](DEBUG): Construct Wait.
2025-03-12T02:30:35.944Z,1741746635.944 [ballast_and_trim:CheckTargetDepths:CheckDepth1:B.Execute](DEBUG): Construct Execute.
2025-03-12T02:30:35.948Z,1741746635.948 [ballast_and_trim:CheckTargetDepths:CheckDepth2:B.Execute](DEBUG): Construct Execute.
2025-03-12T02:30:35.969Z,1741746635.969 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BallastAndTrim.tl
2025-03-12T02:30:35.969Z,1741746635.969 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BallastAndTrim.tl
2025-03-12T02:30:35.971Z,1741746635.971 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BallastAndTrim.tl
2025-03-12T02:30:36.493Z,1741746636.493 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/BallastAndTrim.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="BallastAndTrim">
    <DefineArg Name="InsertDepth">
        <Units:meter />
        <Value>25</Value>
    </DefineArg>
    <DefineArg Name="InsertApproachSpeed">
        <Units:meter_per_second />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="InsertApproachDepthRate">
        <Units:meter_per_second />
        <Value>0.4</Value>
    </DefineArg>
    <DefineArg Name="InsertApproachPitchLimit">
        <Units:degree />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="InsertApproachSettleTimePreDive">
        <Units:minute />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="InsertApproachDepthTimeout">
        <Units:minute />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="InsertSettleTime">
        <Units:minute />
        <Value>10</Value>
    </DefineArg>
    <DefineArg Name="EstTimeout">
        <Units:minute />
        <Value>45</Value>
    </DefineArg>
    <DefineArg Name="MinEstTime">
        <Units:minute />
        <Value>10</Value>
    </DefineArg>
    <DefineArg Name="MassEstErrorBound">
        <Units:millimeter />
        <Value>0.25</Value>
    </DefineArg>
    <DefineArg Name="BuoyEstErrorBound">
        <Units:cubic_centimeter />
        <Value>15</Value>
    </DefineArg>
    <DefineArg Name="EstConfidence">
        <Units:percent />
        <Value>99.9</Value>
    </DefineArg>
    <DefineArg Name="InsertDepthDeadband">
        <Units:meter />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="InsertMassDeadband">
        <Units:millimeter />
        <Value>0.25</Value>
    </DefineArg>
    <When>
        <Called />
    </When>
    <Assign>
        <Parallel />
        <Control:VerticalControl.kpPitchMass />
        <Units:ratio />
        <Value>0.005</Value>
    </Assign>
    <Assign>
        <Parallel />
        <Control:VerticalControl.kiPitchMass />
        <Units:reciprocal_second />
        <Value>0.00075</Value>
    </Assign>
    <Assign>
        <Parallel />
        <Control:VerticalControl.kdPitchMass />
        <Units:second />
        <Value>0</Value>
    </Assign>
    <Assign>
        <Parallel />
        <Control:VerticalControl.massDeadband />
        <Arg Name="InsertMassDeadband" />
    </Assign>
    <Assign>
        <Parallel />
        <Control:VerticalControl.depthDeadband />
        <Arg Name="InsertDepthDeadband" />
    </Assign>
    <Syslog Severity="Info">
        Going to target depth. Speed set to 
        <Arg Name="InsertApproachSpeed" />
        <Units:meter_per_second />
    </Syslog>
    <Aggregate Id="GoToTargetDepth">
        <Sequence />
        <Assign>
            <Parallel />
            <Control:VerticalControl.pitchLimit />
            <Arg Name="InsertApproachPitchLimit" />
        </Assign>
        <Aggregate Id="ActuatorHold">
            <While>
                <Arg Name="InsertApproachSpeed" />
                <Gt>
                    <Units:meter_per_second />
                    <Value>0</Value>
                </Gt>
            </While>
            <Guidance:Point>
                <Parallel />
                <Setting>
                    <Guidance:Point.rudderAngle />
                    <Units:degree />
                    <Value>13</Value>
                </Setting>
            </Guidance:Point>
            <Guidance:Buoyancy>
                <Parallel />
                <Setting>
                    <Guidance:Buoyancy.position />
                    <Control:VerticalControl.buoyancyNeutral />
                </Setting>
            </Guidance:Buoyancy>
            <Guidance:Pitch>
                <Parallel />
                <Setting>
                    <Guidance:Pitch.massPosition />
                    <Control:VerticalControl.massDefault />
                </Setting>
            </Guidance:Pitch>
        </Aggregate>
        <Aggregate Id="WaitPreDive">
            <Sequence />
            <Break>
                <Arg Name="InsertApproachSettleTimePreDive" />
                <Le>
                    <Units:minute />
                    <Value>0</Value>
                </Le>
            </Break>
            <Syslog Severity="Info">
                Waiting for 
                <Arg Name="InsertApproachSettleTimePreDive" />
                <Units:minute />
                while pumping down to neutral.
            </Syslog>
            <Guidance:Wait>
                <Sequence />
                <Setting>
                    <Guidance:Wait.duration />
                    <Arg Name="InsertApproachSettleTimePreDive" />
                </Setting>
            </Guidance:Wait>
        </Aggregate>
        <Aggregate Id="ApproachDepth">
            <Sequence />
            <Syslog>
                Moving to 
                <Arg Name="InsertDepth" />
                <Units:meter />
            </Syslog>
            <Guidance:SetSpeed>
                <Parallel />
                <Setting>
                    <Guidance:SetSpeed.speed />
                    <Arg Name="InsertApproachSpeed" />
                </Setting>
            </Guidance:SetSpeed>
            <Guidance:Pitch>
                <Sequence />
                <Timeout Duration="InsertApproachDepthTimeout">
                    <Syslog Severity="Important">
                        Timed out trying to reach the target depth. Stopping mission at current depth of 
                        <Universal:depth />
                        <Units:meter />
                    </Syslog>
                    <Guidance:Execute>
                        <Sequence />
                        <Setting>
                            <Guidance:Execute.command />
                            <String>stop</String>
                        </Setting>
                    </Guidance:Execute>
                </Timeout>
                <Setting>
                    <Guidance:Pitch.depth />
                    <Arg Name="InsertDepth" />
                </Setting>
                <Setting>
                    <Guidance:Pitch.depthRate />
                    <Arg Name="InsertApproachDepthRate" />
                </Setting>
            </Guidance:Pitch>
        </Aggregate>
    </Aggregate>
    <Aggregate Id="BallastAndTrimAtTargetDepth">
        <Sequence />
        <Guidance:SetSpeed>
            <Parallel />
            <Setting>
                <Guidance:SetSpeed.speed />
                <Units:meter_per_second />
                <Value>0</Value>
            </Setting>
        </Guidance:SetSpeed>
        <Guidance:Pitch>
            <Parallel />
            <Setting>
                <Guidance:Pitch.depth />
                <Arg Name="InsertDepth" />
            </Setting>
        </Guidance:Pitch>
        <Syslog Severity="Info">
            Waiting for the vehicle to settle. Depth = 
            <Universal:depth />
            <Units:meter />
        </Syslog>
        <Guidance:Wait>
            <Sequence />
            <Setting>
                <Guidance:Wait.duration />
                <Arg Name="InsertSettleTime" />
            </Setting>
        </Guidance:Wait>
        <Guidance:Execute>
            <Sequence />
            <Setting>
                <Guidance:Execute.command />
                <String>gfscan</String>
            </Setting>
        </Guidance:Execute>
        <Syslog Severity="Info">
            Running ballast and trim. Depth = 
            <Universal:depth />
            <Units:meter />
        </Syslog>
        <Estimation:BallastAndTrim>
            <Sequence />
            <Setting>
                <Estimation:BallastAndTrim.estimationTimeout />
                <Arg Name="EstTimeout" />
            </Setting>
            <Setting>
                <Estimation:BallastAndTrim.minEstimationTime />
                <Arg Name="MinEstTime" />
            </Setting>
            <Setting>
                <Estimation:BallastAndTrim.massErrorBound />
                <Arg Name="MassEstErrorBound" />
            </Setting>
            <Setting>
                <Estimation:BallastAndTrim.buoyErrorBound />
                <Arg Name="BuoyEstErrorBound" />
            </Setting>
            <Setting>
                <Estimation:BallastAndTrim.confidenceLevel />
                <Arg Name="EstConfidence" />
            </Setting>
        </Estimation:BallastAndTrim>
    </Aggregate>
</Aggregate>

2025-03-12T02:30:36.500Z,1741746636.500 [MissionManager](INFO): DefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertDepth = 25.000000 m
2025-03-12T02:30:36.503Z,1741746636.503 [MissionManager](INFO): DefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertApproachSpeed = 0.000000 m/s
2025-03-12T02:30:36.505Z,1741746636.505 [MissionManager](INFO): DefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertApproachDepthRate = 0.400000 m/s
2025-03-12T02:30:36.507Z,1741746636.507 [MissionManager](INFO): DefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertApproachPitchLimit = 20.000000 arcdeg
2025-03-12T02:30:36.509Z,1741746636.509 [MissionManager](INFO): DefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertApproachSettleTimePreDive = 0.000000 min
2025-03-12T02:30:36.512Z,1741746636.512 [MissionManager](INFO): DefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertApproachDepthTimeout = 20.000000 min
2025-03-12T02:30:36.515Z,1741746636.515 [MissionManager](INFO): DefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertSettleTime = 10.000000 min
2025-03-12T02:30:36.517Z,1741746636.517 [MissionManager](INFO): DefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.EstTimeout = 45.000000 min
2025-03-12T02:30:36.519Z,1741746636.519 [MissionManager](INFO): DefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.MinEstTime = 10.000000 min
2025-03-12T02:30:36.522Z,1741746636.522 [MissionManager](INFO): DefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.MassEstErrorBound = 0.250000 mm
2025-03-12T02:30:36.544Z,1741746636.544 [MissionManager](INFO): DefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.BuoyEstErrorBound = 15.000000 cc
2025-03-12T02:30:36.551Z,1741746636.551 [MissionManager](INFO): DefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.EstConfidence = 99.900002 %
2025-03-12T02:30:36.553Z,1741746636.553 [MissionManager](INFO): DefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertDepthDeadband = 1.000000 m
2025-03-12T02:30:36.556Z,1741746636.556 [MissionManager](INFO): DefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertMassDeadband = 0.250000 mm
2025-03-12T02:30:36.589Z,1741746636.589 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold:A.Point](DEBUG): Construct.
2025-03-12T02:30:36.603Z,1741746636.603 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold:B.Buoyancy](DEBUG): Construct Buoyancy.
2025-03-12T02:30:36.614Z,1741746636.614 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold:C.Pitch](DEBUG): Construct.
2025-03-12T02:30:36.634Z,1741746636.634 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:WaitPreDive:B.Wait](DEBUG): Construct Wait.
2025-03-12T02:30:36.639Z,1741746636.639 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth:B.SetSpeed](DEBUG): Construct.
2025-03-12T02:30:36.644Z,1741746636.644 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth:C.Pitch](DEBUG): Construct.
2025-03-12T02:30:36.662Z,1741746636.662 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth:C.Pitch:A_Timeout:B.Execute](DEBUG): Construct Execute.
2025-03-12T02:30:36.670Z,1741746636.670 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:A.SetSpeed](DEBUG): Construct.
2025-03-12T02:30:36.676Z,1741746636.676 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:B.Pitch](DEBUG): Construct.
2025-03-12T02:30:36.691Z,1741746636.691 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:D.Wait](DEBUG): Construct Wait.
2025-03-12T02:30:36.692Z,1741746636.692 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:E.Execute](DEBUG): Construct Execute.
2025-03-12T02:30:36.700Z,1741746636.700 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:G.](DEBUG): Construct BallastAndTrim.
2025-03-12T02:30:36.711Z,1741746636.711 [MissionManager](INFO): RedefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertDepthDeadband = reader:ballast_and_trim.DepthDeadband
2025-03-12T02:30:36.713Z,1741746636.713 [MissionManager](INFO): RedefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertApproachSpeed = reader:ballast_and_trim.ApproachSpeed
2025-03-12T02:30:36.715Z,1741746636.715 [MissionManager](INFO): RedefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertApproachDepthRate = reader:ballast_and_trim.ApproachDepthRate
2025-03-12T02:30:36.716Z,1741746636.716 [MissionManager](INFO): RedefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertApproachPitchLimit = reader:ballast_and_trim.ApproachPitchLimit
2025-03-12T02:30:36.718Z,1741746636.718 [MissionManager](INFO): RedefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertApproachSettleTimePreDive = reader:ballast_and_trim.ApproachSettleTimePreDive
2025-03-12T02:30:36.720Z,1741746636.720 [MissionManager](INFO): RedefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertApproachDepthTimeout = reader:ballast_and_trim.ApproachDepthTimeout
2025-03-12T02:30:36.721Z,1741746636.721 [MissionManager](INFO): RedefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertSettleTime = reader:ballast_and_trim.SettleTime
2025-03-12T02:30:36.723Z,1741746636.723 [MissionManager](INFO): RedefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.EstTimeout = reader:ballast_and_trim.EstimationTimeout
2025-03-12T02:30:36.724Z,1741746636.724 [MissionManager](INFO): RedefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.MinEstTime = reader:ballast_and_trim.MinEstimationTime
2025-03-12T02:30:36.731Z,1741746636.731 [MissionManager](INFO): RedefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.MassEstErrorBound = reader:ballast_and_trim.MassEstimationErrorBound
2025-03-12T02:30:36.732Z,1741746636.732 [MissionManager](INFO): RedefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.BuoyEstErrorBound = reader:ballast_and_trim.BuoyEstimationErrorBound
2025-03-12T02:30:36.734Z,1741746636.734 [MissionManager](INFO): RedefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.EstConfidence = reader:ballast_and_trim.EstimationConfidence
2025-03-12T02:30:36.735Z,1741746636.735 [MissionManager](INFO): RedefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertMassDeadband = reader:ballast_and_trim.massDeadband
2025-03-12T02:30:36.925Z,1741746636.925 [MissionManager](DEBUG): 
#   Copyright (c) 2024 MBARI
#   MBARI Proprietary Information. Confidential. All Rights Reserved
#   Unauthorized copying or distribution of this file via any medium is strictly
#   prohibited.
#
#   WARNING - This file contains information whose export is restricted by the
#   Export Administration Act of 1979 (Title 50, U.S.C., App. 2401 et seq.), as
#   amended. Violations of these export laws are subject to severe civil and/or
#   criminal penalties.

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

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

    Depth1 = 35 meter

    Depth2 = NaN meter

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

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

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

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

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

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

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

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

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

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

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

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

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

    MinAltitude = 5 meter

    MaxDepth = 52 meter

    MinOffshore = 2 kilometer

    CheckDepths = 1 bool
  }

  timeout duration=MissionTimeout

  insert Insert/Science.tl

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

  insert Insert/StandardEnvelopes.tl

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

  insert Insert/BackseatDriver.tl

  insert Insert/PowerOnly.tl

  aggregate CheckTargetDepths {
    run in sequence

    break if ( not ( CheckDepths ) )

    aggregate CheckDepth1 {
      run in sequence

      break if ( not ( Depth1 > MaxDepth ) )

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

      behavior Guidance:Execute {
        run in sequence

        set command = "stop"
      }
    }

    aggregate CheckDepth2 {
      run in sequence

      break if ( not ( Depth2 > MaxDepth ) )

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

      behavior Guidance:Execute {
        run in sequence

        set command = "stop"
      }
    }

    assign in sequence CheckDepths = 0 bool
  }

  aggregate StartingMission {
    run in sequence

    break if ( SkipComms )

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

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

  aggregate RunBallastAndTrim {
    run in sequence

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

    aggregate RunDepth1 {
      run in sequence

      break if ( isNaN ( Depth1 ) )

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

    aggregate RunDepth2 {
      run in sequence

      break if ( isNaN ( Depth2 ) )

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

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


2025-03-12T02:30:36.928Z,1741746636.928 [CommandExec](IMPORTANT): Running ./Missions/Maintenance/ballast_and_trim.tl
2025-03-12T02:30:36.930Z,1741746636.930 [CommandExec](IMPORTANT): got command schedule resume
2025-03-12T02:30:36.930Z,1741746636.930 [CommandExec](IMPORTANT): Scheduling is resumed
2025-03-12T02:30:37.217Z,1741746637.217 [Default] Stopped
2025-03-12T02:30:37.218Z,1741746637.218 [Default](DEBUG): Aggregate::uninitialize Default
2025-03-12T02:30:37.218Z,1741746637.218 [Default:B.GoToSurface] Stopped
2025-03-12T02:30:37.218Z,1741746637.218 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-03-12T02:30:37.218Z,1741746637.218 [Default:CheckIn] Stopped
2025-03-12T02:30:37.218Z,1741746637.218 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-03-12T02:30:37.218Z,1741746637.218 [Default:CheckIn:C.Wait] Stopped
2025-03-12T02:30:37.218Z,1741746637.218 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2025-03-12T02:30:37.218Z,1741746637.218 [MissionManager](IMPORTANT): Started mission ballast_and_trim
2025-03-12T02:30:37.219Z,1741746637.219 [ballast_and_trim] Running Loop=1
2025-03-12T02:30:37.219Z,1741746637.219 [ballast_and_trim](DEBUG): Aggregate::initialize ballast_and_trim
2025-03-12T02:30:37.219Z,1741746637.219 [ballast_and_trim:Science] Running Loop=1
2025-03-12T02:30:37.219Z,1741746637.219 [ballast_and_trim:Science](DEBUG): Aggregate::initialize ballast_and_trim:Science
2025-03-12T02:30:37.219Z,1741746637.219 [ballast_and_trim:Science:A] Running Loop=1
2025-03-12T02:30:37.219Z,1741746637.219 [ballast_and_trim:Science:B] Running Loop=1
2025-03-12T02:30:37.219Z,1741746637.219 [ballast_and_trim:Science:C] Running Loop=1
2025-03-12T02:30:37.219Z,1741746637.219 [ballast_and_trim:Science:D] Running Loop=1
2025-03-12T02:30:37.219Z,1741746637.219 [ballast_and_trim:Science:E] Running Loop=1
2025-03-12T02:30:37.219Z,1741746637.219 [ballast_and_trim:Science:F] Running Loop=1
2025-03-12T02:30:37.219Z,1741746637.219 [ballast_and_trim:Science:Read_Oil] Running Loop=1
2025-03-12T02:30:37.219Z,1741746637.219 [ballast_and_trim:Science:PeakDetectChl] Running Loop=1
2025-03-12T02:30:37.220Z,1741746637.220 [ballast_and_trim:Science:PeakDetectChl](DEBUG): Aggregate::initialize ballast_and_trim:Science:PeakDetectChl
2025-03-12T02:30:37.220Z,1741746637.220 [ballast_and_trim:Science:PeakDetectChl:A] Running Loop=1
2025-03-12T02:30:37.220Z,1741746637.220 [ballast_and_trim:Science:EdgeDetectChl] Running Loop=1
2025-03-12T02:30:37.220Z,1741746637.220 [ballast_and_trim:Science:EdgeDetectChl](DEBUG): Aggregate::initialize ballast_and_trim:Science:EdgeDetectChl
2025-03-12T02:30:37.220Z,1741746637.220 [ballast_and_trim:Science:EdgeDetectChl:A] Running Loop=1
2025-03-12T02:30:37.220Z,1741746637.220 [ballast_and_trim:Science:HighestChlPeakReport] Running Loop=1
2025-03-12T02:30:37.220Z,1741746637.220 [ballast_and_trim:Science:HighestChlPeakReport](DEBUG): Aggregate::initialize ballast_and_trim:Science:HighestChlPeakReport
2025-03-12T02:30:37.220Z,1741746637.220 [ballast_and_trim:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-03-12T02:30:37.220Z,1741746637.220 [ballast_and_trim:Science:HighestChlPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-03-12T02:30:37.221Z,1741746637.221 [ballast_and_trim:Science:PeakDetectNO3] Running Loop=1
2025-03-12T02:30:37.221Z,1741746637.221 [ballast_and_trim:Science:PeakDetectNO3](DEBUG): Aggregate::initialize ballast_and_trim:Science:PeakDetectNO3
2025-03-12T02:30:37.221Z,1741746637.221 [ballast_and_trim:Science:PeakDetectNO3:A] Running Loop=1
2025-03-12T02:30:37.221Z,1741746637.221 [ballast_and_trim:Science:PeakDetectOil] Running Loop=1
2025-03-12T02:30:37.221Z,1741746637.221 [ballast_and_trim:Science:PeakDetectOil](DEBUG): Aggregate::initialize ballast_and_trim:Science:PeakDetectOil
2025-03-12T02:30:37.221Z,1741746637.221 [ballast_and_trim:Science:PeakDetectOil:A] Running Loop=1
2025-03-12T02:30:37.221Z,1741746637.221 [ballast_and_trim:Science:HighestOilPeakReport] Running Loop=1
2025-03-12T02:30:37.222Z,1741746637.222 [ballast_and_trim:Science:HighestOilPeakReport](DEBUG): Aggregate::initialize ballast_and_trim:Science:HighestOilPeakReport
2025-03-12T02:30:37.222Z,1741746637.222 [ballast_and_trim:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-03-12T02:30:37.222Z,1741746637.222 [ballast_and_trim:Science:HighestOilPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-03-12T02:30:37.222Z,1741746637.222 [ballast_and_trim:Science:PeakDetectFDOM] Running Loop=1
2025-03-12T02:30:37.222Z,1741746637.222 [ballast_and_trim:Science:PeakDetectFDOM](DEBUG): Aggregate::initialize ballast_and_trim:Science:PeakDetectFDOM
2025-03-12T02:30:37.222Z,1741746637.222 [ballast_and_trim:Science:PeakDetectFDOM:A] Running Loop=1
2025-03-12T02:30:37.223Z,1741746637.223 [ballast_and_trim:Science:PeakDetectSalinity] Running Loop=1
2025-03-12T02:30:37.223Z,1741746637.223 [ballast_and_trim:Science:PeakDetectSalinity](DEBUG): Aggregate::initialize ballast_and_trim:Science:PeakDetectSalinity
2025-03-12T02:30:37.223Z,1741746637.223 [ballast_and_trim:Science:PeakDetectSalinity:A] Running Loop=1
2025-03-12T02:30:37.223Z,1741746637.223 [ballast_and_trim:Science:HighestSaltPeakReport] Running Loop=1
2025-03-12T02:30:37.223Z,1741746637.223 [ballast_and_trim:Science:HighestSaltPeakReport](DEBUG): Aggregate::initialize ballast_and_trim:Science:HighestSaltPeakReport
2025-03-12T02:30:37.223Z,1741746637.223 [ballast_and_trim:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-03-12T02:30:37.223Z,1741746637.223 [ballast_and_trim:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-03-12T02:30:37.224Z,1741746637.224 [ballast_and_trim:Science:PeakDetectPlanktivoreLMavgROI] Running Loop=1
2025-03-12T02:30:37.224Z,1741746637.224 [ballast_and_trim:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::initialize ballast_and_trim:Science:PeakDetectPlanktivoreLMavgROI
2025-03-12T02:30:37.224Z,1741746637.224 [ballast_and_trim:Science:PeakDetectPlanktivoreLMavgROI:A] Running Loop=1
2025-03-12T02:30:37.224Z,1741746637.224 [ballast_and_trim:Science:EdgeDetectPlanktivoreLMavgROI] Running Loop=1
2025-03-12T02:30:37.224Z,1741746637.224 [ballast_and_trim:Science:EdgeDetectPlanktivoreLMavgROI](DEBUG): Aggregate::initialize ballast_and_trim:Science:EdgeDetectPlanktivoreLMavgROI
2025-03-12T02:30:37.224Z,1741746637.224 [ballast_and_trim:Science:EdgeDetectPlanktivoreLMavgROI:A] Running Loop=1
2025-03-12T02:30:37.224Z,1741746637.224 [ballast_and_trim:Science:PeakDetectPlanktivoreHMavgROI] Running Loop=1
2025-03-12T02:30:37.224Z,1741746637.224 [ballast_and_trim:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::initialize ballast_and_trim:Science:PeakDetectPlanktivoreHMavgROI
2025-03-12T02:30:37.224Z,1741746637.224 [ballast_and_trim:Science:PeakDetectPlanktivoreHMavgROI:A] Running Loop=1
2025-03-12T02:30:37.224Z,1741746637.224 [ballast_and_trim:Science:PeakDetectPlanktivoreDiatoms] Running Loop=1
2025-03-12T02:30:37.225Z,1741746637.225 [ballast_and_trim:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::initialize ballast_and_trim:Science:PeakDetectPlanktivoreDiatoms
2025-03-12T02:30:37.225Z,1741746637.225 [ballast_and_trim:Science:PeakDetectPlanktivoreDiatoms:A] Running Loop=1
2025-03-12T02:30:37.225Z,1741746637.225 [ballast_and_trim:Science:PeakDetectPlanktivoreDinoflagellates] Running Loop=1
2025-03-12T02:30:37.225Z,1741746637.225 [ballast_and_trim:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::initialize ballast_and_trim:Science:PeakDetectPlanktivoreDinoflagellates
2025-03-12T02:30:37.225Z,1741746637.225 [ballast_and_trim:Science:PeakDetectPlanktivoreDinoflagellates:A] Running Loop=1
2025-03-12T02:30:37.225Z,1741746637.225 [ballast_and_trim:Science:ChlThreshTrigger] Running Loop=1
2025-03-12T02:30:37.225Z,1741746637.225 [ballast_and_trim:Science:ChlThreshTrigger](DEBUG): Aggregate::initialize ballast_and_trim:Science:ChlThreshTrigger
2025-03-12T02:30:37.225Z,1741746637.225 [ballast_and_trim:Science:ChlThreshTrigger:A.ValueDetect] Running Loop=1
2025-03-12T02:30:37.225Z,1741746637.225 [ballast_and_trim:Science:ChlThreshTrigger:A.ValueDetect](INFO): Initialize.
2025-03-12T02:30:37.226Z,1741746637.226 [ballast_and_trim:Science:OceanCurrent] Running Loop=1
2025-03-12T02:30:37.226Z,1741746637.226 [ballast_and_trim:Science:OceanCurrent](DEBUG): Aggregate::initialize ballast_and_trim:Science:OceanCurrent
2025-03-12T02:30:37.226Z,1741746637.226 [ballast_and_trim:Science:OceanCurrent:A.] Running Loop=1
2025-03-12T02:30:37.226Z,1741746637.226 [ballast_and_trim:Science:OceanCurrent:A.](INFO): Initializing CurrentEstimator.
2025-03-12T02:30:37.226Z,1741746637.226 [ballast_and_trim:StandardEnvelopes] Running Loop=1
2025-03-12T02:30:37.226Z,1741746637.226 [ballast_and_trim:StandardEnvelopes](DEBUG): Aggregate::initialize ballast_and_trim:StandardEnvelopes
2025-03-12T02:30:37.226Z,1741746637.226 [ballast_and_trim:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-03-12T02:30:37.226Z,1741746637.226 [ballast_and_trim:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-03-12T02:30:37.227Z,1741746637.227 [ballast_and_trim:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-03-12T02:30:37.227Z,1741746637.227 [ballast_and_trim:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-03-12T02:30:37.227Z,1741746637.227 [ballast_and_trim:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-03-12T02:30:37.227Z,1741746637.227 [ballast_and_trim:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-03-12T02:30:37.227Z,1741746637.227 [ballast_and_trim:BackseatDriver] Running Loop=1
2025-03-12T02:30:37.227Z,1741746637.227 [ballast_and_trim:BackseatDriver](DEBUG): Aggregate::initialize ballast_and_trim:BackseatDriver
2025-03-12T02:30:37.228Z,1741746637.228 [ballast_and_trim:BackseatDriver:A.BackseatDriver] Running Loop=1
2025-03-12T02:30:37.228Z,1741746637.228 [ballast_and_trim:PowerOnly] Running Loop=1
2025-03-12T02:30:37.228Z,1741746637.228 [ballast_and_trim:PowerOnly](DEBUG): Aggregate::initialize ballast_and_trim:PowerOnly
2025-03-12T02:30:37.228Z,1741746637.228 [ballast_and_trim:PowerOnly:A] Running Loop=1
2025-03-12T02:30:37.228Z,1741746637.228 [ballast_and_trim:PowerOnly:B] Running Loop=1
2025-03-12T02:30:37.228Z,1741746637.228 [ballast_and_trim:PowerOnly:C] Running Loop=1
2025-03-12T02:30:37.228Z,1741746637.228 [ballast_and_trim:PowerOnly:D] Running Loop=1
2025-03-12T02:30:37.228Z,1741746637.228 [ballast_and_trim:PowerOnly:E.Wait] Running Loop=1
2025-03-12T02:30:37.228Z,1741746637.228 [ballast_and_trim:PowerOnly:E.Wait](DEBUG): Initialize Wait Component.
2025-03-12T02:30:37.228Z,1741746637.228 [ballast_and_trim:C] Running Loop=1
2025-03-12T02:30:37.229Z,1741746637.229 [ballast_and_trim:PowerOnly] Running Loop=1
2025-03-12T02:30:37.230Z,1741746637.230 [ballast_and_trim:PowerOnly:D] Stopped
2025-03-12T02:30:37.230Z,1741746637.230 [ballast_and_trim:PowerOnly:C] Stopped
2025-03-12T02:30:37.230Z,1741746637.230 [ballast_and_trim:PowerOnly:B] Stopped
2025-03-12T02:30:37.230Z,1741746637.230 [ballast_and_trim:PowerOnly:A] Stopped
2025-03-12T02:30:37.230Z,1741746637.230 [ballast_and_trim:BackseatDriver] Running Loop=1
2025-03-12T02:30:37.230Z,1741746637.230 [ballast_and_trim:StandardEnvelopes] Running Loop=1
2025-03-12T02:30:37.230Z,1741746637.230 [ballast_and_trim:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-03-12T02:30:37.230Z,1741746637.230 [ballast_and_trim:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-03-12T02:30:37.231Z,1741746637.231 [ballast_and_trim:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-03-12T02:30:37.231Z,1741746637.231 [ballast_and_trim:C] Stopped
2025-03-12T02:30:37.231Z,1741746637.231 [ballast_and_trim:E] Running Loop=1
2025-03-12T02:30:37.231Z,1741746637.231 [ballast_and_trim:Science] Running Loop=1
2025-03-12T02:30:37.233Z,1741746637.233 [ballast_and_trim:Science:ChlThreshTrigger] Stopped
2025-03-12T02:30:37.233Z,1741746637.233 [ballast_and_trim:Science:ChlThreshTrigger](DEBUG): Aggregate::uninitialize ballast_and_trim:Science:ChlThreshTrigger
2025-03-12T02:30:37.233Z,1741746637.233 [ballast_and_trim:Science:ChlThreshTrigger:A.ValueDetect] Stopped
2025-03-12T02:30:37.233Z,1741746637.233 [ballast_and_trim:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Uninitialize.
2025-03-12T02:30:37.233Z,1741746637.233 [ballast_and_trim:Science:PeakDetectPlanktivoreDinoflagellates] Stopped
2025-03-12T02:30:37.233Z,1741746637.233 [ballast_and_trim:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::uninitialize ballast_and_trim:Science:PeakDetectPlanktivoreDinoflagellates
2025-03-12T02:30:37.233Z,1741746637.233 [ballast_and_trim:Science:PeakDetectPlanktivoreDinoflagellates:A] Stopped
2025-03-12T02:30:37.233Z,1741746637.233 [ballast_and_trim:Science:PeakDetectPlanktivoreDiatoms] Stopped
2025-03-12T02:30:37.234Z,1741746637.234 [ballast_and_trim:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::uninitialize ballast_and_trim:Science:PeakDetectPlanktivoreDiatoms
2025-03-12T02:30:37.234Z,1741746637.234 [ballast_and_trim:Science:PeakDetectPlanktivoreDiatoms:A] Stopped
2025-03-12T02:30:37.234Z,1741746637.234 [ballast_and_trim:Science:PeakDetectPlanktivoreHMavgROI] Stopped
2025-03-12T02:30:37.254Z,1741746637.254 [ballast_and_trim:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::uninitialize ballast_and_trim:Science:PeakDetectPlanktivoreHMavgROI
2025-03-12T02:30:37.254Z,1741746637.254 [ballast_and_trim:Science:PeakDetectPlanktivoreHMavgROI:A] Stopped
2025-03-12T02:30:37.254Z,1741746637.254 [ballast_and_trim:Science:EdgeDetectPlanktivoreLMavgROI] Stopped
2025-03-12T02:30:37.254Z,1741746637.254 [ballast_and_trim:Science:EdgeDetectPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize ballast_and_trim:Science:EdgeDetectPlanktivoreLMavgROI
2025-03-12T02:30:37.254Z,1741746637.254 [ballast_and_trim:Science:EdgeDetectPlanktivoreLMavgROI:A] Stopped
2025-03-12T02:30:37.254Z,1741746637.254 [ballast_and_trim:Science:PeakDetectPlanktivoreLMavgROI] Stopped
2025-03-12T02:30:37.254Z,1741746637.254 [ballast_and_trim:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize ballast_and_trim:Science:PeakDetectPlanktivoreLMavgROI
2025-03-12T02:30:37.255Z,1741746637.255 [ballast_and_trim:Science:PeakDetectPlanktivoreLMavgROI:A] Stopped
2025-03-12T02:30:37.255Z,1741746637.255 [ballast_and_trim:Science:HighestSaltPeakReport] Stopped
2025-03-12T02:30:37.255Z,1741746637.255 [ballast_and_trim:Science:HighestSaltPeakReport](DEBUG): Aggregate::uninitialize ballast_and_trim:Science:HighestSaltPeakReport
2025-03-12T02:30:37.255Z,1741746637.255 [ballast_and_trim:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Stopped
2025-03-12T02:30:37.255Z,1741746637.255 [ballast_and_trim:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-03-12T02:30:37.255Z,1741746637.255 [ballast_and_trim:Science:PeakDetectSalinity] Stopped
2025-03-12T02:30:37.255Z,1741746637.255 [ballast_and_trim:Science:PeakDetectSalinity](DEBUG): Aggregate::uninitialize ballast_and_trim:Science:PeakDetectSalinity
2025-03-12T02:30:37.255Z,1741746637.255 [ballast_and_trim:Science:PeakDetectSalinity:A] Stopped
2025-03-12T02:30:37.255Z,1741746637.255 [ballast_and_trim:Science:PeakDetectFDOM] Stopped
2025-03-12T02:30:37.255Z,1741746637.255 [ballast_and_trim:Science:PeakDetectFDOM](DEBUG): Aggregate::uninitialize ballast_and_trim:Science:PeakDetectFDOM
2025-03-12T02:30:37.255Z,1741746637.255 [ballast_and_trim:Science:PeakDetectFDOM:A] Stopped
2025-03-12T02:30:37.255Z,1741746637.255 [ballast_and_trim:Science:HighestOilPeakReport] Stopped
2025-03-12T02:30:37.255Z,1741746637.255 [ballast_and_trim:Science:HighestOilPeakReport](DEBUG): Aggregate::uninitialize ballast_and_trim:Science:HighestOilPeakReport
2025-03-12T02:30:37.256Z,1741746637.256 [ballast_and_trim:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Stopped
2025-03-12T02:30:37.256Z,1741746637.256 [ballast_and_trim:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-03-12T02:30:37.256Z,1741746637.256 [ballast_and_trim:Science:PeakDetectOil] Stopped
2025-03-12T02:30:37.256Z,1741746637.256 [ballast_and_trim:Science:PeakDetectOil](DEBUG): Aggregate::uninitialize ballast_and_trim:Science:PeakDetectOil
2025-03-12T02:30:37.256Z,1741746637.256 [ballast_and_trim:Science:PeakDetectOil:A] Stopped
2025-03-12T02:30:37.256Z,1741746637.256 [ballast_and_trim:Science:PeakDetectNO3] Stopped
2025-03-12T02:30:37.256Z,1741746637.256 [ballast_and_trim:Science:PeakDetectNO3](DEBUG): Aggregate::uninitialize ballast_and_trim:Science:PeakDetectNO3
2025-03-12T02:30:37.256Z,1741746637.256 [ballast_and_trim:Science:PeakDetectNO3:A] Stopped
2025-03-12T02:30:37.256Z,1741746637.256 [ballast_and_trim:Science:HighestChlPeakReport] Stopped
2025-03-12T02:30:37.256Z,1741746637.256 [ballast_and_trim:Science:HighestChlPeakReport](DEBUG): Aggregate::uninitialize ballast_and_trim:Science:HighestChlPeakReport
2025-03-12T02:30:37.256Z,1741746637.256 [ballast_and_trim:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Stopped
2025-03-12T02:30:37.256Z,1741746637.256 [ballast_and_trim:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-03-12T02:30:37.256Z,1741746637.256 [ballast_and_trim:Science:EdgeDetectChl] Stopped
2025-03-12T02:30:37.257Z,1741746637.257 [ballast_and_trim:Science:EdgeDetectChl](DEBUG): Aggregate::uninitialize ballast_and_trim:Science:EdgeDetectChl
2025-03-12T02:30:37.257Z,1741746637.257 [ballast_and_trim:Science:EdgeDetectChl:A] Stopped
2025-03-12T02:30:37.257Z,1741746637.257 [ballast_and_trim:Science:PeakDetectChl] Stopped
2025-03-12T02:30:37.257Z,1741746637.257 [ballast_and_trim:Science:PeakDetectChl](DEBUG): Aggregate::uninitialize ballast_and_trim:Science:PeakDetectChl
2025-03-12T02:30:37.257Z,1741746637.257 [ballast_and_trim:Science:PeakDetectChl:A] Stopped
2025-03-12T02:30:37.257Z,1741746637.257 [ballast_and_trim:Science:OceanCurrent:A.] Running Loop=1
2025-03-12T02:30:37.257Z,1741746637.257 [ballast_and_trim:Science:Read_Oil] Stopped
2025-03-12T02:30:37.257Z,1741746637.257 [ballast_and_trim:Science:F] Stopped
2025-03-12T02:30:37.257Z,1741746637.257 [ballast_and_trim:Science:E] Running Loop=1
2025-03-12T02:30:37.258Z,1741746637.258 [ballast_and_trim:Science:E](DEBUG): Initialize ReadDataComponent to sense mass_concentration_of_chlorophyll_in_sea_water
2025-03-12T02:30:37.258Z,1741746637.258 [ballast_and_trim:Science:D] Stopped
2025-03-12T02:30:37.258Z,1741746637.258 [ballast_and_trim:Science:C] Running Loop=1
2025-03-12T02:30:37.259Z,1741746637.259 [ballast_and_trim:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_temperature
2025-03-12T02:30:37.259Z,1741746637.259 [ballast_and_trim:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_salinity
2025-03-12T02:30:37.259Z,1741746637.259 [ballast_and_trim:Science:B] Running Loop=1
2025-03-12T02:30:37.260Z,1741746637.260 [ballast_and_trim:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_temperature
2025-03-12T02:30:37.260Z,1741746637.260 [ballast_and_trim:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_salinity
2025-03-12T02:30:37.260Z,1741746637.260 [ballast_and_trim:Science:A] Stopped
2025-03-12T02:30:37.508Z,1741746637.508 [WetLabsBB2FL](INFO): Powering up
2025-03-12T02:30:37.631Z,1741746637.631 [ballast_and_trim:E] Stopped
2025-03-12T02:30:37.631Z,1741746637.631 [ballast_and_trim:F] Running Loop=1
2025-03-12T02:30:38.037Z,1741746638.037 [ballast_and_trim:F] Stopped
2025-03-12T02:30:38.037Z,1741746638.037 [ballast_and_trim:G] Running Loop=1
2025-03-12T02:30:38.433Z,1741746638.433 [ballast_and_trim:G] Stopped
2025-03-12T02:30:38.434Z,1741746638.434 [ballast_and_trim:CheckTargetDepths] Running Loop=1
2025-03-12T02:30:38.434Z,1741746638.434 [ballast_and_trim:CheckTargetDepths](DEBUG): Aggregate::initialize ballast_and_trim:CheckTargetDepths
2025-03-12T02:30:38.434Z,1741746638.434 [ballast_and_trim:CheckTargetDepths:CheckDepth1] Running Loop=1
2025-03-12T02:30:38.434Z,1741746638.434 [ballast_and_trim:CheckTargetDepths:CheckDepth1](DEBUG): Aggregate::initialize ballast_and_trim:CheckTargetDepths:CheckDepth1
2025-03-12T02:30:38.434Z,1741746638.434 [ballast_and_trim:CheckTargetDepths:CheckDepth1:A] Running Loop=1
2025-03-12T02:30:38.835Z,1741746638.835 [ballast_and_trim:CheckTargetDepths:CheckDepth1] Stopped
2025-03-12T02:30:38.835Z,1741746638.835 [ballast_and_trim:CheckTargetDepths:CheckDepth1](DEBUG): Aggregate::uninitialize ballast_and_trim:CheckTargetDepths:CheckDepth1
2025-03-12T02:30:38.835Z,1741746638.835 [ballast_and_trim:CheckTargetDepths:CheckDepth1:A] Stopped
2025-03-12T02:30:38.835Z,1741746638.835 [ballast_and_trim:CheckTargetDepths:CheckDepth2] Running Loop=1
2025-03-12T02:30:38.836Z,1741746638.836 [ballast_and_trim:CheckTargetDepths:CheckDepth2](DEBUG): Aggregate::initialize ballast_and_trim:CheckTargetDepths:CheckDepth2
2025-03-12T02:30:38.836Z,1741746638.836 [ballast_and_trim:CheckTargetDepths:CheckDepth2:A] Running Loop=1
2025-03-12T02:30:39.240Z,1741746639.240 [ballast_and_trim:CheckTargetDepths:CheckDepth2] Stopped
2025-03-12T02:30:39.240Z,1741746639.240 [ballast_and_trim:CheckTargetDepths:CheckDepth2](DEBUG): Aggregate::uninitialize ballast_and_trim:CheckTargetDepths:CheckDepth2
2025-03-12T02:30:39.240Z,1741746639.240 [ballast_and_trim:CheckTargetDepths:CheckDepth2:A] Stopped
2025-03-12T02:30:39.240Z,1741746639.240 [ballast_and_trim:CheckTargetDepths:C] Running Loop=1
2025-03-12T02:30:39.336Z,1741746639.336 [CTD_Seabird](ERROR): Pressure reading out of range: -10.110000 decibar
2025-03-12T02:30:39.337Z,1741746639.337 [CTD_Seabird](INFO): some bad data, not updating bins
2025-03-12T02:30:39.654Z,1741746639.654 [ballast_and_trim:CheckTargetDepths:C] Stopped
2025-03-12T02:30:39.655Z,1741746639.655 [ballast_and_trim:CheckTargetDepths](INFO): Completed ballast_and_trim:CheckTargetDepths
2025-03-12T02:30:39.655Z,1741746639.655 [ballast_and_trim:CheckTargetDepths] Stopped
2025-03-12T02:30:39.655Z,1741746639.655 [ballast_and_trim:CheckTargetDepths](DEBUG): Aggregate::uninitialize ballast_and_trim:CheckTargetDepths
2025-03-12T02:30:39.655Z,1741746639.655 [ballast_and_trim:StartingMission] Running Loop=1
2025-03-12T02:30:39.655Z,1741746639.655 [ballast_and_trim:StartingMission](DEBUG): Aggregate::initialize ballast_and_trim:StartingMission
2025-03-12T02:30:39.655Z,1741746639.655 [ballast_and_trim:StartingMission:A] Running Loop=1
2025-03-12T02:30:40.046Z,1741746640.046 [ballast_and_trim:StartingMission:A](INFO): Checking for additional instructions before submerging.
2025-03-12T02:30:40.046Z,1741746640.046 [ballast_and_trim:StartingMission:A] Stopped
2025-03-12T02:30:40.046Z,1741746640.046 [ballast_and_trim:StartingMission:StartingMission] Running Loop=1
2025-03-12T02:30:40.046Z,1741746640.046 [ballast_and_trim:StartingMission:StartingMission](DEBUG): Aggregate::initialize ballast_and_trim:StartingMission:StartingMission
2025-03-12T02:30:40.341Z,1741746640.341 [CTD_Seabird](ERROR): Pressure reading out of range: -192.500000 decibar
2025-03-12T02:30:40.342Z,1741746640.342 [CTD_Seabird](INFO): some bad data, not updating bins
2025-03-12T02:30:40.454Z,1741746640.454 [ballast_and_trim:NeedComms] Running Loop=1
2025-03-12T02:30:40.454Z,1741746640.454 [ballast_and_trim:NeedComms](DEBUG): Aggregate::initialize ballast_and_trim:NeedComms
2025-03-12T02:30:40.455Z,1741746640.455 [ballast_and_trim:NeedComms:B.GoToSurface] Running Loop=1
2025-03-12T02:30:40.455Z,1741746640.455 [ballast_and_trim:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-03-12T02:30:40.455Z,1741746640.455 [ballast_and_trim:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-03-12T02:30:40.455Z,1741746640.455 [ballast_and_trim:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-03-12T02:30:40.456Z,1741746640.456 [ballast_and_trim:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-03-12T02:30:40.456Z,1741746640.456 [ballast_and_trim:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-03-12T02:30:40.456Z,1741746640.456 [ballast_and_trim:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-03-12T02:30:40.457Z,1741746640.457 [ballast_and_trim:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-03-12T02:30:40.457Z,1741746640.457 [ballast_and_trim:NeedComms:A] Running Loop=1
2025-03-12T02:30:40.458Z,1741746640.458 [ballast_and_trim:NeedComms:A](INFO): last time_fix was:  1741746370.000000 second since 1970/01/01T00:00:00Z 
2025-03-12T02:30:40.459Z,1741746640.459 [ballast_and_trim:NeedComms:A] Stopped
2025-03-12T02:30:40.863Z,1741746640.863 [ballast_and_trim:NeedComms:C] Running Loop=1
2025-03-12T02:30:41.267Z,1741746641.267 [ballast_and_trim:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-03-12T02:30:42.869Z,1741746642.869 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,023042.00,A,3647.95404,N,12150.33215,W,0.156,224.66,120325,,,A*71
2025-03-12T02:30:42.880Z,1741746642.880 [NAL9602](INFO): GPS fix at 20250312T023042: (36.799234, -121.838869)
2025-03-12T02:30:42.892Z,1741746642.892 [ballast_and_trim:NeedComms:C] Stopped
2025-03-12T02:30:42.892Z,1741746642.892 [ballast_and_trim:NeedComms:D] Running Loop=1
2025-03-12T02:30:43.311Z,1741746643.311 [ballast_and_trim:NeedComms:D](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-03-12T02:30:50.658Z,1741746650.658 [DataOverHttps](INFO): Sending 73 bytes from file Logs/20250311T232940/Courier0057.lzma
2025-03-12T02:30:51.660Z,1741746651.660 [DataOverHttps](INFO): Moved sent file to Logs/20250311T232940/Courier0057.lzma.bak
2025-03-12T02:30:51.660Z,1741746651.660 [DataOverHttps](INFO): SBD MOMSN=24181795
2025-03-12T02:31:01.458Z,1741746661.458 [NAL9602](INFO): SBD MO Status=2, MOMSN=18502, MT Status=2, MTMSN=0
2025-03-12T02:31:01.459Z,1741746661.459 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-03-12T02:31:07.802Z,1741746667.802 [DataOverHttps](INFO): Sending 39 bytes from file Logs/20250311T232940/Courier0060.lzma
2025-03-12T02:31:08.804Z,1741746668.804 [DataOverHttps](INFO): Moved sent file to Logs/20250311T232940/Courier0060.lzma.bak
2025-03-12T02:31:08.805Z,1741746668.805 [DataOverHttps](INFO): SBD MOMSN=24181798
2025-03-12T02:31:25.082Z,1741746685.082 [DataOverHttps](INFO): Sending 290 bytes from file Logs/20250311T232940/Express0058.lzma
2025-03-12T02:31:26.084Z,1741746686.084 [DataOverHttps](INFO): Moved sent file to Logs/20250311T232940/Express0058.lzma.bak
2025-03-12T02:31:26.084Z,1741746686.084 [DataOverHttps](INFO): SBD MOMSN=24181801
2025-03-12T02:31:42.217Z,1741746702.217 [DataOverHttps](INFO): Sending 62 bytes from file Logs/20250311T232940/Express0061.lzma
2025-03-12T02:31:43.216Z,1741746703.216 [DataOverHttps](INFO): Moved sent file to Logs/20250311T232940/Express0061.lzma.bak
2025-03-12T02:31:43.217Z,1741746703.217 [DataOverHttps](INFO): SBD MOMSN=24181810
2025-03-12T02:31:44.713Z,1741746704.713 [ballast_and_trim:NeedComms:D] Stopped
2025-03-12T02:31:44.713Z,1741746704.713 [ballast_and_trim:NeedComms:E] Running Loop=1
2025-03-12T02:31:45.127Z,1741746705.127 [ballast_and_trim:NeedComms:E](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-03-12T02:33:09.562Z,1741746789.562 [NAL9602](INFO): SBD MO Status=0, MOMSN=18502, MT Status=0, MTMSN=0
2025-03-12T02:33:09.562Z,1741746789.562 [NAL9602](INFO): No messages in MT queue
2025-03-12T02:33:10.775Z,1741746790.775 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,023310.00,A,3647.95417,N,12150.32817,W,0.408,273.30,120325,,,A*71
2025-03-12T02:33:10.777Z,1741746790.777 [NAL9602](INFO): GPS fix at 20250312T023310: (36.799236, -121.838803)
2025-03-12T02:33:10.789Z,1741746790.789 [ballast_and_trim:NeedComms:E] Stopped
2025-03-12T02:33:10.790Z,1741746790.790 [ballast_and_trim:NeedComms](INFO): Completed ballast_and_trim:NeedComms
2025-03-12T02:33:10.806Z,1741746790.806 [ballast_and_trim:NeedComms] Stopped
2025-03-12T02:33:10.806Z,1741746790.806 [ballast_and_trim:NeedComms](DEBUG): Aggregate::uninitialize ballast_and_trim:NeedComms
2025-03-12T02:33:10.806Z,1741746790.806 [ballast_and_trim:NeedComms:B.GoToSurface] Stopped
2025-03-12T02:33:10.806Z,1741746790.806 [ballast_and_trim:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-03-12T02:33:11.223Z,1741746791.223 [ballast_and_trim:StartingMission:StartingMission](INFO): Completed ballast_and_trim:StartingMission:StartingMission
2025-03-12T02:33:11.224Z,1741746791.224 [ballast_and_trim:StartingMission:StartingMission] Stopped
2025-03-12T02:33:11.224Z,1741746791.224 [ballast_and_trim:StartingMission:StartingMission](DEBUG): Aggregate::uninitialize ballast_and_trim:StartingMission:StartingMission
2025-03-12T02:33:11.224Z,1741746791.224 [ballast_and_trim:StartingMission](INFO): Completed ballast_and_trim:StartingMission
2025-03-12T02:33:11.224Z,1741746791.224 [ballast_and_trim:StartingMission] Stopped
2025-03-12T02:33:11.224Z,1741746791.224 [ballast_and_trim:StartingMission](DEBUG): Aggregate::uninitialize ballast_and_trim:StartingMission
2025-03-12T02:33:11.224Z,1741746791.224 [ballast_and_trim:RunBallastAndTrim] Running Loop=1
2025-03-12T02:33:11.224Z,1741746791.224 [ballast_and_trim:RunBallastAndTrim](DEBUG): Aggregate::initialize ballast_and_trim:RunBallastAndTrim
2025-03-12T02:33:11.224Z,1741746791.224 [ballast_and_trim:RunBallastAndTrim:RunDepth1] Running Loop=1
2025-03-12T02:33:11.224Z,1741746791.224 [ballast_and_trim:RunBallastAndTrim:RunDepth1](DEBUG): Aggregate::initialize ballast_and_trim:RunBallastAndTrim:RunDepth1
2025-03-12T02:33:11.225Z,1741746791.225 [ballast_and_trim:RunBallastAndTrim:RunDepth1:A] Running Loop=1
2025-03-12T02:33:11.596Z,1741746791.596 [ballast_and_trim:RunBallastAndTrim:RunDepth1:A] Stopped
2025-03-12T02:33:11.596Z,1741746791.596 [ballast_and_trim:RunBallastAndTrim:RunDepth1:B] Running Loop=1
2025-03-12T02:33:11.596Z,1741746791.596 [ballast_and_trim:RunBallastAndTrim:RunDepth1:B](DEBUG): Aggregate::initialize ballast_and_trim:RunBallastAndTrim:RunDepth1:B
2025-03-12T02:33:12.017Z,1741746792.017 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim] Running Loop=1
2025-03-12T02:33:12.018Z,1741746792.018 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim](DEBUG): Aggregate::initialize ballast_and_trim:RunBallastAndTrim:BallastAndTrim
2025-03-12T02:33:12.018Z,1741746792.018 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:A] Running Loop=1
2025-03-12T02:33:12.018Z,1741746792.018 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:B] Running Loop=1
2025-03-12T02:33:12.018Z,1741746792.018 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:C] Running Loop=1
2025-03-12T02:33:12.018Z,1741746792.018 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:D] Running Loop=1
2025-03-12T02:33:12.018Z,1741746792.018 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:E] Running Loop=1
2025-03-12T02:33:12.018Z,1741746792.018 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:F] Running Loop=1
2025-03-12T02:33:12.021Z,1741746792.021 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:F](INFO): Going to target depth. Speed set to  1.000000 m/s 
2025-03-12T02:33:12.022Z,1741746792.022 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:F] Stopped
2025-03-12T02:33:12.022Z,1741746792.022 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth] Running Loop=1
2025-03-12T02:33:12.026Z,1741746792.026 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth](DEBUG): Aggregate::initialize ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth
2025-03-12T02:33:12.026Z,1741746792.026 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:A] Running Loop=1
2025-03-12T02:33:12.026Z,1741746792.026 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold] Running Loop=1
2025-03-12T02:33:12.026Z,1741746792.026 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold](DEBUG): Aggregate::initialize ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold
2025-03-12T02:33:12.026Z,1741746792.026 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold:A.Point] Running Loop=1
2025-03-12T02:33:12.026Z,1741746792.026 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold:A.Point](DEBUG): Initialize.
2025-03-12T02:33:12.027Z,1741746792.027 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold:B.Buoyancy] Running Loop=1
2025-03-12T02:33:12.027Z,1741746792.027 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold:B.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-03-12T02:33:12.027Z,1741746792.027 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold:C.Pitch] Running Loop=1
2025-03-12T02:33:12.027Z,1741746792.027 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold:C.Pitch](DEBUG): Initialize.
2025-03-12T02:33:12.027Z,1741746792.027 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:WaitPreDive] Running Loop=1
2025-03-12T02:33:12.027Z,1741746792.027 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:WaitPreDive](DEBUG): Aggregate::initialize ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:WaitPreDive
2025-03-12T02:33:12.027Z,1741746792.027 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:WaitPreDive:A] Running Loop=1
2025-03-12T02:33:12.027Z,1741746792.027 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:E] Running Loop=1
2025-03-12T02:33:12.028Z,1741746792.028 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:D] Running Loop=1
2025-03-12T02:33:12.028Z,1741746792.028 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:C] Running Loop=1
2025-03-12T02:33:12.028Z,1741746792.028 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:B] Running Loop=1
2025-03-12T02:33:12.028Z,1741746792.028 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:A] Running Loop=1
2025-03-12T02:33:12.404Z,1741746792.404 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:WaitPreDive:A](INFO): Waiting for  0.000000 min while pumping down to neutral.
2025-03-12T02:33:12.404Z,1741746792.404 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:WaitPreDive:A] Stopped
2025-03-12T02:33:12.405Z,1741746792.405 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:WaitPreDive:B.Wait] Running Loop=1
2025-03-12T02:33:12.405Z,1741746792.405 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:WaitPreDive:B.Wait](DEBUG): Initialize Wait Component.
2025-03-12T02:33:12.405Z,1741746792.405 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold] Running Loop=1
2025-03-12T02:33:12.405Z,1741746792.405 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold:C.Pitch] Running Loop=1
2025-03-12T02:33:12.405Z,1741746792.405 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold:B.Buoyancy] Running Loop=1
2025-03-12T02:33:12.406Z,1741746792.406 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold:A.Point] Running Loop=1
2025-03-12T02:33:12.406Z,1741746792.406 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:A] Running Loop=1
2025-03-12T02:33:12.811Z,1741746792.811 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:WaitPreDive:B.Wait](INFO): Done Waiting.
2025-03-12T02:33:12.811Z,1741746792.811 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:WaitPreDive:B.Wait] Stopped
2025-03-12T02:33:12.812Z,1741746792.812 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:WaitPreDive:B.Wait](DEBUG): Uninitialize Wait Component.
2025-03-12T02:33:12.812Z,1741746792.812 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:WaitPreDive](INFO): Completed ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:WaitPreDive
2025-03-12T02:33:12.812Z,1741746792.812 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:WaitPreDive] Stopped
2025-03-12T02:33:12.812Z,1741746792.812 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:WaitPreDive](DEBUG): Aggregate::uninitialize ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:WaitPreDive
2025-03-12T02:33:12.812Z,1741746792.812 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth] Running Loop=1
2025-03-12T02:33:12.812Z,1741746792.812 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth](DEBUG): Aggregate::initialize ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth
2025-03-12T02:33:12.812Z,1741746792.812 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth:B.SetSpeed] Running Loop=1
2025-03-12T02:33:12.812Z,1741746792.812 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth:B.SetSpeed](DEBUG): Initialize.
2025-03-12T02:33:12.813Z,1741746792.813 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth:A] Running Loop=1
2025-03-12T02:33:13.216Z,1741746793.216 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth:B.SetSpeed] Running Loop=1
2025-03-12T02:33:13.217Z,1741746793.217 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth:A](INFO): Moving to  35.000000 m 
2025-03-12T02:33:13.217Z,1741746793.217 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth:A] Stopped
2025-03-12T02:33:13.217Z,1741746793.217 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth:C.Pitch] Running Loop=1
2025-03-12T02:33:13.217Z,1741746793.217 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth:C.Pitch](DEBUG): Initialize.
2025-03-12T02:33:43.607Z,1741746823.607 [NAL9602](INFO): Not Powering down - fast GPS
2025-03-12T02:34:36.878Z,1741746876.878 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T02:34:39.893Z,1741746879.893 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.252403
2025-03-12T02:35:10.568Z,1741746910.568 [Radio_Surface](INFO): Powering down
2025-03-12T02:35:12.020Z,1741746912.020 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T02:35:13.023Z,1741746913.023 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-03-12T02:38:40.920Z,1741747120.920 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth:C.Pitch] Stopped
2025-03-12T02:38:40.921Z,1741747120.921 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth](INFO): Completed ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth
2025-03-12T02:38:40.921Z,1741747120.921 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth] Stopped
2025-03-12T02:38:40.921Z,1741747120.921 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth](DEBUG): Aggregate::uninitialize ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth
2025-03-12T02:38:40.921Z,1741747120.921 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth:B.SetSpeed] Stopped
2025-03-12T02:38:40.921Z,1741747120.921 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth:B.SetSpeed](DEBUG): Uninitialize.
2025-03-12T02:38:40.923Z,1741747120.923 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth](INFO): Completed ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth
2025-03-12T02:38:40.923Z,1741747120.923 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth] Stopped
2025-03-12T02:38:40.923Z,1741747120.923 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth](DEBUG): Aggregate::uninitialize ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth
2025-03-12T02:38:40.923Z,1741747120.923 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:A] Stopped
2025-03-12T02:38:40.923Z,1741747120.923 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold] Stopped
2025-03-12T02:38:40.924Z,1741747120.924 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold](DEBUG): Aggregate::uninitialize ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold
2025-03-12T02:38:40.924Z,1741747120.924 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold:A.Point] Stopped
2025-03-12T02:38:40.924Z,1741747120.924 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold:B.Buoyancy] Stopped
2025-03-12T02:38:40.924Z,1741747120.924 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold:B.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-03-12T02:38:40.924Z,1741747120.924 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold:C.Pitch] Stopped
2025-03-12T02:38:40.924Z,1741747120.924 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth] Running Loop=1
2025-03-12T02:38:40.924Z,1741747120.924 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth](DEBUG): Aggregate::initialize ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth
2025-03-12T02:38:40.924Z,1741747120.924 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:A.SetSpeed] Running Loop=1
2025-03-12T02:38:40.924Z,1741747120.924 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:A.SetSpeed](DEBUG): Initialize.
2025-03-12T02:38:40.924Z,1741747120.924 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:B.Pitch] Running Loop=1
2025-03-12T02:38:40.924Z,1741747120.924 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:B.Pitch](DEBUG): Initialize.
2025-03-12T02:38:40.925Z,1741747120.925 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:C] Running Loop=1
2025-03-12T02:38:41.577Z,1741747121.577 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:C](INFO): Waiting for the vehicle to settle. Depth =  35.034744 m 
2025-03-12T02:38:41.577Z,1741747121.577 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:C] Stopped
2025-03-12T02:38:41.577Z,1741747121.577 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:D.Wait] Running Loop=1
2025-03-12T02:38:41.578Z,1741747121.578 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:D.Wait](DEBUG): Initialize Wait Component.
2025-03-12T02:38:41.578Z,1741747121.578 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:B.Pitch] Running Loop=1
2025-03-12T02:38:41.583Z,1741747121.583 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:A.SetSpeed] Running Loop=1
2025-03-12T02:44:24.552Z,1741747464.552 [Waterlinked](ERROR): only read 0 of 1 data item for BIT error. Device response::TS,24052713121123, 0.0, +0.01475.0,  0
2025-03-12T02:48:05.401Z,1741747685.401 [Waterlinked](ERROR): only read 0 of 1 data item for altitude. Device response::BD,       +0.00,       +0.00,.00
2025-03-12T02:48:42.009Z,1741747722.009 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:D.Wait](INFO): Done Waiting.
2025-03-12T02:48:42.009Z,1741747722.009 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:D.Wait] Stopped
2025-03-12T02:48:42.009Z,1741747722.009 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:D.Wait](DEBUG): Uninitialize Wait Component.
2025-03-12T02:48:42.009Z,1741747722.009 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:E.Execute] Running Loop=1
2025-03-12T02:48:42.468Z,1741747722.468 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:E.Execute](INFO): Executing command gfscan
2025-03-12T02:48:42.468Z,1741747722.468 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:E.Execute] Stopped
2025-03-12T02:48:42.468Z,1741747722.468 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:F] Running Loop=1
2025-03-12T02:48:42.559Z,1741747722.559 [CommandExec](IMPORTANT): got command gfscan
2025-03-12T02:48:42.650Z,1741747722.650 [GFScanner](IMPORTANT): Beginning ground fault scan
2025-03-12T02:48:42.820Z,1741747722.820 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:F](INFO): Running ballast and trim. Depth =  37.294125 m 
2025-03-12T02:48:42.820Z,1741747722.820 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:F] Stopped
2025-03-12T02:48:42.820Z,1741747722.820 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:G.] Running Loop=1
2025-03-12T02:48:42.820Z,1741747722.820 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:G.](INFO): Initializing BallastAndTrim.
2025-03-12T02:48:43.405Z,1741747723.405 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size.
2025-03-12T02:48:43.853Z,1741747723.853 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2025-03-12T02:48:43.855Z,1741747723.855 [CTD_Seabird](INFO): some bad data, not updating bins
2025-03-12T02:48:44.856Z,1741747724.856 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2025-03-12T02:48:44.857Z,1741747724.857 [CTD_Seabird](INFO): some bad data, not updating bins
2025-03-12T02:48:46.864Z,1741747726.864 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2025-03-12T02:48:46.865Z,1741747726.865 [CTD_Seabird](INFO): some bad data, not updating bins
2025-03-12T02:48:47.294Z,1741747727.294 [GFScanner](IMPORTANT): No ground fault detected
mA:
CHAN A0 (Batt): -0.005931
CHAN A1 (24V): 0.001690
CHAN A2 (12V): -0.005500
CHAN A3 (5V): -0.004564
CHAN B0 (3.3V): -0.001370
CHAN B1 (3.15aV): -0.000975
CHAN B2 (3.15bV): -0.000814
CHAN B3 (GND): -0.002513
OPEN: 0.006121
Full Scale: +/- 1 mA
2025-03-12T02:51:00.440Z,1741747860.440 [CTD_Seabird](ERROR): Failed to parse device response: 37.1342,2457.84
2025-03-12T02:58:25.447Z,1741748305.447 [BPC1](ERROR): BPC1A got IPBS message with 6 sticks (min is 7).
2025-03-12T02:58:43.541Z,1741748323.541 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:G.](IMPORTANT): BallastAndTrim completed. Estimation time: 10.00 minutes.
2025-03-12T02:58:43.542Z,1741748323.542 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:G.](IMPORTANT): Estimated buoyancyNeutral: 373.087254 +/- 9.268834 cc (conf. level 98.00%, sigma: 48.993458 cc).
2025-03-12T02:58:43.559Z,1741748323.559 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:G.](IMPORTANT): Estimated massDefault: 6.846363 +/- 0.154367 mm (conf. level 98.00%, sigma: 0.815956 mm).
2025-03-12T02:58:43.559Z,1741748323.559 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:G.](IMPORTANT): Changing persisted config values to: 373.087254 cc buoyancy neutral and 6.846363 mm mass default
2025-03-12T02:58:43.567Z,1741748323.567 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:G.](IMPORTANT): Listing configuration overrides from Data/persisted.cfg
2025-03-12T02:58:43.568Z,1741748323.568 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:G.](IMPORTANT): Express linearApproximation DATMMP.acoustic_contact_range 15.000000 meter;

2025-03-12T02:58:43.569Z,1741748323.569 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:G.](IMPORTANT): Express linearApproximation TrackAcousticContact.range_to_contact 15.000000 meter;

2025-03-12T02:58:43.570Z,1741748323.570 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:G.](IMPORTANT): Express linearApproximation height_above_sea_floor 10.000000 meter;

2025-03-12T02:58:43.579Z,1741748323.579 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:G.](IMPORTANT): GFScanner.loadAtStartup=1 bool;

2025-03-12T02:58:43.579Z,1741748323.579 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:G.](IMPORTANT): GFScanner.simulateHardware=0 bool;

2025-03-12T02:58:43.580Z,1741748323.580 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:G.](IMPORTANT): MultiRay.loadAtStartup=1 bool;

2025-03-12T02:58:43.581Z,1741748323.581 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:G.](IMPORTANT): PowerOnly.loadAtStartup=1 bool;

2025-03-12T02:58:43.581Z,1741748323.581 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:G.](IMPORTANT): Sonardyne_Nano.loadAtStartup=0 bool;

2025-03-12T02:58:43.588Z,1741748323.588 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:G.](IMPORTANT): VerticalControl.buoyancyNeutral=373.087254 cubic_centimeter;

2025-03-12T02:58:43.589Z,1741748323.589 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:G.](IMPORTANT): VerticalControl.massDefault=6.846363 millimeter;

2025-03-12T02:58:43.590Z,1741748323.590 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:G.] Stopped
2025-03-12T02:58:43.591Z,1741748323.591 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:G.](INFO): Uninitializing BallastAndTrim.
2025-03-12T02:58:43.592Z,1741748323.592 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth](INFO): Completed ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth
2025-03-12T02:58:43.592Z,1741748323.592 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth] Stopped
2025-03-12T02:58:43.592Z,1741748323.592 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth](DEBUG): Aggregate::uninitialize ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth
2025-03-12T02:58:43.592Z,1741748323.592 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:A.SetSpeed] Stopped
2025-03-12T02:58:43.592Z,1741748323.592 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:A.SetSpeed](DEBUG): Uninitialize.
2025-03-12T02:58:43.592Z,1741748323.592 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:B.Pitch] Stopped
2025-03-12T02:58:43.593Z,1741748323.593 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim](INFO): Completed ballast_and_trim:RunBallastAndTrim:BallastAndTrim
2025-03-12T02:58:43.593Z,1741748323.593 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim] Stopped
2025-03-12T02:58:43.593Z,1741748323.593 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim](DEBUG): Aggregate::uninitialize ballast_and_trim:RunBallastAndTrim:BallastAndTrim
2025-03-12T02:58:43.593Z,1741748323.593 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:A] Stopped
2025-03-12T02:58:43.593Z,1741748323.593 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:B] Stopped
2025-03-12T02:58:43.593Z,1741748323.593 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:C] Stopped
2025-03-12T02:58:43.593Z,1741748323.593 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:D] Stopped
2025-03-12T02:58:43.594Z,1741748323.594 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:E] Stopped
2025-03-12T02:58:43.987Z,1741748323.987 [ballast_and_trim:RunBallastAndTrim:RunDepth1:B](INFO): Completed ballast_and_trim:RunBallastAndTrim:RunDepth1:B
2025-03-12T02:58:43.987Z,1741748323.987 [ballast_and_trim:RunBallastAndTrim:RunDepth1:B] Stopped
2025-03-12T02:58:43.987Z,1741748323.987 [ballast_and_trim:RunBallastAndTrim:RunDepth1:B](DEBUG): Aggregate::uninitialize ballast_and_trim:RunBallastAndTrim:RunDepth1:B
2025-03-12T02:58:43.987Z,1741748323.987 [ballast_and_trim:RunBallastAndTrim:RunDepth1](INFO): Completed ballast_and_trim:RunBallastAndTrim:RunDepth1
2025-03-12T02:58:43.987Z,1741748323.987 [ballast_and_trim:RunBallastAndTrim:RunDepth1] Stopped
2025-03-12T02:58:43.987Z,1741748323.987 [ballast_and_trim:RunBallastAndTrim:RunDepth1](DEBUG): Aggregate::uninitialize ballast_and_trim:RunBallastAndTrim:RunDepth1
2025-03-12T02:58:43.988Z,1741748323.988 [ballast_and_trim:RunBallastAndTrim:RunDepth2] Running Loop=1
2025-03-12T02:58:43.988Z,1741748323.988 [ballast_and_trim:RunBallastAndTrim:RunDepth2](DEBUG): Aggregate::initialize ballast_and_trim:RunBallastAndTrim:RunDepth2
2025-03-12T02:58:43.988Z,1741748323.988 [ballast_and_trim:RunBallastAndTrim:RunDepth2:A] Running Loop=1
2025-03-12T02:58:44.385Z,1741748324.385 [ballast_and_trim:RunBallastAndTrim:RunDepth2] Stopped
2025-03-12T02:58:44.385Z,1741748324.385 [ballast_and_trim:RunBallastAndTrim:RunDepth2](DEBUG): Aggregate::uninitialize ballast_and_trim:RunBallastAndTrim:RunDepth2
2025-03-12T02:58:44.385Z,1741748324.385 [ballast_and_trim:RunBallastAndTrim:RunDepth2:A] Stopped
2025-03-12T02:58:44.385Z,1741748324.385 [ballast_and_trim:RunBallastAndTrim](INFO): Completed ballast_and_trim:RunBallastAndTrim
2025-03-12T02:58:44.385Z,1741748324.385 [ballast_and_trim:RunBallastAndTrim] Stopped
2025-03-12T02:58:44.385Z,1741748324.385 [ballast_and_trim:RunBallastAndTrim](DEBUG): Aggregate::uninitialize ballast_and_trim:RunBallastAndTrim
2025-03-12T02:58:44.385Z,1741748324.385 [ballast_and_trim:EndingMission] Running Loop=1
2025-03-12T02:58:44.385Z,1741748324.385 [ballast_and_trim:EndingMission](DEBUG): Aggregate::initialize ballast_and_trim:EndingMission
2025-03-12T02:58:44.893Z,1741748324.893 [ballast_and_trim:NeedComms] Running Loop=1
2025-03-12T02:58:44.898Z,1741748324.898 [ballast_and_trim:NeedComms](DEBUG): Aggregate::initialize ballast_and_trim:NeedComms
2025-03-12T02:58:44.899Z,1741748324.899 [ballast_and_trim:NeedComms:B.GoToSurface] Running Loop=1
2025-03-12T02:58:44.899Z,1741748324.899 [ballast_and_trim:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-03-12T02:58:44.900Z,1741748324.900 [ballast_and_trim:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-03-12T02:58:44.902Z,1741748324.902 [ballast_and_trim:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-03-12T02:58:44.907Z,1741748324.907 [ballast_and_trim:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-03-12T02:58:44.909Z,1741748324.909 [ballast_and_trim:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-03-12T02:58:44.920Z,1741748324.920 [ballast_and_trim:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-03-12T02:58:44.921Z,1741748324.921 [ballast_and_trim:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-03-12T02:58:44.926Z,1741748324.926 [ballast_and_trim:NeedComms:A] Running Loop=1
2025-03-12T02:58:44.942Z,1741748324.942 [ballast_and_trim:NeedComms:A](INFO): last time_fix was:  1741746790.000000 second since 1970/01/01T00:00:00Z 
2025-03-12T02:58:44.943Z,1741748324.943 [ballast_and_trim:NeedComms:A] Stopped
2025-03-12T03:01:14.693Z,1741748474.693 [ballast_and_trim:NeedComms:C] Running Loop=1
2025-03-12T03:01:15.150Z,1741748475.150 [Waterlinked](INFO): Powering down
2025-03-12T03:01:15.179Z,1741748475.179 [Radio_Surface](INFO): Powering up
2025-03-12T03:01:20.570Z,1741748480.570 [DataOverHttps](INFO): Radio surface powered ON.
2025-03-12T03:01:50.690Z,1741748510.690 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T03:02:14.605Z,1741748534.605 [NAL9602](INFO): SBD MO Status=0, MOMSN=18503, MT Status=0, MTMSN=0
2025-03-12T03:02:14.605Z,1741748534.605 [NAL9602](INFO): No messages in MT queue
2025-03-12T03:02:15.815Z,1741748535.815 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,030215.00,A,3647.96130,N,12150.37328,W,0.330,307.38,120325,,,A*70
2025-03-12T03:02:15.818Z,1741748535.818 [NAL9602](INFO): GPS fix at 20250312T030215: (36.799355, -121.839555)
2025-03-12T03:02:15.829Z,1741748535.829 [ballast_and_trim:NeedComms:C] Stopped
2025-03-12T03:02:15.830Z,1741748535.830 [ballast_and_trim:NeedComms:D] Running Loop=1
2025-03-12T03:02:25.830Z,1741748545.830 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T03:02:35.339Z,1741748555.339 [NAL9602](INFO): SBD MO Status=1, MOMSN=18504, MT Status=0, MTMSN=0
2025-03-12T03:02:35.390Z,1741748555.390 [NAL9602](INFO): Sent 73 bytes from file Logs/20250311T232940/Courier0063.lzma
2025-03-12T03:02:35.390Z,1741748555.390 [NAL9602](INFO): Packets left to send: 0
2025-03-12T03:02:40.996Z,1741748560.996 [BPC1](INFO): Calculating totals. Valid battery stick count: 50. Valid reserve battery stick count: 5.
2025-03-12T03:02:40.999Z,1741748560.999 [BPC1](FAULT): Failed to receive data from 1 sticks prior to timeout. Will not retry this scan cycle. Missing stick IDs are: 21.
2025-03-12T03:02:49.490Z,1741748569.490 [NAL9602](INFO): SBD MO Status=2, MOMSN=18505, MT Status=2, MTMSN=0
2025-03-12T03:02:49.490Z,1741748569.490 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-03-12T03:03:00.978Z,1741748580.978 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T03:03:12.561Z,1741748592.561 [NAL9602](INFO): SBD MO Status=1, MOMSN=18505, MT Status=0, MTMSN=0
2025-03-12T03:03:12.610Z,1741748592.610 [NAL9602](INFO): Sent 332 bytes from file Logs/20250311T232940/Express0064.lzma
2025-03-12T03:03:12.610Z,1741748592.610 [NAL9602](INFO): Packets left to send: 3
2025-03-12T03:03:23.549Z,1741748603.549 [NAL9602](INFO): SBD MO Status=1, MOMSN=18506, MT Status=0, MTMSN=0
2025-03-12T03:03:23.598Z,1741748603.598 [NAL9602](INFO): Sent 332 bytes from file Logs/20250311T232940/Express0064.lzma
2025-03-12T03:03:23.599Z,1741748603.599 [NAL9602](INFO): Packets left to send: 2
2025-03-12T03:03:36.101Z,1741748616.101 [NAL9602](INFO): SBD MO Status=1, MOMSN=18507, MT Status=0, MTMSN=0
2025-03-12T03:03:36.118Z,1741748616.118 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T03:03:36.151Z,1741748616.151 [NAL9602](INFO): Sent 332 bytes from file Logs/20250311T232940/Express0064.lzma
2025-03-12T03:03:36.152Z,1741748616.152 [NAL9602](INFO): Packets left to send: 1
2025-03-12T03:03:44.226Z,1741748624.226 [NAL9602](INFO): SBD MO Status=1, MOMSN=18508, MT Status=0, MTMSN=0
2025-03-12T03:03:44.274Z,1741748624.274 [NAL9602](INFO): Sent 80 bytes from file Logs/20250311T232940/Express0064.lzma
2025-03-12T03:03:44.275Z,1741748624.274 [NAL9602](INFO): Packets left to send: 0
2025-03-12T03:03:51.905Z,1741748631.905 [NAL9602](INFO): SBD MO Status=0, MOMSN=18509, MT Status=0, MTMSN=0
2025-03-12T03:03:51.984Z,1741748631.984 [ballast_and_trim:NeedComms:D] Stopped
2025-03-12T03:03:51.984Z,1741748631.984 [ballast_and_trim:NeedComms:E] Running Loop=1
2025-03-12T03:03:54.329Z,1741748634.329 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,030353.00,A,3647.96182,N,12150.37250,W,1.050,309.75,120325,,,A*77
2025-03-12T03:03:54.332Z,1741748634.332 [NAL9602](INFO): GPS fix at 20250312T030353: (36.799364, -121.839542)
2025-03-12T03:03:54.365Z,1741748634.365 [ballast_and_trim:NeedComms:E] Stopped
2025-03-12T03:03:54.371Z,1741748634.371 [ballast_and_trim:NeedComms](INFO): Completed ballast_and_trim:NeedComms
2025-03-12T03:03:54.371Z,1741748634.371 [ballast_and_trim:NeedComms] Stopped
2025-03-12T03:03:54.371Z,1741748634.371 [ballast_and_trim:NeedComms](DEBUG): Aggregate::uninitialize ballast_and_trim:NeedComms
2025-03-12T03:03:54.371Z,1741748634.371 [ballast_and_trim:NeedComms:B.GoToSurface] Stopped
2025-03-12T03:03:54.371Z,1741748634.371 [ballast_and_trim:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-03-12T03:03:54.775Z,1741748634.775 [ballast_and_trim:EndingMission](INFO): Completed ballast_and_trim:EndingMission
2025-03-12T03:03:54.775Z,1741748634.775 [ballast_and_trim:EndingMission] Stopped
2025-03-12T03:03:54.775Z,1741748634.775 [ballast_and_trim:EndingMission](DEBUG): Aggregate::uninitialize ballast_and_trim:EndingMission
2025-03-12T03:03:54.782Z,1741748634.782 [ballast_and_trim](INFO): Completed ballast_and_trim
2025-03-12T03:03:54.783Z,1741748634.783 [MissionManager](INFO): ballast_and_trim is completed.
2025-03-12T03:03:54.783Z,1741748634.783 [MissionManager](INFO): Uninitializing Mission ballast_and_trim
2025-03-12T03:03:54.783Z,1741748634.783 [ballast_and_trim] Stopped
2025-03-12T03:03:54.783Z,1741748634.783 [ballast_and_trim](DEBUG): Aggregate::uninitialize ballast_and_trim
2025-03-12T03:03:54.783Z,1741748634.783 [ballast_and_trim:Science] Stopped
2025-03-12T03:03:54.783Z,1741748634.783 [ballast_and_trim:Science](DEBUG): Aggregate::uninitialize ballast_and_trim:Science
2025-03-12T03:03:54.783Z,1741748634.783 [ballast_and_trim:Science:B] Stopped
2025-03-12T03:03:54.783Z,1741748634.783 [ballast_and_trim:Science:C] Stopped
2025-03-12T03:03:54.783Z,1741748634.783 [ballast_and_trim:Science:E] Stopped
2025-03-12T03:03:54.783Z,1741748634.783 [ballast_and_trim:Science:OceanCurrent] Stopped
2025-03-12T03:03:54.784Z,1741748634.784 [ballast_and_trim:Science:OceanCurrent](DEBUG): Aggregate::uninitialize ballast_and_trim:Science:OceanCurrent
2025-03-12T03:03:54.784Z,1741748634.784 [ballast_and_trim:Science:OceanCurrent:A.] Stopped
2025-03-12T03:03:54.784Z,1741748634.784 [ballast_and_trim:StandardEnvelopes] Stopped
2025-03-12T03:03:54.784Z,1741748634.784 [ballast_and_trim:StandardEnvelopes](DEBUG): Aggregate::uninitialize ballast_and_trim:StandardEnvelopes
2025-03-12T03:03:54.784Z,1741748634.784 [ballast_and_trim:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-03-12T03:03:54.784Z,1741748634.784 [ballast_and_trim:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-03-12T03:03:54.784Z,1741748634.784 [ballast_and_trim:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-03-12T03:03:54.784Z,1741748634.784 [ballast_and_trim:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-03-12T03:03:54.784Z,1741748634.784 [ballast_and_trim:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-03-12T03:03:54.784Z,1741748634.784 [ballast_and_trim:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-03-12T03:03:54.784Z,1741748634.784 [ballast_and_trim:BackseatDriver] Stopped
2025-03-12T03:03:54.784Z,1741748634.784 [ballast_and_trim:BackseatDriver](DEBUG): Aggregate::uninitialize ballast_and_trim:BackseatDriver
2025-03-12T03:03:54.784Z,1741748634.784 [ballast_and_trim:BackseatDriver:A.BackseatDriver] Stopped
2025-03-12T03:03:54.785Z,1741748634.785 [ballast_and_trim:PowerOnly] Stopped
2025-03-12T03:03:54.785Z,1741748634.785 [ballast_and_trim:PowerOnly](DEBUG): Aggregate::uninitialize ballast_and_trim:PowerOnly
2025-03-12T03:03:54.785Z,1741748634.785 [ballast_and_trim:PowerOnly:E.Wait] Stopped
2025-03-12T03:03:54.785Z,1741748634.785 [ballast_and_trim:PowerOnly:E.Wait](DEBUG): Uninitialize Wait Component.
2025-03-12T03:03:54.853Z,1741748634.853 [CommandExec](IMPORTANT): got command run ./Missions/Maintenance/calibrate_sparton_compass.tl
2025-03-12T03:03:54.995Z,1741748634.995 [MissionManager](INFO): Loading Mission from file: ./Missions/Maintenance/calibrate_sparton_compass.tl
2025-03-12T03:03:54.995Z,1741748634.995 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Maintenance/calibrate_sparton_compass.tl
2025-03-12T03:03:55.001Z,1741748635.001 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Maintenance/calibrate_sparton_compass.tl
2025-03-12T03:03:55.354Z,1741748635.354 [WetLabsBB2FL](INFO): Powering down
2025-03-12T03:03:58.834Z,1741748638.834 [MissionManager](DEBUG): TethyslAPI: ./Missions/Maintenance/calibrate_sparton_compass.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Mission Id="calibrate_sparton_compass">
    <DefineArg Name="MissionTimeout">
        <Units:minute />
        <Value>60</Value>
    </DefineArg>
    <DefineArg Name="NeedCommsTime">
        <Units:minute />
        <Value>60</Value>
    </DefineArg>
    <DefineArg Name="YoYoMinDepth">
        <Units:meter />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="YoYoMaxDepth">
        <Units:meter />
        <Value>40</Value>
    </DefineArg>
    <DefineArg Name="YoYoMinAltitude">
        <Units:meter />
        <Value>7</Value>
    </DefineArg>
    <DefineArg Name="YoYoPitch">
        <Units:degree />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="RudderAngle">
        <Units:degree />
        <Value>13</Value>
    </DefineArg>
    <DefineArg Name="Speed">
        <Units:meter_per_second />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="CalibrationInitTimeout">
        <Units:minute />
        <Value>2</Value>
    </DefineArg>
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>50</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:kilometer />
        <Value>2</Value>
    </DefineArg>
    <Timeout Duration="MissionTimeout" />
    <Insert Filename="Insert/Science.tl" />
    <Insert Id="NeedComms" Filename="Insert/NeedComms.tl" />
    <Assign>
        <Sequence />
        <Arg Name="NeedComms:DiveInterval" />
        <Arg Name="NeedCommsTime" />
    </Assign>
    <Insert Filename="Insert/StandardEnvelopes.tl" />
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MinAltitude" />
        <Arg Name="MinAltitude" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MaxDepth" />
        <Arg Name="MaxDepth" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MinOffshore" />
        <Arg Name="MinOffshore" />
    </Assign>
    <Insert Filename="Insert/BackseatDriver.tl" />
    <Insert Filename="Insert/PowerOnly.tl" />
    <Call RefId="NeedComms" Id="StartingMission" />
    <Guidance:Pitch>
        <Parallel />
        <Setting>
            <Guidance:Pitch.massPosition />
            <Control:VerticalControl.massDefault />
        </Setting>
    </Guidance:Pitch>
    <Guidance:Buoyancy>
        <Parallel />
        <Setting>
            <Guidance:Buoyancy.position />
            <Control:VerticalControl.buoyancyNeutral />
        </Setting>
    </Guidance:Buoyancy>
    <Guidance:DepthEnvelope>
        <Parallel />
        <Setting>
            <Guidance:DepthEnvelope.minDepth />
            <Arg Name="YoYoMinDepth" />
        </Setting>
        <Setting>
            <Guidance:DepthEnvelope.maxDepth />
            <Arg Name="YoYoMaxDepth" />
        </Setting>
        <Setting>
            <Guidance:DepthEnvelope.pitch />
            <Arg Name="YoYoPitch" />
        </Setting>
    </Guidance:DepthEnvelope>
    <Guidance:AltitudeEnvelope>
        <Parallel />
        <Setting>
            <Guidance:AltitudeEnvelope.minAltitude />
            <Arg Name="YoYoMinAltitude" />
        </Setting>
        <Setting>
            <Guidance:AltitudeEnvelope.pitch />
            <Arg Name="YoYoPitch" />
        </Setting>
    </Guidance:AltitudeEnvelope>
    <Guidance:YoYo>
        <Parallel />
        <Setting>
            <Guidance:YoYo.pitch />
            <Arg Name="YoYoPitch" />
        </Setting>
    </Guidance:YoYo>
    <Aggregate Id="AdaptCal">
        <Sequence />
        <ReadDatum Id="WaitForCalibrationInit">
            <Timeout Duration="CalibrationInitTimeout">
                <Syslog Severity="Important">Failed to initialize calibration within timeout. Stopping mission.</Syslog>
                <Guidance:Execute>
                    <Sequence />
                    <Setting>
                        <Guidance:Execute.command />
                        <String>stop</String>
                    </Setting>
                </Guidance:Execute>
            </Timeout>
            <Sensor:AHRS_M2.number_of_calbration_points />
        </ReadDatum>
        <Aggregate Id="AcquireCalibrationPoints">
            <Sequence />
            <Guidance:Point>
                <Parallel />
                <Setting>
                    <Guidance:Point.rudderAngle />
                    <Arg Name="RudderAngle" />
                </Setting>
            </Guidance:Point>
            <Guidance:SetSpeed>
                <Parallel />
                <Setting>
                    <Guidance:SetSpeed.speed />
                    <Arg Name="Speed" />
                </Setting>
            </Guidance:SetSpeed>
        </Aggregate>
        <Sensor:CalibrateAHRS_M2>
            <Parallel />
        </Sensor:CalibrateAHRS_M2>
    </Aggregate>
</Mission>

2025-03-12T03:03:58.842Z,1741748638.842 [MissionManager](INFO): DefineArg calibrate_sparton_compass.MissionTimeout = 60.000000 min
2025-03-12T03:03:58.845Z,1741748638.845 [MissionManager](INFO): DefineArg calibrate_sparton_compass.NeedCommsTime = 60.000000 min
2025-03-12T03:03:58.848Z,1741748638.848 [MissionManager](INFO): DefineArg calibrate_sparton_compass.YoYoMinDepth = 5.000000 m
2025-03-12T03:03:58.852Z,1741748638.852 [MissionManager](INFO): DefineArg calibrate_sparton_compass.YoYoMaxDepth = 40.000000 m
2025-03-12T03:03:58.855Z,1741748638.855 [MissionManager](INFO): DefineArg calibrate_sparton_compass.YoYoMinAltitude = 7.000000 m
2025-03-12T03:03:58.879Z,1741748638.879 [MissionManager](INFO): DefineArg calibrate_sparton_compass.YoYoPitch = 20.000000 arcdeg
2025-03-12T03:03:58.889Z,1741748638.889 [MissionManager](INFO): DefineArg calibrate_sparton_compass.RudderAngle = 13.000000 arcdeg
2025-03-12T03:03:58.897Z,1741748638.897 [MissionManager](INFO): DefineArg calibrate_sparton_compass.Speed = 1.000000 m/s
2025-03-12T03:03:58.905Z,1741748638.905 [MissionManager](INFO): DefineArg calibrate_sparton_compass.CalibrationInitTimeout = 2.000000 min
2025-03-12T03:03:58.919Z,1741748638.919 [MissionManager](INFO): DefineArg calibrate_sparton_compass.MinAltitude = 5.000000 m
2025-03-12T03:03:58.926Z,1741748638.926 [MissionManager](INFO): DefineArg calibrate_sparton_compass.MaxDepth = 50.000000 m
2025-03-12T03:03:58.941Z,1741748638.941 [MissionManager](INFO): DefineArg calibrate_sparton_compass.MinOffshore = 2.000000 km
2025-03-12T03:03:58.942Z,1741748638.942 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/Science.tl
2025-03-12T03:03:58.946Z,1741748638.946 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/Science.tl
2025-03-12T03:03:58.954Z,1741748638.954 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/Science.tl
2025-03-12T03:04:01.572Z,1741748641.572 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/Science.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="Science">
    <DefineArg Name="PeakDetectChlActive">
        <False />
    </DefineArg>
    <DefineArg Name="EdgeDetectChlActive">
        <False />
    </DefineArg>
    <DefineArg Name="TimeWindowPeakReport">
        <Units:minute />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="HighestChlPeakReportActive">
        <False />
    </DefineArg>
    <DefineArg Name="HighestSaltPeakReportActive">
        <False />
    </DefineArg>
    <DefineArg Name="HighestOilPeakReportActive">
        <False />
    </DefineArg>
    <DefineArg Name="PatchTracking">
        <False />
    </DefineArg>
    <DefineArg Name="FilterWidthHorizontal">
        <Units:count />
        <Value>3</Value>
    </DefineArg>
    <DefineArg Name="NumProfilesSlidingwindow">
        <Units:count />
        <Value>100</Value>
    </DefineArg>
    <DefineArg Name="OffPeakFractionHorizontal">
        <Units:percent />
        <Value>80</Value>
    </DefineArg>
    <DefineArg Name="PeakDetectNO3Active">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectOilActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectFDOMActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectSalinityActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreLMavgROIActive">
        <False />
    </DefineArg>
    <DefineArg Name="EdgeDetectPlanktivoreLMavgROIActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreHMavgROIActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreDiatomsActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreDinoflagellatesActive">
        <False />
    </DefineArg>
    <DefineArg Name="UpwardDerivativeOfTemperatureActive">
        <False />
    </DefineArg>
    <DefineArg Name="EnabledAanderaaO2">
        <Science:Aanderaa_O2.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledNeilBrown">
        <Science:CTD_NeilBrown.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledSeabird">
        <Science:CTD_Seabird.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledWetLabsBB2FL">
        <Science:WetLabsBB2FL.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledWetLabsSeaOWL_UV_A">
        <Science:WetLabsSeaOWL_UV_A.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledWetLabsUBAT">
        <Science:WetLabsUBAT.loadAtStartup />
    </DefineArg>
    <DefineArg Name="LowPassWindowLength">
        <Units:count />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="MedianFilterLen">
        <Units:count />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="ShallowBound">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="DeepBound">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="DepChangeThreshForAttitudeFlip">
        <Units:meter />
        <Value>2.0</Value>
    </DefineArg>
    <DefineArg Name="OffPeakFractionVertical">
        <Units:percent />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="ChlPeakThresh">
        <Units:microgram_per_liter />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="ChlThreshTriggerActive">
        <False />
    </DefineArg>
    <DefineArg Name="ChlLowerThresh">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="ChlUpperThresh">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="NumProfilesThresh">
        <Units:count />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="PlanktivoreLMavgROIPeakThresh">
        <Units:count_per_second />
        <Value>0</Value>
    </DefineArg>
    <DefineOutput Name="GoDown">
        <True />
    </DefineOutput>
    <DefineOutput Name="PeakChl">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChl">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChlDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChlTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChlLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChlLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3">
        <Units:micromole_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3Depth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3Latitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3Longitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOil">
        <Units:kilogram_per_cubic_meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOilDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOilLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOilLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOM">
        <Units:part_per_billion />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSalt">
        <Units:practical_salinity_unit />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROI">
        <Units:count_per_second />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROIDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROITemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROILatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROILongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROI">
        <Units:count_per_second />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROIDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROITemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROILatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROILongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROI">
        <Units:count_per_second />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROIDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROITemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROILatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROILongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatoms">
        <Units:count_per_milliliter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellates">
        <Units:count_per_milliliter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChl">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlDistance">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSalt">
        <Units:practical_salinity_unit />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltDistance">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOil">
        <Units:practical_salinity_unit />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilDistance">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="TriggeredOnChl">
        <False />
    </DefineOutput>
    <DefineOutput Name="ChlTriggering">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <Parallel />
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledAanderaaO2" />
        </While>
        <Universal:mass_concentration_of_oxygen_in_sea_water />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledNeilBrown" />
            <Or>
                <Arg Name="EnabledSeabird" />
            </Or>
        </While>
        <Universal:sea_water_temperature />
        <Universal:sea_water_salinity />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledSeabird" />
        </While>
        <Science:CTD_Seabird.sea_water_temperature />
        <Science:CTD_Seabird.sea_water_salinity />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledNeilBrown" />
            <Or>
                <Arg Name="EnabledSeabird" />
            </Or>
            <And>
                <Arg Name="UpwardDerivativeOfTemperatureActive" />
            </And>
        </While>
        <Universal:upward_derivative_of_sea_water_temperature />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledWetLabsBB2FL" />
            <Or>
                <Arg Name="PeakDetectChlActive" />
            </Or>
        </While>
        <Universal:mass_concentration_of_chlorophyll_in_sea_water />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledWetLabsUBAT" />
        </While>
        <Science:WetLabsUBAT.average_bioluminescence />
    </ReadData>
    <ReadData Id="Read_Oil" Strategy="MinError">
        <While>
            <Arg Name="EnabledWetLabsSeaOWL_UV_A" />
            <Or>
                <Arg Name="PeakDetectOilActive" />
            </Or>
        </While>
        <Universal:mass_concentration_of_petroleum_hydrocarbons_in_sea_water />
    </ReadData>
    <Aggregate Id="OceanCurrent">
        <Sequence />
        <Estimation:CurrentEstimator>
            <Parallel />
        </Estimation:CurrentEstimator>
    </Aggregate>
    <Aggregate Id="PeakDetectChl">
        <While>
            <Arg Name="PeakDetectChlActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:mass_concentration_of_chlorophyll_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakChl">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakChlDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakChlTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakChlLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakChlLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakChl" />
            <Arg Name="PeakChlDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="EdgeDetectChl">
        <While>
            <Arg Name="EdgeDetectChlActive" />
        </While>
        <Syslog Severity="Debug">EdgeDetectVsDepth</Syslog>
        <Trigger:EdgeDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:EdgeDetectVsDepth.detect />
                <Universal:mass_concentration_of_chlorophyll_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFraction />
                <Arg Name="OffPeakFractionVertical" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.peakThresh />
                <Arg Name="ChlPeakThresh" />
            </Setting>
            <OutputArg Name="GoDown">
                <Trigger:EdgeDetectVsDepth.goDown />
            </OutputArg>
            <OutputArg Name="PeakChl">
                <Trigger:EdgeDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakChlDepth">
                <Trigger:EdgeDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakChlTemperature">
                <Trigger:EdgeDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakChlLatitude">
                <Trigger:EdgeDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakChlLongitude">
                <Trigger:EdgeDetectVsDepth.peakLongitude />
            </OutputArg>
            <OutputArg Name="EdgeChl">
                <Trigger:EdgeDetectVsDepth.edgeDetect />
            </OutputArg>
            <OutputArg Name="EdgeChlDepth">
                <Trigger:EdgeDetectVsDepth.edgeDepth />
            </OutputArg>
            <OutputArg Name="EdgeChlTemperature">
                <Trigger:EdgeDetectVsDepth.edgeTemperature />
            </OutputArg>
            <OutputArg Name="EdgeChlLatitude">
                <Trigger:EdgeDetectVsDepth.edgeLatitude />
            </OutputArg>
            <OutputArg Name="EdgeChlLongitude">
                <Trigger:EdgeDetectVsDepth.edgeLongitude />
            </OutputArg>
        </Trigger:EdgeDetectVsDepth>
        <Syslog Severity="Info">
            GoDown, ChlPeakThresh, PeakChl, PeakChlDepth, EdgeChl, EdgeChlDepth = 
            <Arg Name="GoDown" />
            <Units:bool />
            , 
            <Arg Name="ChlPeakThresh" />
            <Units:microgram_per_liter />
            , 
            <Arg Name="PeakChl" />
            <Units:microgram_per_liter />
            , 
            <Arg Name="PeakChlDepth" />
            <Units:meter />
            , 
            <Arg Name="EdgeChl" />
            <Units:microgram_per_liter />
            , 
            <Arg Name="EdgeChlDepth" />
            <Units:meter />
        </Syslog>
        <SendData Service="Express">
            <Arg Name="PeakChl" />
            <Arg Name="PeakChlDepth" />
            <Arg Name="EdgeChl" />
            <Arg Name="EdgeChlDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="HighestChlPeakReport">
        <While>
            <Arg Name="HighestChlPeakReportActive" />
        </While>
        <Trigger:PeakDetectHorizontal>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectHorizontal.detectFrom />
                <Arg Name="PeakChl" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.depthFrom />
                <Arg Name="PeakChlDepth" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.latitudeFrom />
                <Arg Name="PeakChlLatitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.longitudeFrom />
                <Arg Name="PeakChlLongitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.patchTracking />
                <Arg Name="PatchTracking" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.filterWidth />
                <Arg Name="FilterWidthHorizontal" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.numProfilesSlidingwindow />
                <Arg Name="NumProfilesSlidingwindow" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.offPeakFraction />
                <Arg Name="OffPeakFractionHorizontal" />
            </Setting>
            <OutputArg Name="PatchChl">
                <Trigger:PeakDetectHorizontal.peakDetect />
            </OutputArg>
            <OutputArg Name="PatchChlDepth">
                <Trigger:PeakDetectHorizontal.peakDepth />
            </OutputArg>
            <OutputArg Name="PatchChlLatitude">
                <Trigger:PeakDetectHorizontal.peakLatitude />
            </OutputArg>
            <OutputArg Name="PatchChlLongitude">
                <Trigger:PeakDetectHorizontal.peakLongitude />
            </OutputArg>
            <OutputArg Name="PatchChlDistance">
                <Trigger:PeakDetectHorizontal.peakDistance />
            </OutputArg>
        </Trigger:PeakDetectHorizontal>
    </Aggregate>
    <Aggregate Id="PeakDetectNO3">
        <While>
            <Arg Name="PeakDetectNO3Active" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:mole_concentration_of_nitrate_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <OutputArg Name="PeakNO3">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakNO3Depth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakNO3Latitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakNO3Longitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakNO3" />
            <Arg Name="PeakNO3Depth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectOil">
        <While>
            <Arg Name="PeakDetectOilActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:mass_concentration_of_petroleum_hydrocarbons_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <OutputArg Name="PeakOil">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakOilDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakOilLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakOilLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakOil" />
            <Arg Name="PeakOilDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="HighestOilPeakReport">
        <While>
            <Arg Name="HighestOilPeakReportActive" />
        </While>
        <Trigger:PeakDetectHorizontal>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectHorizontal.detectFrom />
                <Arg Name="PeakOil" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.depthFrom />
                <Arg Name="PeakOilDepth" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.latitudeFrom />
                <Arg Name="PeakOilLatitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.longitudeFrom />
                <Arg Name="PeakOilLongitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.patchTracking />
                <Arg Name="PatchTracking" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.filterWidth />
                <Arg Name="FilterWidthHorizontal" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.numProfilesSlidingwindow />
                <Arg Name="NumProfilesSlidingwindow" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.offPeakFraction />
                <Arg Name="OffPeakFractionHorizontal" />
            </Setting>
            <OutputArg Name="PatchOil">
                <Trigger:PeakDetectHorizontal.peakDetect />
            </OutputArg>
            <OutputArg Name="PatchOilDepth">
                <Trigger:PeakDetectHorizontal.peakDepth />
            </OutputArg>
            <OutputArg Name="PatchOilLatitude">
                <Trigger:PeakDetectHorizontal.peakLatitude />
            </OutputArg>
            <OutputArg Name="PatchOilLongitude">
                <Trigger:PeakDetectHorizontal.peakLongitude />
            </OutputArg>
            <OutputArg Name="PatchOilDistance">
                <Trigger:PeakDetectHorizontal.peakDistance />
            </OutputArg>
        </Trigger:PeakDetectHorizontal>
    </Aggregate>
    <Aggregate Id="PeakDetectFDOM">
        <While>
            <Arg Name="PeakDetectFDOMActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:concentration_of_colored_dissolved_organic_matter_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <OutputArg Name="PeakFDOM">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakFDOMDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakFDOMTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakFDOMLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakFDOMLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakFDOM" />
            <Arg Name="PeakFDOMDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectSalinity">
        <While>
            <Arg Name="PeakDetectSalinityActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:sea_water_salinity />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakSalt">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakSaltDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakSaltTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakSaltLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakSaltLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakSalt" />
            <Arg Name="PeakSaltDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="HighestSaltPeakReport">
        <While>
            <Arg Name="HighestSaltPeakReportActive" />
        </While>
        <Trigger:PeakDetectHorizontal>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectHorizontal.detectFrom />
                <Arg Name="PeakSalt" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.depthFrom />
                <Arg Name="PeakSaltDepth" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.latitudeFrom />
                <Arg Name="PeakSaltLatitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.longitudeFrom />
                <Arg Name="PeakSaltLongitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.patchTracking />
                <Arg Name="PatchTracking" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.filterWidth />
                <Arg Name="FilterWidthHorizontal" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.numProfilesSlidingwindow />
                <Arg Name="NumProfilesSlidingwindow" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.offPeakFraction />
                <Arg Name="OffPeakFractionHorizontal" />
            </Setting>
            <OutputArg Name="PatchSalt">
                <Trigger:PeakDetectHorizontal.peakDetect />
            </OutputArg>
            <OutputArg Name="PatchSaltDepth">
                <Trigger:PeakDetectHorizontal.peakDepth />
            </OutputArg>
            <OutputArg Name="PatchSaltLatitude">
                <Trigger:PeakDetectHorizontal.peakLatitude />
            </OutputArg>
            <OutputArg Name="PatchSaltLongitude">
                <Trigger:PeakDetectHorizontal.peakLongitude />
            </OutputArg>
            <OutputArg Name="PatchSaltDistance">
                <Trigger:PeakDetectHorizontal.peakDistance />
            </OutputArg>
        </Trigger:PeakDetectHorizontal>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreLMavgROI">
        <While>
            <Arg Name="PeakDetectPlanktivoreLMavgROIActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_LM_AvgRois</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreLMavgROI">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROIDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROITemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROILatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROILongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreLMavgROI" />
            <Arg Name="PeakPlanktivoreLMavgROIDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="EdgeDetectPlanktivoreLMavgROI">
        <While>
            <Arg Name="EdgeDetectPlanktivoreLMavgROIActive" />
        </While>
        <Syslog Severity="Debug">EdgeDetectVsDepth</Syslog>
        <Trigger:EdgeDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:EdgeDetectVsDepth.detect />
                <String>_.planktivore_LM_AvgRois</String>
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFraction />
                <Arg Name="OffPeakFractionVertical" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.peakThresh />
                <Arg Name="PlanktivoreLMavgROIPeakThresh" />
            </Setting>
            <OutputArg Name="GoDown">
                <Trigger:EdgeDetectVsDepth.goDown />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROI">
                <Trigger:EdgeDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROIDepth">
                <Trigger:EdgeDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROITemperature">
                <Trigger:EdgeDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROILatitude">
                <Trigger:EdgeDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROILongitude">
                <Trigger:EdgeDetectVsDepth.peakLongitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROI">
                <Trigger:EdgeDetectVsDepth.edgeDetect />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROIDepth">
                <Trigger:EdgeDetectVsDepth.edgeDepth />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROITemperature">
                <Trigger:EdgeDetectVsDepth.edgeTemperature />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROILatitude">
                <Trigger:EdgeDetectVsDepth.edgeLatitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROILongitude">
                <Trigger:EdgeDetectVsDepth.edgeLongitude />
            </OutputArg>
        </Trigger:EdgeDetectVsDepth>
        <Syslog Severity="Important">
            GoDown, PlanktivoreLMavgROIPeakThresh, PeakPlanktivoreLMavgROI, PeakPlanktivoreLMavgROIDepth, EdgePlanktivoreLMavgROI, EdgePlanktivoreLMavgROIDepth = 
            <Arg Name="GoDown" />
            <Units:bool />
            , 
            <Arg Name="PlanktivoreLMavgROIPeakThresh" />
            <Units:microgram_per_liter />
            , 
            <Arg Name="PeakPlanktivoreLMavgROI" />
            <Units:microgram_per_liter />
            , 
            <Arg Name="PeakPlanktivoreLMavgROIDepth" />
            <Units:meter />
            , 
            <Arg Name="EdgePlanktivoreLMavgROI" />
            <Units:microgram_per_liter />
            , 
            <Arg Name="EdgePlanktivoreLMavgROIDepth" />
            <Units:meter />
        </Syslog>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreLMavgROI" />
            <Arg Name="PeakPlanktivoreLMavgROIDepth" />
            <Arg Name="EdgePlanktivoreLMavgROI" />
            <Arg Name="EdgePlanktivoreLMavgROIDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreHMavgROI">
        <While>
            <Arg Name="PeakDetectPlanktivoreHMavgROIActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_HM_AvgRois</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreHMavgROI">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROIDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROITemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROILatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROILongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreHMavgROI" />
            <Arg Name="PeakPlanktivoreHMavgROIDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreDiatoms">
        <While>
            <Arg Name="PeakDetectPlanktivoreDiatomsActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_diatoms</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreDiatoms">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreDiatoms" />
            <Arg Name="PeakPlanktivoreDiatomsDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreDinoflagellates">
        <While>
            <Arg Name="PeakDetectPlanktivoreDinoflagellatesActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_dinoflagellates</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreDinoflagellates">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreDinoflagellates" />
            <Arg Name="PeakPlanktivoreDinoflagellatesDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="ChlThreshTrigger">
        <While>
            <Arg Name="ChlThreshTriggerActive" />
        </While>
        <Trigger:ValueDetect>
            <Sequence />
            <Setting>
                <Trigger:ValueDetect.detect />
                <Arg Name="PeakChl" />
            </Setting>
            <Setting>
                <Trigger:ValueDetect.lowerThreshold />
                <Arg Name="ChlLowerThresh" />
            </Setting>
            <Setting>
                <Trigger:ValueDetect.upperThreshold />
                <Arg Name="ChlUpperThresh" />
            </Setting>
            <Setting>
                <Trigger:ValueDetect.numProfilesThreshold />
                <Arg Name="NumProfilesThresh" />
            </Setting>
            <OutputArg Name="ChlTriggering">
                <Trigger:ValueDetect.outputValue />
            </OutputArg>
        </Trigger:ValueDetect>
        <Assign>
            <Sequence />
            <Arg Name="TriggeredOnChl" />
            <True />
        </Assign>
        <Syslog Severity="Important">
            Triggered. PeakChl values on 
            <Arg Name="NumProfilesThresh" />
            <Units:count />
             consecutive yo-yo profiles fall in [
            <Arg Name="ChlLowerThresh" />
            <Units:microgram_per_liter />
            <Arg Name="ChlUpperThresh" />
            <Units:microgram_per_liter />
            ] (NaN bound is ignored).
        </Syslog>
    </Aggregate>
</Aggregate>

2025-03-12T03:04:01.664Z,1741748641.664 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.PeakDetectChlActive = 0 bool
2025-03-12T03:04:01.675Z,1741748641.675 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.EdgeDetectChlActive = 0 bool
2025-03-12T03:04:01.684Z,1741748641.684 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.TimeWindowPeakReport = nan min
2025-03-12T03:04:01.687Z,1741748641.687 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.HighestChlPeakReportActive = 0 bool
2025-03-12T03:04:01.698Z,1741748641.698 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.HighestSaltPeakReportActive = 0 bool
2025-03-12T03:04:01.701Z,1741748641.701 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.HighestOilPeakReportActive = 0 bool
2025-03-12T03:04:01.704Z,1741748641.704 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.PatchTracking = 0 bool
2025-03-12T03:04:01.708Z,1741748641.708 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.FilterWidthHorizontal = 3.000000 count
2025-03-12T03:04:01.725Z,1741748641.725 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.NumProfilesSlidingwindow = 100.000000 count
2025-03-12T03:04:01.728Z,1741748641.728 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.OffPeakFractionHorizontal = 80.000000 %
2025-03-12T03:04:01.731Z,1741748641.731 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.PeakDetectNO3Active = 0 bool
2025-03-12T03:04:01.755Z,1741748641.755 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.PeakDetectOilActive = 0 bool
2025-03-12T03:04:01.758Z,1741748641.758 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.PeakDetectFDOMActive = 0 bool
2025-03-12T03:04:01.761Z,1741748641.761 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.PeakDetectSalinityActive = 0 bool
2025-03-12T03:04:01.764Z,1741748641.764 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.PeakDetectPlanktivoreLMavgROIActive = 0 bool
2025-03-12T03:04:01.778Z,1741748641.778 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.EdgeDetectPlanktivoreLMavgROIActive = 0 bool
2025-03-12T03:04:01.781Z,1741748641.781 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.PeakDetectPlanktivoreHMavgROIActive = 0 bool
2025-03-12T03:04:01.784Z,1741748641.784 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.PeakDetectPlanktivoreDiatomsActive = 0 bool
2025-03-12T03:04:01.806Z,1741748641.806 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.PeakDetectPlanktivoreDinoflagellatesActive = 0 bool
2025-03-12T03:04:01.809Z,1741748641.809 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2025-03-12T03:04:01.815Z,1741748641.815 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.EnabledAanderaaO2 = 0 bool
2025-03-12T03:04:01.819Z,1741748641.819 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.EnabledNeilBrown = 0 bool
2025-03-12T03:04:01.840Z,1741748641.840 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.EnabledSeabird = 1 bool
2025-03-12T03:04:01.844Z,1741748641.844 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.EnabledWetLabsBB2FL = 1 bool
2025-03-12T03:04:01.847Z,1741748641.847 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.EnabledWetLabsSeaOWL_UV_A = 0 bool
2025-03-12T03:04:01.867Z,1741748641.867 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.EnabledWetLabsUBAT = 0 bool
2025-03-12T03:04:01.871Z,1741748641.871 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.LowPassWindowLength = 20.000000 count
2025-03-12T03:04:01.883Z,1741748641.883 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.MedianFilterLen = 5.000000 count
2025-03-12T03:04:01.891Z,1741748641.891 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.ShallowBound = nan m
2025-03-12T03:04:01.902Z,1741748641.902 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.DeepBound = nan m
2025-03-12T03:04:01.905Z,1741748641.905 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.DepChangeThreshForAttitudeFlip = 2.000000 m
2025-03-12T03:04:01.913Z,1741748641.913 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.OffPeakFractionVertical = nan %
2025-03-12T03:04:01.925Z,1741748641.925 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.ChlPeakThresh = 0.000000 ug/l
2025-03-12T03:04:01.928Z,1741748641.928 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.ChlThreshTriggerActive = 0 bool
2025-03-12T03:04:01.933Z,1741748641.933 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.ChlLowerThresh = nan ug/l
2025-03-12T03:04:01.944Z,1741748641.944 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.ChlUpperThresh = nan ug/l
2025-03-12T03:04:01.949Z,1741748641.949 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.NumProfilesThresh = 5.000000 count
2025-03-12T03:04:01.960Z,1741748641.960 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.PlanktivoreLMavgROIPeakThresh = 0.000000 count/s
2025-03-12T03:04:01.968Z,1741748641.968 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.GoDown = 1 bool
2025-03-12T03:04:01.973Z,1741748641.973 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakChl = nan ug/l
2025-03-12T03:04:02.020Z,1741748642.020 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakChlDepth = nan m
2025-03-12T03:04:02.032Z,1741748642.032 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakChlTemperature = nan degC
2025-03-12T03:04:02.051Z,1741748642.051 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakChlLatitude = nan arcdeg
2025-03-12T03:04:02.063Z,1741748642.063 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakChlLongitude = nan arcdeg
2025-03-12T03:04:02.076Z,1741748642.076 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.EdgeChl = nan ug/l
2025-03-12T03:04:02.085Z,1741748642.085 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.EdgeChlDepth = nan m
2025-03-12T03:04:02.096Z,1741748642.096 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.EdgeChlTemperature = nan degC
2025-03-12T03:04:02.099Z,1741748642.099 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.EdgeChlLatitude = nan arcdeg
2025-03-12T03:04:02.103Z,1741748642.103 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.EdgeChlLongitude = nan arcdeg
2025-03-12T03:04:02.115Z,1741748642.115 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakNO3 = nan umol/l
2025-03-12T03:04:02.123Z,1741748642.123 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakNO3Depth = nan m
2025-03-12T03:04:02.130Z,1741748642.130 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakNO3Latitude = nan arcdeg
2025-03-12T03:04:02.134Z,1741748642.134 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakNO3Longitude = nan arcdeg
2025-03-12T03:04:02.142Z,1741748642.142 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakOil = nan kg/m3
2025-03-12T03:04:02.152Z,1741748642.152 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakOilDepth = nan m
2025-03-12T03:04:02.156Z,1741748642.156 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakOilLatitude = nan arcdeg
2025-03-12T03:04:02.163Z,1741748642.163 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakOilLongitude = nan arcdeg
2025-03-12T03:04:02.167Z,1741748642.167 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakFDOM = nan ppb
2025-03-12T03:04:02.179Z,1741748642.179 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakFDOMDepth = nan m
2025-03-12T03:04:02.187Z,1741748642.187 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakFDOMTemperature = nan degC
2025-03-12T03:04:02.194Z,1741748642.194 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakFDOMLatitude = nan arcdeg
2025-03-12T03:04:02.202Z,1741748642.202 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakFDOMLongitude = nan arcdeg
2025-03-12T03:04:02.206Z,1741748642.206 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakSalt = nan psu
2025-03-12T03:04:02.213Z,1741748642.213 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakSaltDepth = nan m
2025-03-12T03:04:02.221Z,1741748642.221 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakSaltTemperature = nan degC
2025-03-12T03:04:02.243Z,1741748642.243 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakSaltLatitude = nan arcdeg
2025-03-12T03:04:02.246Z,1741748642.246 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakSaltLongitude = nan arcdeg
2025-03-12T03:04:02.249Z,1741748642.249 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakPlanktivoreLMavgROI = nan count/s
2025-03-12T03:04:02.264Z,1741748642.264 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakPlanktivoreLMavgROIDepth = nan m
2025-03-12T03:04:02.268Z,1741748642.268 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakPlanktivoreLMavgROITemperature = nan degC
2025-03-12T03:04:02.289Z,1741748642.289 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakPlanktivoreLMavgROILatitude = nan arcdeg
2025-03-12T03:04:02.293Z,1741748642.293 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakPlanktivoreLMavgROILongitude = nan arcdeg
2025-03-12T03:04:02.297Z,1741748642.297 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.EdgePlanktivoreLMavgROI = nan count/s
2025-03-12T03:04:02.310Z,1741748642.310 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.EdgePlanktivoreLMavgROIDepth = nan m
2025-03-12T03:04:02.313Z,1741748642.313 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.EdgePlanktivoreLMavgROITemperature = nan degC
2025-03-12T03:04:02.327Z,1741748642.327 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.EdgePlanktivoreLMavgROILatitude = nan arcdeg
2025-03-12T03:04:02.341Z,1741748642.341 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.EdgePlanktivoreLMavgROILongitude = nan arcdeg
2025-03-12T03:04:02.344Z,1741748642.344 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakPlanktivoreHMavgROI = nan count/s
2025-03-12T03:04:02.348Z,1741748642.348 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakPlanktivoreHMavgROIDepth = nan m
2025-03-12T03:04:02.365Z,1741748642.365 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakPlanktivoreHMavgROITemperature = nan degC
2025-03-12T03:04:02.368Z,1741748642.368 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakPlanktivoreHMavgROILatitude = nan arcdeg
2025-03-12T03:04:02.372Z,1741748642.372 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakPlanktivoreHMavgROILongitude = nan arcdeg
2025-03-12T03:04:02.419Z,1741748642.419 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakPlanktivoreDiatoms = nan count/ml
2025-03-12T03:04:02.427Z,1741748642.427 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakPlanktivoreDiatomsDepth = nan m
2025-03-12T03:04:02.447Z,1741748642.447 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakPlanktivoreDiatomsTemperature = nan degC
2025-03-12T03:04:02.458Z,1741748642.458 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakPlanktivoreDiatomsLatitude = nan arcdeg
2025-03-12T03:04:02.470Z,1741748642.470 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakPlanktivoreDiatomsLongitude = nan arcdeg
2025-03-12T03:04:02.481Z,1741748642.481 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakPlanktivoreDinoflagellates = nan count/ml
2025-03-12T03:04:02.489Z,1741748642.489 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakPlanktivoreDinoflagellatesDepth = nan m
2025-03-12T03:04:02.503Z,1741748642.503 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakPlanktivoreDinoflagellatesTemperature = nan degC
2025-03-12T03:04:02.509Z,1741748642.509 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakPlanktivoreDinoflagellatesLatitude = nan arcdeg
2025-03-12T03:04:02.525Z,1741748642.525 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakPlanktivoreDinoflagellatesLongitude = nan arcdeg
2025-03-12T03:04:02.533Z,1741748642.533 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PatchChl = nan ug/l
2025-03-12T03:04:02.545Z,1741748642.545 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PatchChlDepth = nan m
2025-03-12T03:04:02.548Z,1741748642.548 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PatchChlLatitude = nan arcdeg
2025-03-12T03:04:02.560Z,1741748642.560 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PatchChlLongitude = nan arcdeg
2025-03-12T03:04:02.568Z,1741748642.568 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PatchChlDistance = nan m
2025-03-12T03:04:02.572Z,1741748642.572 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PatchSalt = nan psu
2025-03-12T03:04:02.583Z,1741748642.583 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PatchSaltDepth = nan m
2025-03-12T03:04:02.587Z,1741748642.587 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PatchSaltLatitude = nan arcdeg
2025-03-12T03:04:02.599Z,1741748642.599 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PatchSaltLongitude = nan arcdeg
2025-03-12T03:04:02.607Z,1741748642.607 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PatchSaltDistance = nan m
2025-03-12T03:04:02.615Z,1741748642.615 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PatchOil = nan psu
2025-03-12T03:04:02.619Z,1741748642.619 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PatchOilDepth = nan m
2025-03-12T03:04:02.635Z,1741748642.635 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PatchOilLatitude = nan arcdeg
2025-03-12T03:04:02.643Z,1741748642.643 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PatchOilLongitude = nan arcdeg
2025-03-12T03:04:02.648Z,1741748642.648 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PatchOilDistance = nan m
2025-03-12T03:04:02.651Z,1741748642.651 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.TriggeredOnChl = 0 bool
2025-03-12T03:04:02.659Z,1741748642.659 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.ChlTriggering = nan ug/l
2025-03-12T03:04:02.711Z,1741748642.711 [calibrate_sparton_compass:Science:PeakDetectChl:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-03-12T03:04:02.741Z,1741748642.741 [calibrate_sparton_compass:Science:EdgeDetectChl:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-03-12T03:04:02.824Z,1741748642.824 [calibrate_sparton_compass:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-03-12T03:04:02.886Z,1741748642.886 [calibrate_sparton_compass:Science:PeakDetectNO3:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-03-12T03:04:02.911Z,1741748642.911 [calibrate_sparton_compass:Science:PeakDetectOil:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-03-12T03:04:02.936Z,1741748642.936 [calibrate_sparton_compass:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-03-12T03:04:02.968Z,1741748642.968 [calibrate_sparton_compass:Science:PeakDetectFDOM:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-03-12T03:04:02.998Z,1741748642.998 [calibrate_sparton_compass:Science:PeakDetectSalinity:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-03-12T03:04:03.031Z,1741748643.031 [calibrate_sparton_compass:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-03-12T03:04:03.085Z,1741748643.085 [calibrate_sparton_compass:Science:PeakDetectPlanktivoreLMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-03-12T03:04:03.148Z,1741748643.148 [calibrate_sparton_compass:Science:EdgeDetectPlanktivoreLMavgROI:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-03-12T03:04:03.190Z,1741748643.190 [calibrate_sparton_compass:Science:PeakDetectPlanktivoreHMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-03-12T03:04:03.277Z,1741748643.277 [calibrate_sparton_compass:Science:PeakDetectPlanktivoreDiatoms:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-03-12T03:04:03.310Z,1741748643.310 [calibrate_sparton_compass:Science:PeakDetectPlanktivoreDinoflagellates:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-03-12T03:04:03.345Z,1741748643.345 [calibrate_sparton_compass:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Construct ValueDetect.
2025-03-12T03:04:03.365Z,1741748643.365 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl
2025-03-12T03:04:03.365Z,1741748643.365 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl
2025-03-12T03:04:03.372Z,1741748643.372 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl
2025-03-12T03:04:03.843Z,1741748643.843 [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>

2025-03-12T03:04:03.853Z,1741748643.853 [MissionManager](INFO): DefineArg calibrate_sparton_compass:NeedComms.DiveInterval = 1.000000 h
2025-03-12T03:04:03.861Z,1741748643.861 [MissionManager](INFO): DefineArg calibrate_sparton_compass:NeedComms.WaitForPitchUp = 10.000000 min
2025-03-12T03:04:03.869Z,1741748643.869 [MissionManager](INFO): DefineArg calibrate_sparton_compass:NeedComms.SurfacePitch = 20.000000 arcdeg
2025-03-12T03:04:03.877Z,1741748643.877 [MissionManager](INFO): DefineArg calibrate_sparton_compass:NeedComms.SurfaceDepthRate = nan m/s
2025-03-12T03:04:03.885Z,1741748643.885 [MissionManager](INFO): DefineArg calibrate_sparton_compass:NeedComms.SurfaceSpeed = 1.000000 m/s
2025-03-12T03:04:03.889Z,1741748643.889 [MissionManager](INFO): DefineArg calibrate_sparton_compass:NeedComms.SurfacingTimeout = 1000.000000 s
2025-03-12T03:04:03.905Z,1741748643.905 [MissionManager](INFO): DefineArg calibrate_sparton_compass:NeedComms.GPSTimeout = 7.000000 min
2025-03-12T03:04:03.923Z,1741748643.923 [MissionManager](INFO): DefineArg calibrate_sparton_compass:NeedComms.CommsTimeout = 30.000000 min
2025-03-12T03:04:03.939Z,1741748643.939 [calibrate_sparton_compass:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2025-03-12T03:04:03.991Z,1741748643.991 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-03-12T03:04:03.992Z,1741748643.992 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-03-12T03:04:03.993Z,1741748643.993 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-03-12T03:04:04.178Z,1741748644.178 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/StandardEnvelopes.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="StandardEnvelopes">
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="MaxDepthIgnore">
        <Units:meter />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>200</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:meter />
        <Value>2000</Value>
    </DefineArg>
    <Parallel />
    <Guidance:AltitudeEnvelope>
        <Parallel />
        <Setting>
            <Guidance:AltitudeEnvelope.minAltitude />
            <Arg Name="MinAltitude" />
        </Setting>
        <Setting>
            <Guidance:AltitudeEnvelope.maxDepthIgnore />
            <Arg Name="MaxDepthIgnore" />
        </Setting>
    </Guidance:AltitudeEnvelope>
    <Guidance:DepthEnvelope>
        <Parallel />
        <Setting>
            <Guidance:DepthEnvelope.maxDepth />
            <Arg Name="MaxDepth" />
        </Setting>
    </Guidance:DepthEnvelope>
    <Guidance:OffshoreEnvelope>
        <Parallel />
        <Setting>
            <Guidance:OffshoreEnvelope.minOffshore />
            <Arg Name="MinOffshore" />
        </Setting>
    </Guidance:OffshoreEnvelope>
</Aggregate>

2025-03-12T03:04:04.187Z,1741748644.187 [MissionManager](INFO): DefineArg calibrate_sparton_compass:StandardEnvelopes.MinAltitude = 5.000000 m
2025-03-12T03:04:04.198Z,1741748644.198 [MissionManager](INFO): DefineArg calibrate_sparton_compass:StandardEnvelopes.MaxDepthIgnore = 0.000000 m
2025-03-12T03:04:04.202Z,1741748644.202 [MissionManager](INFO): DefineArg calibrate_sparton_compass:StandardEnvelopes.MaxDepth = 200.000000 m
2025-03-12T03:04:04.211Z,1741748644.211 [MissionManager](INFO): DefineArg calibrate_sparton_compass:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-03-12T03:04:04.212Z,1741748644.212 [calibrate_sparton_compass:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-03-12T03:04:04.233Z,1741748644.233 [calibrate_sparton_compass:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-03-12T03:04:04.259Z,1741748644.259 [calibrate_sparton_compass:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-03-12T03:04:04.280Z,1741748644.280 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2025-03-12T03:04:04.280Z,1741748644.280 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2025-03-12T03:04:04.281Z,1741748644.281 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2025-03-12T03:04:04.336Z,1741748644.336 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/BackseatDriver.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="BackseatDriver">
    <DefineArg Name="EnableBackseat">
        <False />
    </DefineArg>
    <Parallel />
    <Guidance:BackseatDriver>
        <Sequence />
        <Setting>
            <Guidance:BackseatDriver.powerBackseat />
            <Arg Name="EnableBackseat" />
        </Setting>
    </Guidance:BackseatDriver>
</Aggregate>

2025-03-12T03:04:04.340Z,1741748644.340 [MissionManager](INFO): DefineArg calibrate_sparton_compass:BackseatDriver.EnableBackseat = 0 bool
2025-03-12T03:04:04.355Z,1741748644.355 [calibrate_sparton_compass:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2025-03-12T03:04:04.358Z,1741748644.358 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2025-03-12T03:04:04.358Z,1741748644.358 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2025-03-12T03:04:04.360Z,1741748644.360 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2025-03-12T03:04:04.613Z,1741748644.613 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/PowerOnly.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="PowerOnly">
    <DefineArg Name="SampleAll">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad1">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad2">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad3">
        <False />
    </DefineArg>
    <DefineArg Name="EnabledPowerOnly">
        <Sensor:PowerOnly.loadAtStartup />
    </DefineArg>
    <Parallel />
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleAll" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.samplePowerOnly />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad1" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad1 />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad2" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad2 />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad3" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad3 />
    </ReadData>
    <Guidance:Wait>
        <Sequence />
        <Setting>
            <Guidance:Wait.duration />
            <Units:hour />
            <Value>99999</Value>
        </Setting>
    </Guidance:Wait>
</Aggregate>

2025-03-12T03:04:04.641Z,1741748644.641 [MissionManager](INFO): DefineArg calibrate_sparton_compass:PowerOnly.SampleAll = 0 bool
2025-03-12T03:04:04.645Z,1741748644.645 [MissionManager](INFO): DefineArg calibrate_sparton_compass:PowerOnly.SampleLoad1 = 0 bool
2025-03-12T03:04:04.648Z,1741748644.648 [MissionManager](INFO): DefineArg calibrate_sparton_compass:PowerOnly.SampleLoad2 = 0 bool
2025-03-12T03:04:04.667Z,1741748644.667 [MissionManager](INFO): DefineArg calibrate_sparton_compass:PowerOnly.SampleLoad3 = 0 bool
2025-03-12T03:04:04.671Z,1741748644.671 [MissionManager](INFO): DefineArg calibrate_sparton_compass:PowerOnly.EnabledPowerOnly = 1 bool
2025-03-12T03:04:04.690Z,1741748644.690 [calibrate_sparton_compass:PowerOnly:E.Wait](DEBUG): Construct Wait.
2025-03-12T03:04:04.693Z,1741748644.693 [calibrate_sparton_compass:K.Pitch](DEBUG): Construct.
2025-03-12T03:04:04.710Z,1741748644.710 [calibrate_sparton_compass:L.Buoyancy](DEBUG): Construct Buoyancy.
2025-03-12T03:04:04.714Z,1741748644.714 [calibrate_sparton_compass:M.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-03-12T03:04:04.743Z,1741748644.743 [calibrate_sparton_compass:N.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-03-12T03:04:04.759Z,1741748644.759 [calibrate_sparton_compass:O.YoYo](DEBUG): Construct YoYo.
2025-03-12T03:04:04.792Z,1741748644.792 [calibrate_sparton_compass:AdaptCal:WaitForCalibrationInit:A_Timeout:B.Execute](DEBUG): Construct Execute.
2025-03-12T03:04:04.795Z,1741748644.795 [calibrate_sparton_compass:AdaptCal:AcquireCalibrationPoints:A.Point](DEBUG): Construct.
2025-03-12T03:04:04.846Z,1741748644.846 [calibrate_sparton_compass:AdaptCal:AcquireCalibrationPoints:B.SetSpeed](DEBUG): Construct.
2025-03-12T03:04:04.850Z,1741748644.850 [calibrate_sparton_compass:AdaptCal:C.CalibrateAHRS_M2](DEBUG): Construct CalibrateSparton.
2025-03-12T03:04:04.957Z,1741748644.957 [MissionManager](DEBUG): 
#   Copyright (c) 2024 MBARI
#   MBARI Proprietary Information. Confidential. All Rights Reserved
#   Unauthorized copying or distribution of this file via any medium is strictly
#   prohibited.
#
#   WARNING - This file contains information whose export is restricted by the
#   Export Administration Act of 1979 (Title 50, U.S.C., App. 2401 et seq.), as
#   amended. Violations of these export laws are subject to severe civil and/or
#   criminal penalties.

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

  # Mission-wide settings

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

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

    # You probably need to change these.

    # You probably do not need to change these.

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

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

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

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

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

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

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

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

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

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

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

  # Missions should almost always start with a timeout

  timeout duration=MissionTimeout

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

  # Most missions should use the NeedComms aggregate.

  insert id="NeedComms" Insert/NeedComms.tl

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

  insert Insert/StandardEnvelopes.tl

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

  insert Insert/BackseatDriver.tl

  insert Insert/PowerOnly.tl

  # Check for additional instructions first.

  call id="StartingMission" refId="NeedComms"

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

  behavior Guidance:Pitch {
    run in parallel

    set massPosition = Control:VerticalControl.massDefault
  }

  behavior Guidance:Buoyancy {
    run in parallel

    set position = Control:VerticalControl.buoyancyNeutral
  }

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

    run in parallel

    set minDepth = YoYoMinDepth

    set maxDepth = YoYoMaxDepth

    set pitch = YoYoPitch
  }

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

    run in parallel

    set minAltitude = YoYoMinAltitude

    set pitch = YoYoPitch
  }

  behavior Guidance:YoYo {
    run in parallel

    set pitch = YoYoPitch
  }

  aggregate AdaptCal {
    run in sequence

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

        behavior Guidance:Execute {
          run in sequence

          set command = "stop"
        }
      }

      Sensor:AHRS_M2.number_of_calbration_points
    }

    aggregate AcquireCalibrationPoints {
      run in sequence

      behavior Guidance:Point {
        run in parallel

        set rudderAngle = RudderAngle
      }

      behavior Guidance:SetSpeed {
        run in parallel

        set speed = Speed
      }
    }

    behavior Sensor:CalibrateAHRS_M2 {
      run in parallel
    }
  }
}


2025-03-12T03:04:04.969Z,1741748644.969 [CommandExec](IMPORTANT): Running ./Missions/Maintenance/calibrate_sparton_compass.tl
2025-03-12T03:04:05.297Z,1741748645.297 [MissionManager](IMPORTANT): Started mission calibrate_sparton_compass
2025-03-12T03:04:05.298Z,1741748645.298 [calibrate_sparton_compass] Running Loop=1
2025-03-12T03:04:05.298Z,1741748645.298 [calibrate_sparton_compass](DEBUG): Aggregate::initialize calibrate_sparton_compass
2025-03-12T03:04:05.298Z,1741748645.298 [calibrate_sparton_compass:Science] Running Loop=1
2025-03-12T03:04:05.302Z,1741748645.302 [calibrate_sparton_compass:Science](DEBUG): Aggregate::initialize calibrate_sparton_compass:Science
2025-03-12T03:04:05.302Z,1741748645.302 [calibrate_sparton_compass:Science:A] Running Loop=1
2025-03-12T03:04:05.302Z,1741748645.302 [calibrate_sparton_compass:Science:B] Running Loop=1
2025-03-12T03:04:05.302Z,1741748645.302 [calibrate_sparton_compass:Science:C] Running Loop=1
2025-03-12T03:04:05.302Z,1741748645.302 [calibrate_sparton_compass:Science:D] Running Loop=1
2025-03-12T03:04:05.302Z,1741748645.302 [calibrate_sparton_compass:Science:E] Running Loop=1
2025-03-12T03:04:05.302Z,1741748645.302 [calibrate_sparton_compass:Science:F] Running Loop=1
2025-03-12T03:04:05.303Z,1741748645.303 [calibrate_sparton_compass:Science:Read_Oil] Running Loop=1
2025-03-12T03:04:05.303Z,1741748645.303 [calibrate_sparton_compass:Science:PeakDetectChl] Running Loop=1
2025-03-12T03:04:05.303Z,1741748645.303 [calibrate_sparton_compass:Science:PeakDetectChl](DEBUG): Aggregate::initialize calibrate_sparton_compass:Science:PeakDetectChl
2025-03-12T03:04:05.303Z,1741748645.303 [calibrate_sparton_compass:Science:PeakDetectChl:A] Running Loop=1
2025-03-12T03:04:05.303Z,1741748645.303 [calibrate_sparton_compass:Science:EdgeDetectChl] Running Loop=1
2025-03-12T03:04:05.303Z,1741748645.303 [calibrate_sparton_compass:Science:EdgeDetectChl](DEBUG): Aggregate::initialize calibrate_sparton_compass:Science:EdgeDetectChl
2025-03-12T03:04:05.303Z,1741748645.303 [calibrate_sparton_compass:Science:EdgeDetectChl:A] Running Loop=1
2025-03-12T03:04:05.303Z,1741748645.303 [calibrate_sparton_compass:Science:HighestChlPeakReport] Running Loop=1
2025-03-12T03:04:05.303Z,1741748645.303 [calibrate_sparton_compass:Science:HighestChlPeakReport](DEBUG): Aggregate::initialize calibrate_sparton_compass:Science:HighestChlPeakReport
2025-03-12T03:04:05.304Z,1741748645.304 [calibrate_sparton_compass:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-03-12T03:04:05.304Z,1741748645.304 [calibrate_sparton_compass:Science:HighestChlPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-03-12T03:04:05.304Z,1741748645.304 [calibrate_sparton_compass:Science:PeakDetectNO3] Running Loop=1
2025-03-12T03:04:05.304Z,1741748645.304 [calibrate_sparton_compass:Science:PeakDetectNO3](DEBUG): Aggregate::initialize calibrate_sparton_compass:Science:PeakDetectNO3
2025-03-12T03:04:05.304Z,1741748645.304 [calibrate_sparton_compass:Science:PeakDetectNO3:A] Running Loop=1
2025-03-12T03:04:05.304Z,1741748645.304 [calibrate_sparton_compass:Science:PeakDetectOil] Running Loop=1
2025-03-12T03:04:05.304Z,1741748645.304 [calibrate_sparton_compass:Science:PeakDetectOil](DEBUG): Aggregate::initialize calibrate_sparton_compass:Science:PeakDetectOil
2025-03-12T03:04:05.305Z,1741748645.305 [calibrate_sparton_compass:Science:PeakDetectOil:A] Running Loop=1
2025-03-12T03:04:05.305Z,1741748645.305 [calibrate_sparton_compass:Science:HighestOilPeakReport] Running Loop=1
2025-03-12T03:04:05.305Z,1741748645.305 [calibrate_sparton_compass:Science:HighestOilPeakReport](DEBUG): Aggregate::initialize calibrate_sparton_compass:Science:HighestOilPeakReport
2025-03-12T03:04:05.305Z,1741748645.305 [calibrate_sparton_compass:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-03-12T03:04:05.305Z,1741748645.305 [calibrate_sparton_compass:Science:HighestOilPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-03-12T03:04:05.305Z,1741748645.305 [calibrate_sparton_compass:Science:PeakDetectFDOM] Running Loop=1
2025-03-12T03:04:05.306Z,1741748645.306 [calibrate_sparton_compass:Science:PeakDetectFDOM](DEBUG): Aggregate::initialize calibrate_sparton_compass:Science:PeakDetectFDOM
2025-03-12T03:04:05.306Z,1741748645.306 [calibrate_sparton_compass:Science:PeakDetectFDOM:A] Running Loop=1
2025-03-12T03:04:05.306Z,1741748645.306 [calibrate_sparton_compass:Science:PeakDetectSalinity] Running Loop=1
2025-03-12T03:04:05.310Z,1741748645.310 [calibrate_sparton_compass:Science:PeakDetectSalinity](DEBUG): Aggregate::initialize calibrate_sparton_compass:Science:PeakDetectSalinity
2025-03-12T03:04:05.310Z,1741748645.310 [calibrate_sparton_compass:Science:PeakDetectSalinity:A] Running Loop=1
2025-03-12T03:04:05.310Z,1741748645.310 [calibrate_sparton_compass:Science:HighestSaltPeakReport] Running Loop=1
2025-03-12T03:04:05.310Z,1741748645.310 [calibrate_sparton_compass:Science:HighestSaltPeakReport](DEBUG): Aggregate::initialize calibrate_sparton_compass:Science:HighestSaltPeakReport
2025-03-12T03:04:05.311Z,1741748645.311 [calibrate_sparton_compass:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-03-12T03:04:05.311Z,1741748645.311 [calibrate_sparton_compass:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-03-12T03:04:05.311Z,1741748645.311 [calibrate_sparton_compass:Science:PeakDetectPlanktivoreLMavgROI] Running Loop=1
2025-03-12T03:04:05.311Z,1741748645.311 [calibrate_sparton_compass:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::initialize calibrate_sparton_compass:Science:PeakDetectPlanktivoreLMavgROI
2025-03-12T03:04:05.311Z,1741748645.311 [calibrate_sparton_compass:Science:PeakDetectPlanktivoreLMavgROI:A] Running Loop=1
2025-03-12T03:04:05.311Z,1741748645.311 [calibrate_sparton_compass:Science:EdgeDetectPlanktivoreLMavgROI] Running Loop=1
2025-03-12T03:04:05.312Z,1741748645.312 [calibrate_sparton_compass:Science:EdgeDetectPlanktivoreLMavgROI](DEBUG): Aggregate::initialize calibrate_sparton_compass:Science:EdgeDetectPlanktivoreLMavgROI
2025-03-12T03:04:05.312Z,1741748645.312 [calibrate_sparton_compass:Science:EdgeDetectPlanktivoreLMavgROI:A] Running Loop=1
2025-03-12T03:04:05.312Z,1741748645.312 [calibrate_sparton_compass:Science:PeakDetectPlanktivoreHMavgROI] Running Loop=1
2025-03-12T03:04:05.312Z,1741748645.312 [calibrate_sparton_compass:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::initialize calibrate_sparton_compass:Science:PeakDetectPlanktivoreHMavgROI
2025-03-12T03:04:05.312Z,1741748645.312 [calibrate_sparton_compass:Science:PeakDetectPlanktivoreHMavgROI:A] Running Loop=1
2025-03-12T03:04:05.312Z,1741748645.312 [calibrate_sparton_compass:Science:PeakDetectPlanktivoreDiatoms] Running Loop=1
2025-03-12T03:04:05.312Z,1741748645.312 [calibrate_sparton_compass:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::initialize calibrate_sparton_compass:Science:PeakDetectPlanktivoreDiatoms
2025-03-12T03:04:05.312Z,1741748645.312 [calibrate_sparton_compass:Science:PeakDetectPlanktivoreDiatoms:A] Running Loop=1
2025-03-12T03:04:05.312Z,1741748645.312 [calibrate_sparton_compass:Science:PeakDetectPlanktivoreDinoflagellates] Running Loop=1
2025-03-12T03:04:05.312Z,1741748645.312 [calibrate_sparton_compass:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::initialize calibrate_sparton_compass:Science:PeakDetectPlanktivoreDinoflagellates
2025-03-12T03:04:05.313Z,1741748645.313 [calibrate_sparton_compass:Science:PeakDetectPlanktivoreDinoflagellates:A] Running Loop=1
2025-03-12T03:04:05.313Z,1741748645.313 [calibrate_sparton_compass:Science:ChlThreshTrigger] Running Loop=1
2025-03-12T03:04:05.313Z,1741748645.313 [calibrate_sparton_compass:Science:ChlThreshTrigger](DEBUG): Aggregate::initialize calibrate_sparton_compass:Science:ChlThreshTrigger
2025-03-12T03:04:05.313Z,1741748645.313 [calibrate_sparton_compass:Science:ChlThreshTrigger:A.ValueDetect] Running Loop=1
2025-03-12T03:04:05.313Z,1741748645.313 [calibrate_sparton_compass:Science:ChlThreshTrigger:A.ValueDetect](INFO): Initialize.
2025-03-12T03:04:05.318Z,1741748645.318 [calibrate_sparton_compass:Science:OceanCurrent] Running Loop=1
2025-03-12T03:04:05.318Z,1741748645.318 [calibrate_sparton_compass:Science:OceanCurrent](DEBUG): Aggregate::initialize calibrate_sparton_compass:Science:OceanCurrent
2025-03-12T03:04:05.318Z,1741748645.318 [calibrate_sparton_compass:Science:OceanCurrent:A.] Running Loop=1
2025-03-12T03:04:05.318Z,1741748645.318 [calibrate_sparton_compass:Science:OceanCurrent:A.](INFO): Initializing CurrentEstimator.
2025-03-12T03:04:05.319Z,1741748645.319 [calibrate_sparton_compass:StandardEnvelopes] Running Loop=1
2025-03-12T03:04:05.319Z,1741748645.319 [calibrate_sparton_compass:StandardEnvelopes](DEBUG): Aggregate::initialize calibrate_sparton_compass:StandardEnvelopes
2025-03-12T03:04:05.319Z,1741748645.319 [calibrate_sparton_compass:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-03-12T03:04:05.319Z,1741748645.319 [calibrate_sparton_compass:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-03-12T03:04:05.319Z,1741748645.319 [calibrate_sparton_compass:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-03-12T03:04:05.319Z,1741748645.319 [calibrate_sparton_compass:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-03-12T03:04:05.319Z,1741748645.319 [calibrate_sparton_compass:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-03-12T03:04:05.319Z,1741748645.319 [calibrate_sparton_compass:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-03-12T03:04:05.319Z,1741748645.319 [calibrate_sparton_compass:BackseatDriver] Running Loop=1
2025-03-12T03:04:05.319Z,1741748645.319 [calibrate_sparton_compass:BackseatDriver](DEBUG): Aggregate::initialize calibrate_sparton_compass:BackseatDriver
2025-03-12T03:04:05.320Z,1741748645.320 [calibrate_sparton_compass:BackseatDriver:A.BackseatDriver] Running Loop=1
2025-03-12T03:04:05.320Z,1741748645.320 [calibrate_sparton_compass:PowerOnly] Running Loop=1
2025-03-12T03:04:05.320Z,1741748645.320 [calibrate_sparton_compass:PowerOnly](DEBUG): Aggregate::initialize calibrate_sparton_compass:PowerOnly
2025-03-12T03:04:05.320Z,1741748645.320 [calibrate_sparton_compass:PowerOnly:A] Running Loop=1
2025-03-12T03:04:05.320Z,1741748645.320 [calibrate_sparton_compass:PowerOnly:B] Running Loop=1
2025-03-12T03:04:05.320Z,1741748645.320 [calibrate_sparton_compass:PowerOnly:C] Running Loop=1
2025-03-12T03:04:05.320Z,1741748645.320 [calibrate_sparton_compass:PowerOnly:D] Running Loop=1
2025-03-12T03:04:05.320Z,1741748645.320 [calibrate_sparton_compass:PowerOnly:E.Wait] Running Loop=1
2025-03-12T03:04:05.320Z,1741748645.320 [calibrate_sparton_compass:PowerOnly:E.Wait](DEBUG): Initialize Wait Component.
2025-03-12T03:04:05.320Z,1741748645.320 [calibrate_sparton_compass:K.Pitch] Running Loop=1
2025-03-12T03:04:05.320Z,1741748645.320 [calibrate_sparton_compass:K.Pitch](DEBUG): Initialize.
2025-03-12T03:04:05.321Z,1741748645.321 [calibrate_sparton_compass:L.Buoyancy] Running Loop=1
2025-03-12T03:04:05.321Z,1741748645.321 [calibrate_sparton_compass:L.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-03-12T03:04:05.321Z,1741748645.321 [calibrate_sparton_compass:M.DepthEnvelope] Running Loop=1
2025-03-12T03:04:05.321Z,1741748645.321 [calibrate_sparton_compass:M.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-03-12T03:04:05.321Z,1741748645.321 [calibrate_sparton_compass:N.AltitudeEnvelope] Running Loop=1
2025-03-12T03:04:05.321Z,1741748645.321 [calibrate_sparton_compass:N.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-03-12T03:04:05.321Z,1741748645.321 [calibrate_sparton_compass:O.YoYo] Running Loop=1
2025-03-12T03:04:05.321Z,1741748645.321 [calibrate_sparton_compass:O.YoYo](DEBUG): Initialize YoYoComponent.
2025-03-12T03:04:05.322Z,1741748645.322 [calibrate_sparton_compass:C] Running Loop=1
2025-03-12T03:04:05.326Z,1741748645.326 [calibrate_sparton_compass:O.YoYo] Running Loop=1
2025-03-12T03:04:05.327Z,1741748645.327 [calibrate_sparton_compass:N.AltitudeEnvelope] Running Loop=1
2025-03-12T03:04:05.327Z,1741748645.327 [calibrate_sparton_compass:M.DepthEnvelope] Running Loop=1
2025-03-12T03:04:05.328Z,1741748645.328 [calibrate_sparton_compass:L.Buoyancy] Running Loop=1
2025-03-12T03:04:05.328Z,1741748645.328 [calibrate_sparton_compass:K.Pitch] Running Loop=1
2025-03-12T03:04:05.329Z,1741748645.329 [calibrate_sparton_compass:PowerOnly] Running Loop=1
2025-03-12T03:04:05.329Z,1741748645.329 [calibrate_sparton_compass:PowerOnly:D] Stopped
2025-03-12T03:04:05.329Z,1741748645.329 [calibrate_sparton_compass:PowerOnly:C] Stopped
2025-03-12T03:04:05.329Z,1741748645.329 [calibrate_sparton_compass:PowerOnly:B] Stopped
2025-03-12T03:04:05.329Z,1741748645.329 [calibrate_sparton_compass:PowerOnly:A] Stopped
2025-03-12T03:04:05.329Z,1741748645.329 [calibrate_sparton_compass:BackseatDriver] Running Loop=1
2025-03-12T03:04:05.329Z,1741748645.329 [calibrate_sparton_compass:StandardEnvelopes] Running Loop=1
2025-03-12T03:04:05.329Z,1741748645.329 [calibrate_sparton_compass:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-03-12T03:04:05.330Z,1741748645.330 [calibrate_sparton_compass:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-03-12T03:04:05.334Z,1741748645.334 [calibrate_sparton_compass:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-03-12T03:04:05.335Z,1741748645.335 [calibrate_sparton_compass:C] Stopped
2025-03-12T03:04:05.335Z,1741748645.335 [calibrate_sparton_compass:E] Running Loop=1
2025-03-12T03:04:05.335Z,1741748645.335 [calibrate_sparton_compass:Science] Running Loop=1
2025-03-12T03:04:05.336Z,1741748645.336 [calibrate_sparton_compass:Science:ChlThreshTrigger] Stopped
2025-03-12T03:04:05.337Z,1741748645.337 [calibrate_sparton_compass:Science:ChlThreshTrigger](DEBUG): Aggregate::uninitialize calibrate_sparton_compass:Science:ChlThreshTrigger
2025-03-12T03:04:05.337Z,1741748645.337 [calibrate_sparton_compass:Science:ChlThreshTrigger:A.ValueDetect] Stopped
2025-03-12T03:04:05.337Z,1741748645.337 [calibrate_sparton_compass:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Uninitialize.
2025-03-12T03:04:05.337Z,1741748645.337 [calibrate_sparton_compass:Science:PeakDetectPlanktivoreDinoflagellates] Stopped
2025-03-12T03:04:05.337Z,1741748645.337 [calibrate_sparton_compass:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::uninitialize calibrate_sparton_compass:Science:PeakDetectPlanktivoreDinoflagellates
2025-03-12T03:04:05.337Z,1741748645.337 [calibrate_sparton_compass:Science:PeakDetectPlanktivoreDinoflagellates:A] Stopped
2025-03-12T03:04:05.337Z,1741748645.337 [calibrate_sparton_compass:Science:PeakDetectPlanktivoreDiatoms] Stopped
2025-03-12T03:04:05.337Z,1741748645.337 [calibrate_sparton_compass:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::uninitialize calibrate_sparton_compass:Science:PeakDetectPlanktivoreDiatoms
2025-03-12T03:04:05.337Z,1741748645.337 [calibrate_sparton_compass:Science:PeakDetectPlanktivoreDiatoms:A] Stopped
2025-03-12T03:04:05.337Z,1741748645.337 [calibrate_sparton_compass:Science:PeakDetectPlanktivoreHMavgROI] Stopped
2025-03-12T03:04:05.337Z,1741748645.337 [calibrate_sparton_compass:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::uninitialize calibrate_sparton_compass:Science:PeakDetectPlanktivoreHMavgROI
2025-03-12T03:04:05.337Z,1741748645.337 [calibrate_sparton_compass:Science:PeakDetectPlanktivoreHMavgROI:A] Stopped
2025-03-12T03:04:05.337Z,1741748645.337 [calibrate_sparton_compass:Science:EdgeDetectPlanktivoreLMavgROI] Stopped
2025-03-12T03:04:05.338Z,1741748645.338 [calibrate_sparton_compass:Science:EdgeDetectPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize calibrate_sparton_compass:Science:EdgeDetectPlanktivoreLMavgROI
2025-03-12T03:04:05.338Z,1741748645.338 [calibrate_sparton_compass:Science:EdgeDetectPlanktivoreLMavgROI:A] Stopped
2025-03-12T03:04:05.338Z,1741748645.338 [calibrate_sparton_compass:Science:PeakDetectPlanktivoreLMavgROI] Stopped
2025-03-12T03:04:05.342Z,1741748645.342 [calibrate_sparton_compass:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize calibrate_sparton_compass:Science:PeakDetectPlanktivoreLMavgROI
2025-03-12T03:04:05.342Z,1741748645.342 [calibrate_sparton_compass:Science:PeakDetectPlanktivoreLMavgROI:A] Stopped
2025-03-12T03:04:05.342Z,1741748645.342 [calibrate_sparton_compass:Science:HighestSaltPeakReport] Stopped
2025-03-12T03:04:05.342Z,1741748645.342 [calibrate_sparton_compass:Science:HighestSaltPeakReport](DEBUG): Aggregate::uninitialize calibrate_sparton_compass:Science:HighestSaltPeakReport
2025-03-12T03:04:05.342Z,1741748645.342 [calibrate_sparton_compass:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Stopped
2025-03-12T03:04:05.342Z,1741748645.342 [calibrate_sparton_compass:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-03-12T03:04:05.343Z,1741748645.343 [calibrate_sparton_compass:Science:PeakDetectSalinity] Stopped
2025-03-12T03:04:05.343Z,1741748645.343 [calibrate_sparton_compass:Science:PeakDetectSalinity](DEBUG): Aggregate::uninitialize calibrate_sparton_compass:Science:PeakDetectSalinity
2025-03-12T03:04:05.343Z,1741748645.343 [calibrate_sparton_compass:Science:PeakDetectSalinity:A] Stopped
2025-03-12T03:04:05.343Z,1741748645.343 [calibrate_sparton_compass:Science:PeakDetectFDOM] Stopped
2025-03-12T03:04:05.343Z,1741748645.343 [calibrate_sparton_compass:Science:PeakDetectFDOM](DEBUG): Aggregate::uninitialize calibrate_sparton_compass:Science:PeakDetectFDOM
2025-03-12T03:04:05.343Z,1741748645.343 [calibrate_sparton_compass:Science:PeakDetectFDOM:A] Stopped
2025-03-12T03:04:05.343Z,1741748645.343 [calibrate_sparton_compass:Science:HighestOilPeakReport] Stopped
2025-03-12T03:04:05.343Z,1741748645.343 [calibrate_sparton_compass:Science:HighestOilPeakReport](DEBUG): Aggregate::uninitialize calibrate_sparton_compass:Science:HighestOilPeakReport
2025-03-12T03:04:05.343Z,1741748645.343 [calibrate_sparton_compass:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Stopped
2025-03-12T03:04:05.343Z,1741748645.343 [calibrate_sparton_compass:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-03-12T03:04:05.343Z,1741748645.343 [calibrate_sparton_compass:Science:PeakDetectOil] Stopped
2025-03-12T03:04:05.343Z,1741748645.343 [calibrate_sparton_compass:Science:PeakDetectOil](DEBUG): Aggregate::uninitialize calibrate_sparton_compass:Science:PeakDetectOil
2025-03-12T03:04:05.344Z,1741748645.344 [calibrate_sparton_compass:Science:PeakDetectOil:A] Stopped
2025-03-12T03:04:05.344Z,1741748645.344 [calibrate_sparton_compass:Science:PeakDetectNO3] Stopped
2025-03-12T03:04:05.344Z,1741748645.344 [calibrate_sparton_compass:Science:PeakDetectNO3](DEBUG): Aggregate::uninitialize calibrate_sparton_compass:Science:PeakDetectNO3
2025-03-12T03:04:05.344Z,1741748645.344 [calibrate_sparton_compass:Science:PeakDetectNO3:A] Stopped
2025-03-12T03:04:05.344Z,1741748645.344 [calibrate_sparton_compass:Science:HighestChlPeakReport] Stopped
2025-03-12T03:04:05.344Z,1741748645.344 [calibrate_sparton_compass:Science:HighestChlPeakReport](DEBUG): Aggregate::uninitialize calibrate_sparton_compass:Science:HighestChlPeakReport
2025-03-12T03:04:05.344Z,1741748645.344 [calibrate_sparton_compass:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Stopped
2025-03-12T03:04:05.344Z,1741748645.344 [calibrate_sparton_compass:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-03-12T03:04:05.344Z,1741748645.344 [calibrate_sparton_compass:Science:EdgeDetectChl] Stopped
2025-03-12T03:04:05.344Z,1741748645.344 [calibrate_sparton_compass:Science:EdgeDetectChl](DEBUG): Aggregate::uninitialize calibrate_sparton_compass:Science:EdgeDetectChl
2025-03-12T03:04:05.344Z,1741748645.344 [calibrate_sparton_compass:Science:EdgeDetectChl:A] Stopped
2025-03-12T03:04:05.344Z,1741748645.344 [calibrate_sparton_compass:Science:PeakDetectChl] Stopped
2025-03-12T03:04:05.345Z,1741748645.345 [calibrate_sparton_compass:Science:PeakDetectChl](DEBUG): Aggregate::uninitialize calibrate_sparton_compass:Science:PeakDetectChl
2025-03-12T03:04:05.345Z,1741748645.345 [calibrate_sparton_compass:Science:PeakDetectChl:A] Stopped
2025-03-12T03:04:05.345Z,1741748645.345 [calibrate_sparton_compass:Science:OceanCurrent:A.] Running Loop=1
2025-03-12T03:04:05.345Z,1741748645.345 [calibrate_sparton_compass:Science:Read_Oil] Stopped
2025-03-12T03:04:05.345Z,1741748645.345 [calibrate_sparton_compass:Science:F] Stopped
2025-03-12T03:04:05.345Z,1741748645.345 [calibrate_sparton_compass:Science:E] Running Loop=1
2025-03-12T03:04:05.346Z,1741748645.346 [calibrate_sparton_compass:Science:E](DEBUG): Initialize ReadDataComponent to sense mass_concentration_of_chlorophyll_in_sea_water
2025-03-12T03:04:05.350Z,1741748645.350 [calibrate_sparton_compass:Science:D] Stopped
2025-03-12T03:04:05.350Z,1741748645.350 [calibrate_sparton_compass:Science:C] Running Loop=1
2025-03-12T03:04:05.354Z,1741748645.354 [calibrate_sparton_compass:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_temperature
2025-03-12T03:04:05.355Z,1741748645.355 [calibrate_sparton_compass:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_salinity
2025-03-12T03:04:05.355Z,1741748645.355 [calibrate_sparton_compass:Science:B] Running Loop=1
2025-03-12T03:04:05.356Z,1741748645.356 [calibrate_sparton_compass:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_temperature
2025-03-12T03:04:05.356Z,1741748645.356 [calibrate_sparton_compass:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_salinity
2025-03-12T03:04:05.357Z,1741748645.357 [calibrate_sparton_compass:Science:A] Stopped
2025-03-12T03:04:05.687Z,1741748645.687 [calibrate_sparton_compass:E] Stopped
2025-03-12T03:04:05.687Z,1741748645.687 [calibrate_sparton_compass:F] Running Loop=1
2025-03-12T03:04:05.844Z,1741748645.844 [WetLabsBB2FL](INFO): Powering up
2025-03-12T03:04:06.069Z,1741748646.069 [calibrate_sparton_compass:F] Stopped
2025-03-12T03:04:06.069Z,1741748646.069 [calibrate_sparton_compass:G] Running Loop=1
2025-03-12T03:04:06.479Z,1741748646.479 [calibrate_sparton_compass:G] Stopped
2025-03-12T03:04:06.479Z,1741748646.479 [calibrate_sparton_compass:StartingMission] Running Loop=1
2025-03-12T03:04:06.479Z,1741748646.479 [calibrate_sparton_compass:StartingMission](DEBUG): Aggregate::initialize calibrate_sparton_compass:StartingMission
2025-03-12T03:04:06.869Z,1741748646.869 [calibrate_sparton_compass:NeedComms] Running Loop=1
2025-03-12T03:04:06.869Z,1741748646.869 [calibrate_sparton_compass:NeedComms](DEBUG): Aggregate::initialize calibrate_sparton_compass:NeedComms
2025-03-12T03:04:06.870Z,1741748646.870 [calibrate_sparton_compass:NeedComms:B.GoToSurface] Running Loop=1
2025-03-12T03:04:06.870Z,1741748646.870 [calibrate_sparton_compass:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-03-12T03:04:06.870Z,1741748646.870 [calibrate_sparton_compass:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-03-12T03:04:06.871Z,1741748646.871 [calibrate_sparton_compass:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-03-12T03:04:06.871Z,1741748646.871 [calibrate_sparton_compass:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-03-12T03:04:06.871Z,1741748646.871 [calibrate_sparton_compass:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-03-12T03:04:06.872Z,1741748646.872 [calibrate_sparton_compass:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-03-12T03:04:06.872Z,1741748646.872 [calibrate_sparton_compass:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-03-12T03:04:06.872Z,1741748646.872 [calibrate_sparton_compass:NeedComms:A] Running Loop=1
2025-03-12T03:04:06.874Z,1741748646.874 [calibrate_sparton_compass:NeedComms:A](INFO): last time_fix was:  1741748633.000000 second since 1970/01/01T00:00:00Z 
2025-03-12T03:04:06.874Z,1741748646.874 [calibrate_sparton_compass:NeedComms:A] Stopped
2025-03-12T03:04:07.277Z,1741748647.277 [calibrate_sparton_compass:NeedComms:C] Running Loop=1
2025-03-12T03:04:07.691Z,1741748647.691 [calibrate_sparton_compass:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-03-12T03:04:09.275Z,1741748649.275 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,030408.00,A,3647.96213,N,12150.37355,W,0.253,307.49,120325,,,A*70
2025-03-12T03:04:09.277Z,1741748649.277 [NAL9602](INFO): GPS fix at 20250312T030408: (36.799369, -121.839559)
2025-03-12T03:04:09.306Z,1741748649.306 [calibrate_sparton_compass:NeedComms:C] Stopped
2025-03-12T03:04:09.306Z,1741748649.306 [calibrate_sparton_compass:NeedComms:D] Running Loop=1
2025-03-12T03:04:09.696Z,1741748649.696 [CTD_Seabird](ERROR): Salinity reading out of range: 78.909485 psu
2025-03-12T03:04:09.698Z,1741748649.698 [CTD_Seabird](INFO): some bad data, not updating bins
2025-03-12T03:04:09.739Z,1741748649.739 [calibrate_sparton_compass:NeedComms:D](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-03-12T03:04:11.259Z,1741748651.259 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T03:04:34.784Z,1741748674.784 [NAL9602](INFO): SBD MO Status=2, MOMSN=18510, MT Status=2, MTMSN=0
2025-03-12T03:04:34.785Z,1741748674.785 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-03-12T03:04:46.832Z,1741748686.832 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.004173
2025-03-12T03:04:54.570Z,1741748694.570 [DataOverHttps](INFO): Sending 84 bytes from file Logs/20250311T232940/Courier0066.lzma
2025-03-12T03:04:55.572Z,1741748695.572 [DataOverHttps](INFO): Moved sent file to Logs/20250311T232940/Courier0066.lzma.bak
2025-03-12T03:04:55.573Z,1741748695.573 [DataOverHttps](INFO): SBD MOMSN=24181883
2025-03-12T03:05:03.957Z,1741748703.957 [NAL9602](INFO): SBD MO Status=1, MOMSN=18510, MT Status=0, MTMSN=0
2025-03-12T03:05:04.010Z,1741748704.010 [NAL9602](INFO): Sent 84 bytes from file Logs/20250311T232940/Courier0066.lzma
2025-03-12T03:05:04.010Z,1741748704.010 [NAL9602](INFO): Packets left to send: 0
2025-03-12T03:05:11.775Z,1741748711.775 [DataOverHttps](INFO): Sending 362 bytes from file Logs/20250311T232940/Express0067.lzma
2025-03-12T03:05:12.776Z,1741748712.776 [DataOverHttps](INFO): Moved sent file to Logs/20250311T232940/Express0067.lzma.bak
2025-03-12T03:05:12.776Z,1741748712.776 [DataOverHttps](INFO): SBD MOMSN=24181886
2025-03-12T03:05:14.091Z,1741748714.091 [calibrate_sparton_compass:NeedComms:D] Stopped
2025-03-12T03:05:14.092Z,1741748714.092 [calibrate_sparton_compass:NeedComms:E] Running Loop=1
2025-03-12T03:05:14.480Z,1741748714.480 [calibrate_sparton_compass:NeedComms:E](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-03-12T03:05:16.081Z,1741748716.081 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,030515.00,A,3647.96266,N,12150.37292,W,0.486,19.92,120325,,,A*41
2025-03-12T03:05:16.083Z,1741748716.083 [NAL9602](INFO): GPS fix at 20250312T030515: (36.799378, -121.839549)
2025-03-12T03:05:16.136Z,1741748716.136 [calibrate_sparton_compass:NeedComms:E] Stopped
2025-03-12T03:05:16.137Z,1741748716.137 [calibrate_sparton_compass:NeedComms](INFO): Completed calibrate_sparton_compass:NeedComms
2025-03-12T03:05:16.137Z,1741748716.137 [calibrate_sparton_compass:NeedComms] Stopped
2025-03-12T03:05:16.137Z,1741748716.137 [calibrate_sparton_compass:NeedComms](DEBUG): Aggregate::uninitialize calibrate_sparton_compass:NeedComms
2025-03-12T03:05:16.137Z,1741748716.137 [calibrate_sparton_compass:NeedComms:B.GoToSurface] Stopped
2025-03-12T03:05:16.137Z,1741748716.137 [calibrate_sparton_compass:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-03-12T03:05:16.548Z,1741748716.548 [calibrate_sparton_compass:StartingMission](INFO): Completed calibrate_sparton_compass:StartingMission
2025-03-12T03:05:16.548Z,1741748716.548 [calibrate_sparton_compass:StartingMission] Stopped
2025-03-12T03:05:16.549Z,1741748716.549 [calibrate_sparton_compass:StartingMission](DEBUG): Aggregate::uninitialize calibrate_sparton_compass:StartingMission
2025-03-12T03:05:16.549Z,1741748716.549 [calibrate_sparton_compass:AdaptCal] Running Loop=1
2025-03-12T03:05:16.549Z,1741748716.549 [calibrate_sparton_compass:AdaptCal](DEBUG): Aggregate::initialize calibrate_sparton_compass:AdaptCal
2025-03-12T03:05:16.549Z,1741748716.549 [calibrate_sparton_compass:AdaptCal:C.CalibrateAHRS_M2] Running Loop=1
2025-03-12T03:05:16.549Z,1741748716.549 [calibrate_sparton_compass:AdaptCal:C.CalibrateAHRS_M2](INFO): Initialize CalibrateSpartonComponent.
2025-03-12T03:05:16.549Z,1741748716.549 [calibrate_sparton_compass:AdaptCal:WaitForCalibrationInit] Running Loop=1
2025-03-12T03:05:16.938Z,1741748716.938 [calibrate_sparton_compass:AdaptCal:C.CalibrateAHRS_M2] Running Loop=1
2025-03-12T03:05:16.938Z,1741748716.938 [calibrate_sparton_compass:AdaptCal:C.CalibrateAHRS_M2](INFO): Initialize CalibrateSpartonComponent.
2025-03-12T03:05:16.961Z,1741748716.961 [calibrate_sparton_compass:AdaptCal:WaitForCalibrationInit](DEBUG): Initialize ReadDataComponent to sense AHRS_M2.number_of_calbration_points
2025-03-12T03:05:17.330Z,1741748717.330 [calibrate_sparton_compass:AdaptCal:C.CalibrateAHRS_M2](INFO): Initialize CalibrateSpartonComponent.
2025-03-12T03:05:17.744Z,1741748717.744 [calibrate_sparton_compass:AdaptCal:C.CalibrateAHRS_M2](INFO): Initialize CalibrateSpartonComponent.
2025-03-12T03:05:18.167Z,1741748718.167 [calibrate_sparton_compass:AdaptCal:C.CalibrateAHRS_M2](INFO): Initialize CalibrateSpartonComponent.
2025-03-12T03:05:18.530Z,1741748718.530 [calibrate_sparton_compass:AdaptCal:WaitForCalibrationInit] Stopped
2025-03-12T03:05:18.530Z,1741748718.530 [calibrate_sparton_compass:AdaptCal:AcquireCalibrationPoints] Running Loop=1
2025-03-12T03:05:18.530Z,1741748718.530 [calibrate_sparton_compass:AdaptCal:AcquireCalibrationPoints](DEBUG): Aggregate::initialize calibrate_sparton_compass:AdaptCal:AcquireCalibrationPoints
2025-03-12T03:05:18.530Z,1741748718.530 [calibrate_sparton_compass:AdaptCal:AcquireCalibrationPoints:A.Point] Running Loop=1
2025-03-12T03:05:18.531Z,1741748718.531 [calibrate_sparton_compass:AdaptCal:AcquireCalibrationPoints:A.Point](DEBUG): Initialize.
2025-03-12T03:05:18.531Z,1741748718.531 [calibrate_sparton_compass:AdaptCal:AcquireCalibrationPoints:B.SetSpeed] Running Loop=1
2025-03-12T03:05:18.531Z,1741748718.531 [calibrate_sparton_compass:AdaptCal:AcquireCalibrationPoints:B.SetSpeed](DEBUG): Initialize.
2025-03-12T03:05:18.938Z,1741748718.938 [calibrate_sparton_compass:AdaptCal:AcquireCalibrationPoints:B.SetSpeed] Running Loop=1
2025-03-12T03:05:18.942Z,1741748718.942 [calibrate_sparton_compass:AdaptCal:AcquireCalibrationPoints:A.Point] Running Loop=1
2025-03-12T03:05:48.252Z,1741748748.252 [NAL9602](INFO): Not Powering down - fast GPS
2025-03-12T03:05:48.281Z,1741748748.281 [ElevatorOffsetCalculator](INFO): New estimator for commanded vars: speed 1.00 m/s, pitch -20.00 deg, mass-position 6.85 mm (4 active estimators).
2025-03-12T03:06:19.794Z,1741748779.794 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T03:06:21.803Z,1741748781.803 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.259262
2025-03-12T03:06:48.546Z,1741748808.546 [Radio_Surface](INFO): Powering down
2025-03-12T03:06:54.935Z,1741748814.935 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T03:06:55.939Z,1741748815.939 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-03-12T03:15:54.738Z,1741749354.738 [Waterlinked](ERROR): DVL uart error: serial timeout
2025-03-12T03:15:54.738Z,1741749354.738 [Waterlinked] Communications Fault, FailCount= 1
2025-03-12T03:15:54.738Z,1741749354.738 [Waterlinked](ERROR): Communications Fault
2025-03-12T03:15:54.858Z,1741749354.858 [CBIT](ERROR): Communications Fault in component: Waterlinked
2025-03-12T03:15:55.122Z,1741749355.122 [Waterlinked](INFO): Powering down
2025-03-12T03:15:55.994Z,1741749355.994 [CBIT](INFO): Clearing failed state for component Waterlinked
2025-03-12T03:15:55.994Z,1741749355.994 [Waterlinked] No Fault, FailCount= 1
2025-03-12T03:17:56.123Z,1741749476.123 [Waterlinked](ERROR): only read 3 of 5 data items. Device response::BI,   +0,    +0,    +0,V
2025-03-12T03:23:23.888Z,1741749803.888 [Waterlinked](ERROR): only read 0 of 1 data item for altitude. Device response::BD,    0
2025-03-12T03:29:42.557Z,1741750182.557 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size.
2025-03-12T03:31:37.599Z,1741750297.599 [CTD_Seabird](ERROR): Failed to parse device response: .67
2025-03-12T03:34:22.162Z,1741750462.162 [Waterlinked](ERROR): DVL uart error: serial timeout
2025-03-12T03:34:22.162Z,1741750462.162 [Waterlinked] Communications Fault, FailCount= 1
2025-03-12T03:34:22.162Z,1741750462.162 [Waterlinked](ERROR): Communications Fault
2025-03-12T03:34:22.278Z,1741750462.278 [CBIT](ERROR): Communications Fault in component: Waterlinked
2025-03-12T03:34:22.678Z,1741750462.678 [Waterlinked](INFO): Powering down
2025-03-12T03:34:23.466Z,1741750463.466 [CBIT](INFO): Clearing failed state for component Waterlinked
2025-03-12T03:34:23.466Z,1741750463.466 [Waterlinked] No Fault, FailCount= 1
2025-03-12T03:43:43.113Z,1741751023.113 [BPC1](INFO): Calculating totals. Valid battery stick count: 50. Valid reserve battery stick count: 5.
2025-03-12T03:43:43.116Z,1741751023.116 [BPC1](FAULT): Failed to receive data from 1 sticks prior to timeout. Will not retry this scan cycle. Missing stick IDs are: 21.
2025-03-12T03:44:23.024Z,1741751063.024 [Waterlinked](ERROR): only read 0 of 1 data item for BIT error. Device response::TS,2  +0.00,       +0.00,       +0.00,   0.00,  0.00
2025-03-12T03:51:33.563Z,1741751493.563 [Waterlinked](ERROR): only read 1 of 5 data items. Device response::BI,    +0 +0.00,       +0.00,   0.00,  0.00
2025-03-12T04:04:05.444Z,1741752245.444 [calibrate_sparton_compass](INFO): Timed out from 2025-03-12T03:04:05.3Z
2025-03-12T04:04:05.445Z,1741752245.445 [MissionManager](INFO): calibrate_sparton_compass is completed.
2025-03-12T04:04:05.445Z,1741752245.445 [MissionManager](INFO): Uninitializing Mission calibrate_sparton_compass
2025-03-12T04:04:05.445Z,1741752245.445 [calibrate_sparton_compass] Stopped
2025-03-12T04:04:05.450Z,1741752245.450 [calibrate_sparton_compass](DEBUG): Aggregate::uninitialize calibrate_sparton_compass
2025-03-12T04:04:05.450Z,1741752245.450 [calibrate_sparton_compass:Science] Stopped
2025-03-12T04:04:05.451Z,1741752245.451 [calibrate_sparton_compass:Science](DEBUG): Aggregate::uninitialize calibrate_sparton_compass:Science
2025-03-12T04:04:05.451Z,1741752245.451 [calibrate_sparton_compass:Science:B] Stopped
2025-03-12T04:04:05.451Z,1741752245.451 [calibrate_sparton_compass:Science:C] Stopped
2025-03-12T04:04:05.452Z,1741752245.452 [calibrate_sparton_compass:Science:E] Stopped
2025-03-12T04:04:05.452Z,1741752245.452 [calibrate_sparton_compass:Science:OceanCurrent] Stopped
2025-03-12T04:04:05.452Z,1741752245.452 [calibrate_sparton_compass:Science:OceanCurrent](DEBUG): Aggregate::uninitialize calibrate_sparton_compass:Science:OceanCurrent
2025-03-12T04:04:05.452Z,1741752245.452 [calibrate_sparton_compass:Science:OceanCurrent:A.] Stopped
2025-03-12T04:04:05.453Z,1741752245.453 [calibrate_sparton_compass:StandardEnvelopes] Stopped
2025-03-12T04:04:05.453Z,1741752245.453 [calibrate_sparton_compass:StandardEnvelopes](DEBUG): Aggregate::uninitialize calibrate_sparton_compass:StandardEnvelopes
2025-03-12T04:04:05.453Z,1741752245.453 [calibrate_sparton_compass:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-03-12T04:04:05.454Z,1741752245.454 [calibrate_sparton_compass:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-03-12T04:04:05.458Z,1741752245.458 [calibrate_sparton_compass:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-03-12T04:04:05.459Z,1741752245.459 [calibrate_sparton_compass:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-03-12T04:04:05.459Z,1741752245.459 [calibrate_sparton_compass:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-03-12T04:04:05.459Z,1741752245.459 [calibrate_sparton_compass:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-03-12T04:04:05.459Z,1741752245.459 [calibrate_sparton_compass:BackseatDriver] Stopped
2025-03-12T04:04:05.460Z,1741752245.460 [calibrate_sparton_compass:BackseatDriver](DEBUG): Aggregate::uninitialize calibrate_sparton_compass:BackseatDriver
2025-03-12T04:04:05.460Z,1741752245.460 [calibrate_sparton_compass:BackseatDriver:A.BackseatDriver] Stopped
2025-03-12T04:04:05.460Z,1741752245.460 [calibrate_sparton_compass:PowerOnly] Stopped
2025-03-12T04:04:05.461Z,1741752245.461 [calibrate_sparton_compass:PowerOnly](DEBUG): Aggregate::uninitialize calibrate_sparton_compass:PowerOnly
2025-03-12T04:04:05.461Z,1741752245.461 [calibrate_sparton_compass:PowerOnly:E.Wait] Stopped
2025-03-12T04:04:05.461Z,1741752245.461 [calibrate_sparton_compass:PowerOnly:E.Wait](DEBUG): Uninitialize Wait Component.
2025-03-12T04:04:05.461Z,1741752245.461 [calibrate_sparton_compass:K.Pitch] Stopped
2025-03-12T04:04:05.462Z,1741752245.462 [calibrate_sparton_compass:L.Buoyancy] Stopped
2025-03-12T04:04:05.466Z,1741752245.466 [calibrate_sparton_compass:L.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-03-12T04:04:05.466Z,1741752245.466 [calibrate_sparton_compass:M.DepthEnvelope] Stopped
2025-03-12T04:04:05.467Z,1741752245.467 [calibrate_sparton_compass:M.DepthEnvelope](DEBUG): Uninitialize.
2025-03-12T04:04:05.467Z,1741752245.467 [calibrate_sparton_compass:N.AltitudeEnvelope] Stopped
2025-03-12T04:04:05.467Z,1741752245.467 [calibrate_sparton_compass:N.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-03-12T04:04:05.468Z,1741752245.468 [calibrate_sparton_compass:O.YoYo] Stopped
2025-03-12T04:04:05.468Z,1741752245.468 [calibrate_sparton_compass:O.YoYo](DEBUG): Uninitialize YoYoComponent.
2025-03-12T04:04:05.468Z,1741752245.468 [calibrate_sparton_compass:AdaptCal] Stopped
2025-03-12T04:04:05.468Z,1741752245.468 [calibrate_sparton_compass:AdaptCal](DEBUG): Aggregate::uninitialize calibrate_sparton_compass:AdaptCal
2025-03-12T04:04:05.469Z,1741752245.469 [calibrate_sparton_compass:AdaptCal:AcquireCalibrationPoints] Stopped
2025-03-12T04:04:05.469Z,1741752245.469 [calibrate_sparton_compass:AdaptCal:AcquireCalibrationPoints](DEBUG): Aggregate::uninitialize calibrate_sparton_compass:AdaptCal:AcquireCalibrationPoints
2025-03-12T04:04:05.469Z,1741752245.469 [calibrate_sparton_compass:AdaptCal:AcquireCalibrationPoints:A.Point] Stopped
2025-03-12T04:04:05.469Z,1741752245.469 [calibrate_sparton_compass:AdaptCal:AcquireCalibrationPoints:B.SetSpeed] Stopped
2025-03-12T04:04:05.470Z,1741752245.470 [calibrate_sparton_compass:AdaptCal:AcquireCalibrationPoints:B.SetSpeed](DEBUG): Uninitialize.
2025-03-12T04:04:05.475Z,1741752245.475 [calibrate_sparton_compass:AdaptCal:C.CalibrateAHRS_M2] Stopped
2025-03-12T04:04:05.475Z,1741752245.475 [calibrate_sparton_compass:AdaptCal:C.CalibrateAHRS_M2](INFO): Uninitialize CalibrateSpartonComponent.
2025-03-12T04:04:05.738Z,1741752245.738 [WetLabsBB2FL](INFO): Powering down
2025-03-12T04:04:05.841Z,1741752245.841 [AHRS_M2](IMPORTANT): Acquired 9 calibration points.
2025-03-12T04:04:05.936Z,1741752245.936 [MissionManager](IMPORTANT): Started mission Default
2025-03-12T04:04:05.936Z,1741752245.936 [Default] Running Loop=1
2025-03-12T04:04:05.936Z,1741752245.936 [Default](DEBUG): Aggregate::initialize Default
2025-03-12T04:04:05.936Z,1741752245.936 [Default:B.GoToSurface] Running Loop=1
2025-03-12T04:04:05.936Z,1741752245.936 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-03-12T04:04:05.937Z,1741752245.937 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-03-12T04:04:05.937Z,1741752245.937 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-03-12T04:04:05.937Z,1741752245.937 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-03-12T04:04:05.937Z,1741752245.937 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-03-12T04:04:05.938Z,1741752245.938 [Default:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-03-12T04:04:05.939Z,1741752245.939 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-03-12T04:04:05.940Z,1741752245.940 [Default:A.Wait] Running Loop=1
2025-03-12T04:04:05.940Z,1741752245.940 [Default:A.Wait](DEBUG): Initialize Wait Component.
2025-03-12T04:04:06.558Z,1741752246.558 [Radio_Surface](INFO): Powering up
2025-03-12T04:04:06.624Z,1741752246.624 [AHRS_M2](IMPORTANT): Magnetic calibration quality (0[best] to 10000) is 0.000674.
2025-03-12T04:04:12.342Z,1741752252.342 [DataOverHttps](INFO): Radio surface powered ON.
2025-03-12T04:04:19.353Z,1741752259.353 [Default:A.Wait](INFO): Done Waiting.
2025-03-12T04:04:19.354Z,1741752259.354 [Default:A.Wait] Stopped
2025-03-12T04:04:19.354Z,1741752259.354 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2025-03-12T04:04:42.464Z,1741752282.464 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T04:05:17.610Z,1741752317.610 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T04:05:21.793Z,1741752321.793 [ElevatorOffsetCalculator](INFO): Removing expired estimator for commanded vars: speed 1.00 m/s, pitch 30.00 deg, mass-position -26.00 mm.
2025-03-12T04:05:21.800Z,1741752321.800 [ElevatorOffsetCalculator](INFO): Removing expired estimator for commanded vars: speed 1.00 m/s, pitch 30.00 deg, mass-position 9.81 mm.
2025-03-12T04:05:21.832Z,1741752321.832 [Default:CheckIn] Running Loop=1
2025-03-12T04:05:21.832Z,1741752321.832 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-03-12T04:05:21.833Z,1741752321.833 [Default:CheckIn:Read_GPS] Running Loop=1
2025-03-12T04:05:22.226Z,1741752322.226 [Waterlinked](INFO): Powering down
2025-03-12T04:05:52.770Z,1741752352.770 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T04:06:27.930Z,1741752387.930 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T04:07:03.070Z,1741752423.070 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T04:07:39.275Z,1741752459.275 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003667
2025-03-12T04:07:44.385Z,1741752464.385 [NAL9602](INFO): SBD MO Status=2, MOMSN=18511, MT Status=2, MTMSN=0
2025-03-12T04:07:44.385Z,1741752464.385 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-03-12T04:10:22.044Z,1741752622.044 [Default:CheckIn:Read_GPS](INFO): Timed out from 2025-03-12T04:05:21.8Z
2025-03-12T04:10:22.044Z,1741752622.044 [Default:CheckIn:Read_GPS] Stopped
2025-03-12T04:10:22.044Z,1741752622.044 [Default:CheckIn:Read_Iridium] Running Loop=1
2025-03-12T04:10:26.448Z,1741752626.448 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2025-03-12T04:10:29.306Z,1741752629.306 [DataOverHttps](INFO): Sending 85 bytes from file Logs/20250311T232940/Courier0069.lzma
2025-03-12T04:10:30.308Z,1741752630.308 [DataOverHttps](INFO): Moved sent file to Logs/20250311T232940/Courier0069.lzma.bak
2025-03-12T04:10:30.309Z,1741752630.309 [DataOverHttps](INFO): SBD MOMSN=24182160
2025-03-12T04:10:48.216Z,1741752648.216 [DataOverHttps](INFO): Sending 1111 bytes from file Logs/20250311T232940/Express0070.lzma
2025-03-12T04:10:52.228Z,1741752652.228 [DataOverHttps](INFO): Moved sent file to Logs/20250311T232940/Express0070.lzma.bak
2025-03-12T04:10:52.228Z,1741752652.228 [DataOverHttps](INFO): SBD MOMSN=24182169
2025-03-12T04:10:53.592Z,1741752653.592 [Default:CheckIn:Read_Iridium] Stopped
2025-03-12T04:10:53.592Z,1741752653.592 [Default:CheckIn:C.Wait] Running Loop=1
2025-03-12T04:10:53.592Z,1741752653.592 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2025-03-12T04:10:57.154Z,1741752657.154 [NAL9602](INFO): Not Powering down - fast GPS
2025-03-12T04:12:47.492Z,1741752767.492 [DataOverHttps](IMPORTANT): SBD MTMSN=20250312T041246
2025-03-12T04:12:54.903Z,1741752774.903 [DataOverHttps](INFO): Received command: load Maintenance/run_backseat_on_surface.tl;set run_backseat_on_surface:PowerOnly.SampleLoad1 1 bool;run
2025-03-12T04:12:54.933Z,1741752774.933 [CommandExec](IMPORTANT): got command load ./Missions/Maintenance/run_backseat_on_surface.tl
2025-03-12T04:12:54.934Z,1741752774.934 [MissionManager](INFO): Loading Mission from file: ./Missions/Maintenance/run_backseat_on_surface.tl
2025-03-12T04:12:54.934Z,1741752774.934 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Maintenance/run_backseat_on_surface.tl
2025-03-12T04:12:54.936Z,1741752774.936 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Maintenance/run_backseat_on_surface.tl
2025-03-12T04:12:57.763Z,1741752777.763 [MissionManager](DEBUG): TethyslAPI: ./Missions/Maintenance/run_backseat_on_surface.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Mission Id="run_backseat_on_surface">
    <DefineArg Name="ElapsedSinceMissionStarted">
        <Units:minute />
        <Value>0</Value>
    </DefineArg>
    <Insert Id="Science" Filename="Insert/Science.tl" />
    <Insert Filename="Insert/BackseatDriver.tl" />
    <Assign>
        <Sequence />
        <Arg Name="BackseatDriver:EnableBackseat" />
        <True />
    </Assign>
    <Insert Filename="Insert/PowerOnly.tl" />
    <Guidance:GoToSurface>
        <Progression />
    </Guidance:GoToSurface>
    <Aggregate Id="CheckIn">
        <Sequence Repeat="288" />
        <ReadDatum Id="Read_GPS">
            <Timeout Duration="P5M" />
            <Universal:time_fix />
        </ReadDatum>
        <ReadDatum Id="Read_Iridium">
            <Timeout Duration="P2H">
                <Guidance:Execute>
                    <Sequence />
                    <Setting>
                        <Guidance:Execute.command />
                        <String>Burn on</String>
                    </Setting>
                </Guidance:Execute>
                <Syslog Severity="Critical">Dropped weight due to communications timeout.</Syslog>
            </Timeout>
            <Universal:platform_communications />
        </ReadDatum>
        <Guidance:Wait>
            <Sequence />
            <Setting>
                <Guidance:Wait.duration />
                <Units:minute />
                <Value>5</Value>
            </Setting>
        </Guidance:Wait>
        <Assign>
            <Sequence />
            <Arg Name="ElapsedSinceMissionStarted" />
            <Elapsed>
                <Universal:mission_started />
            </Elapsed>
        </Assign>
        <Syslog Severity="Important">
            run_backseat_on_surface mission has been running for 
            <Arg Name="ElapsedSinceMissionStarted" />
            <Units:minute />
        </Syslog>
    </Aggregate>
    <Syslog Severity="Important">Restarting logs and run_backseat_on_surface mission.</Syslog>
    <Guidance:Execute>
        <Sequence />
        <Setting>
            <Guidance:Execute.command />
            <String>restart logs</String>
        </Setting>
    </Guidance:Execute>
</Mission>

2025-03-12T04:12:57.768Z,1741752777.768 [MissionManager](INFO): DefineArg run_backseat_on_surface.ElapsedSinceMissionStarted = 0.000000 min
2025-03-12T04:12:57.769Z,1741752777.769 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/Science.tl
2025-03-12T04:12:57.769Z,1741752777.769 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/Science.tl
2025-03-12T04:12:57.773Z,1741752777.773 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/Science.tl
2025-03-12T04:13:00.633Z,1741752780.633 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/Science.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="Science">
    <DefineArg Name="PeakDetectChlActive">
        <False />
    </DefineArg>
    <DefineArg Name="EdgeDetectChlActive">
        <False />
    </DefineArg>
    <DefineArg Name="TimeWindowPeakReport">
        <Units:minute />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="HighestChlPeakReportActive">
        <False />
    </DefineArg>
    <DefineArg Name="HighestSaltPeakReportActive">
        <False />
    </DefineArg>
    <DefineArg Name="HighestOilPeakReportActive">
        <False />
    </DefineArg>
    <DefineArg Name="PatchTracking">
        <False />
    </DefineArg>
    <DefineArg Name="FilterWidthHorizontal">
        <Units:count />
        <Value>3</Value>
    </DefineArg>
    <DefineArg Name="NumProfilesSlidingwindow">
        <Units:count />
        <Value>100</Value>
    </DefineArg>
    <DefineArg Name="OffPeakFractionHorizontal">
        <Units:percent />
        <Value>80</Value>
    </DefineArg>
    <DefineArg Name="PeakDetectNO3Active">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectOilActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectFDOMActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectSalinityActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreLMavgROIActive">
        <False />
    </DefineArg>
    <DefineArg Name="EdgeDetectPlanktivoreLMavgROIActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreHMavgROIActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreDiatomsActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreDinoflagellatesActive">
        <False />
    </DefineArg>
    <DefineArg Name="UpwardDerivativeOfTemperatureActive">
        <False />
    </DefineArg>
    <DefineArg Name="EnabledAanderaaO2">
        <Science:Aanderaa_O2.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledNeilBrown">
        <Science:CTD_NeilBrown.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledSeabird">
        <Science:CTD_Seabird.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledWetLabsBB2FL">
        <Science:WetLabsBB2FL.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledWetLabsSeaOWL_UV_A">
        <Science:WetLabsSeaOWL_UV_A.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledWetLabsUBAT">
        <Science:WetLabsUBAT.loadAtStartup />
    </DefineArg>
    <DefineArg Name="LowPassWindowLength">
        <Units:count />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="MedianFilterLen">
        <Units:count />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="ShallowBound">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="DeepBound">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="DepChangeThreshForAttitudeFlip">
        <Units:meter />
        <Value>2.0</Value>
    </DefineArg>
    <DefineArg Name="OffPeakFractionVertical">
        <Units:percent />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="ChlPeakThresh">
        <Units:microgram_per_liter />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="ChlThreshTriggerActive">
        <False />
    </DefineArg>
    <DefineArg Name="ChlLowerThresh">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="ChlUpperThresh">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="NumProfilesThresh">
        <Units:count />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="PlanktivoreLMavgROIPeakThresh">
        <Units:count_per_second />
        <Value>0</Value>
    </DefineArg>
    <DefineOutput Name="GoDown">
        <True />
    </DefineOutput>
    <DefineOutput Name="PeakChl">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChl">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChlDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChlTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChlLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChlLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3">
        <Units:micromole_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3Depth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3Latitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3Longitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOil">
        <Units:kilogram_per_cubic_meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOilDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOilLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOilLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOM">
        <Units:part_per_billion />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSalt">
        <Units:practical_salinity_unit />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROI">
        <Units:count_per_second />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROIDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROITemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROILatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROILongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROI">
        <Units:count_per_second />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROIDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROITemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROILatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROILongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROI">
        <Units:count_per_second />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROIDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROITemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROILatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROILongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatoms">
        <Units:count_per_milliliter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellates">
        <Units:count_per_milliliter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChl">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlDistance">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSalt">
        <Units:practical_salinity_unit />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltDistance">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOil">
        <Units:practical_salinity_unit />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilDistance">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="TriggeredOnChl">
        <False />
    </DefineOutput>
    <DefineOutput Name="ChlTriggering">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <Parallel />
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledAanderaaO2" />
        </While>
        <Universal:mass_concentration_of_oxygen_in_sea_water />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledNeilBrown" />
            <Or>
                <Arg Name="EnabledSeabird" />
            </Or>
        </While>
        <Universal:sea_water_temperature />
        <Universal:sea_water_salinity />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledSeabird" />
        </While>
        <Science:CTD_Seabird.sea_water_temperature />
        <Science:CTD_Seabird.sea_water_salinity />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledNeilBrown" />
            <Or>
                <Arg Name="EnabledSeabird" />
            </Or>
            <And>
                <Arg Name="UpwardDerivativeOfTemperatureActive" />
            </And>
        </While>
        <Universal:upward_derivative_of_sea_water_temperature />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledWetLabsBB2FL" />
            <Or>
                <Arg Name="PeakDetectChlActive" />
            </Or>
        </While>
        <Universal:mass_concentration_of_chlorophyll_in_sea_water />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledWetLabsUBAT" />
        </While>
        <Science:WetLabsUBAT.average_bioluminescence />
    </ReadData>
    <ReadData Id="Read_Oil" Strategy="MinError">
        <While>
            <Arg Name="EnabledWetLabsSeaOWL_UV_A" />
            <Or>
                <Arg Name="PeakDetectOilActive" />
            </Or>
        </While>
        <Universal:mass_concentration_of_petroleum_hydrocarbons_in_sea_water />
    </ReadData>
    <Aggregate Id="OceanCurrent">
        <Sequence />
        <Estimation:CurrentEstimator>
            <Parallel />
        </Estimation:CurrentEstimator>
    </Aggregate>
    <Aggregate Id="PeakDetectChl">
        <While>
            <Arg Name="PeakDetectChlActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:mass_concentration_of_chlorophyll_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakChl">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakChlDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakChlTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakChlLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakChlLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakChl" />
            <Arg Name="PeakChlDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="EdgeDetectChl">
        <While>
            <Arg Name="EdgeDetectChlActive" />
        </While>
        <Syslog Severity="Debug">EdgeDetectVsDepth</Syslog>
        <Trigger:EdgeDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:EdgeDetectVsDepth.detect />
                <Universal:mass_concentration_of_chlorophyll_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFraction />
                <Arg Name="OffPeakFractionVertical" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.peakThresh />
                <Arg Name="ChlPeakThresh" />
            </Setting>
            <OutputArg Name="GoDown">
                <Trigger:EdgeDetectVsDepth.goDown />
            </OutputArg>
            <OutputArg Name="PeakChl">
                <Trigger:EdgeDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakChlDepth">
                <Trigger:EdgeDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakChlTemperature">
                <Trigger:EdgeDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakChlLatitude">
                <Trigger:EdgeDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakChlLongitude">
                <Trigger:EdgeDetectVsDepth.peakLongitude />
            </OutputArg>
            <OutputArg Name="EdgeChl">
                <Trigger:EdgeDetectVsDepth.edgeDetect />
            </OutputArg>
            <OutputArg Name="EdgeChlDepth">
                <Trigger:EdgeDetectVsDepth.edgeDepth />
            </OutputArg>
            <OutputArg Name="EdgeChlTemperature">
                <Trigger:EdgeDetectVsDepth.edgeTemperature />
            </OutputArg>
            <OutputArg Name="EdgeChlLatitude">
                <Trigger:EdgeDetectVsDepth.edgeLatitude />
            </OutputArg>
            <OutputArg Name="EdgeChlLongitude">
                <Trigger:EdgeDetectVsDepth.edgeLongitude />
            </OutputArg>
        </Trigger:EdgeDetectVsDepth>
        <Syslog Severity="Info">
            GoDown, ChlPeakThresh, PeakChl, PeakChlDepth, EdgeChl, EdgeChlDepth = 
            <Arg Name="GoDown" />
            <Units:bool />
            , 
            <Arg Name="ChlPeakThresh" />
            <Units:microgram_per_liter />
            , 
            <Arg Name="PeakChl" />
            <Units:microgram_per_liter />
            , 
            <Arg Name="PeakChlDepth" />
            <Units:meter />
            , 
            <Arg Name="EdgeChl" />
            <Units:microgram_per_liter />
            , 
            <Arg Name="EdgeChlDepth" />
            <Units:meter />
        </Syslog>
        <SendData Service="Express">
            <Arg Name="PeakChl" />
            <Arg Name="PeakChlDepth" />
            <Arg Name="EdgeChl" />
            <Arg Name="EdgeChlDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="HighestChlPeakReport">
        <While>
            <Arg Name="HighestChlPeakReportActive" />
        </While>
        <Trigger:PeakDetectHorizontal>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectHorizontal.detectFrom />
                <Arg Name="PeakChl" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.depthFrom />
                <Arg Name="PeakChlDepth" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.latitudeFrom />
                <Arg Name="PeakChlLatitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.longitudeFrom />
                <Arg Name="PeakChlLongitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.patchTracking />
                <Arg Name="PatchTracking" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.filterWidth />
                <Arg Name="FilterWidthHorizontal" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.numProfilesSlidingwindow />
                <Arg Name="NumProfilesSlidingwindow" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.offPeakFraction />
                <Arg Name="OffPeakFractionHorizontal" />
            </Setting>
            <OutputArg Name="PatchChl">
                <Trigger:PeakDetectHorizontal.peakDetect />
            </OutputArg>
            <OutputArg Name="PatchChlDepth">
                <Trigger:PeakDetectHorizontal.peakDepth />
            </OutputArg>
            <OutputArg Name="PatchChlLatitude">
                <Trigger:PeakDetectHorizontal.peakLatitude />
            </OutputArg>
            <OutputArg Name="PatchChlLongitude">
                <Trigger:PeakDetectHorizontal.peakLongitude />
            </OutputArg>
            <OutputArg Name="PatchChlDistance">
                <Trigger:PeakDetectHorizontal.peakDistance />
            </OutputArg>
        </Trigger:PeakDetectHorizontal>
    </Aggregate>
    <Aggregate Id="PeakDetectNO3">
        <While>
            <Arg Name="PeakDetectNO3Active" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:mole_concentration_of_nitrate_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <OutputArg Name="PeakNO3">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakNO3Depth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakNO3Latitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakNO3Longitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakNO3" />
            <Arg Name="PeakNO3Depth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectOil">
        <While>
            <Arg Name="PeakDetectOilActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:mass_concentration_of_petroleum_hydrocarbons_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <OutputArg Name="PeakOil">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakOilDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakOilLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakOilLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakOil" />
            <Arg Name="PeakOilDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="HighestOilPeakReport">
        <While>
            <Arg Name="HighestOilPeakReportActive" />
        </While>
        <Trigger:PeakDetectHorizontal>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectHorizontal.detectFrom />
                <Arg Name="PeakOil" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.depthFrom />
                <Arg Name="PeakOilDepth" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.latitudeFrom />
                <Arg Name="PeakOilLatitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.longitudeFrom />
                <Arg Name="PeakOilLongitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.patchTracking />
                <Arg Name="PatchTracking" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.filterWidth />
                <Arg Name="FilterWidthHorizontal" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.numProfilesSlidingwindow />
                <Arg Name="NumProfilesSlidingwindow" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.offPeakFraction />
                <Arg Name="OffPeakFractionHorizontal" />
            </Setting>
            <OutputArg Name="PatchOil">
                <Trigger:PeakDetectHorizontal.peakDetect />
            </OutputArg>
            <OutputArg Name="PatchOilDepth">
                <Trigger:PeakDetectHorizontal.peakDepth />
            </OutputArg>
            <OutputArg Name="PatchOilLatitude">
                <Trigger:PeakDetectHorizontal.peakLatitude />
            </OutputArg>
            <OutputArg Name="PatchOilLongitude">
                <Trigger:PeakDetectHorizontal.peakLongitude />
            </OutputArg>
            <OutputArg Name="PatchOilDistance">
                <Trigger:PeakDetectHorizontal.peakDistance />
            </OutputArg>
        </Trigger:PeakDetectHorizontal>
    </Aggregate>
    <Aggregate Id="PeakDetectFDOM">
        <While>
            <Arg Name="PeakDetectFDOMActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:concentration_of_colored_dissolved_organic_matter_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <OutputArg Name="PeakFDOM">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakFDOMDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakFDOMTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakFDOMLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakFDOMLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakFDOM" />
            <Arg Name="PeakFDOMDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectSalinity">
        <While>
            <Arg Name="PeakDetectSalinityActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:sea_water_salinity />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakSalt">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakSaltDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakSaltTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakSaltLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakSaltLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakSalt" />
            <Arg Name="PeakSaltDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="HighestSaltPeakReport">
        <While>
            <Arg Name="HighestSaltPeakReportActive" />
        </While>
        <Trigger:PeakDetectHorizontal>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectHorizontal.detectFrom />
                <Arg Name="PeakSalt" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.depthFrom />
                <Arg Name="PeakSaltDepth" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.latitudeFrom />
                <Arg Name="PeakSaltLatitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.longitudeFrom />
                <Arg Name="PeakSaltLongitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.patchTracking />
                <Arg Name="PatchTracking" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.filterWidth />
                <Arg Name="FilterWidthHorizontal" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.numProfilesSlidingwindow />
                <Arg Name="NumProfilesSlidingwindow" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.offPeakFraction />
                <Arg Name="OffPeakFractionHorizontal" />
            </Setting>
            <OutputArg Name="PatchSalt">
                <Trigger:PeakDetectHorizontal.peakDetect />
            </OutputArg>
            <OutputArg Name="PatchSaltDepth">
                <Trigger:PeakDetectHorizontal.peakDepth />
            </OutputArg>
            <OutputArg Name="PatchSaltLatitude">
                <Trigger:PeakDetectHorizontal.peakLatitude />
            </OutputArg>
            <OutputArg Name="PatchSaltLongitude">
                <Trigger:PeakDetectHorizontal.peakLongitude />
            </OutputArg>
            <OutputArg Name="PatchSaltDistance">
                <Trigger:PeakDetectHorizontal.peakDistance />
            </OutputArg>
        </Trigger:PeakDetectHorizontal>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreLMavgROI">
        <While>
            <Arg Name="PeakDetectPlanktivoreLMavgROIActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_LM_AvgRois</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreLMavgROI">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROIDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROITemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROILatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROILongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreLMavgROI" />
            <Arg Name="PeakPlanktivoreLMavgROIDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="EdgeDetectPlanktivoreLMavgROI">
        <While>
            <Arg Name="EdgeDetectPlanktivoreLMavgROIActive" />
        </While>
        <Syslog Severity="Debug">EdgeDetectVsDepth</Syslog>
        <Trigger:EdgeDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:EdgeDetectVsDepth.detect />
                <String>_.planktivore_LM_AvgRois</String>
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFraction />
                <Arg Name="OffPeakFractionVertical" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.peakThresh />
                <Arg Name="PlanktivoreLMavgROIPeakThresh" />
            </Setting>
            <OutputArg Name="GoDown">
                <Trigger:EdgeDetectVsDepth.goDown />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROI">
                <Trigger:EdgeDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROIDepth">
                <Trigger:EdgeDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROITemperature">
                <Trigger:EdgeDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROILatitude">
                <Trigger:EdgeDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROILongitude">
                <Trigger:EdgeDetectVsDepth.peakLongitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROI">
                <Trigger:EdgeDetectVsDepth.edgeDetect />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROIDepth">
                <Trigger:EdgeDetectVsDepth.edgeDepth />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROITemperature">
                <Trigger:EdgeDetectVsDepth.edgeTemperature />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROILatitude">
                <Trigger:EdgeDetectVsDepth.edgeLatitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROILongitude">
                <Trigger:EdgeDetectVsDepth.edgeLongitude />
            </OutputArg>
        </Trigger:EdgeDetectVsDepth>
        <Syslog Severity="Important">
            GoDown, PlanktivoreLMavgROIPeakThresh, PeakPlanktivoreLMavgROI, PeakPlanktivoreLMavgROIDepth, EdgePlanktivoreLMavgROI, EdgePlanktivoreLMavgROIDepth = 
            <Arg Name="GoDown" />
            <Units:bool />
            , 
            <Arg Name="PlanktivoreLMavgROIPeakThresh" />
            <Units:microgram_per_liter />
            , 
            <Arg Name="PeakPlanktivoreLMavgROI" />
            <Units:microgram_per_liter />
            , 
            <Arg Name="PeakPlanktivoreLMavgROIDepth" />
            <Units:meter />
            , 
            <Arg Name="EdgePlanktivoreLMavgROI" />
            <Units:microgram_per_liter />
            , 
            <Arg Name="EdgePlanktivoreLMavgROIDepth" />
            <Units:meter />
        </Syslog>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreLMavgROI" />
            <Arg Name="PeakPlanktivoreLMavgROIDepth" />
            <Arg Name="EdgePlanktivoreLMavgROI" />
            <Arg Name="EdgePlanktivoreLMavgROIDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreHMavgROI">
        <While>
            <Arg Name="PeakDetectPlanktivoreHMavgROIActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_HM_AvgRois</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreHMavgROI">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROIDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROITemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROILatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROILongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreHMavgROI" />
            <Arg Name="PeakPlanktivoreHMavgROIDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreDiatoms">
        <While>
            <Arg Name="PeakDetectPlanktivoreDiatomsActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_diatoms</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreDiatoms">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreDiatoms" />
            <Arg Name="PeakPlanktivoreDiatomsDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreDinoflagellates">
        <While>
            <Arg Name="PeakDetectPlanktivoreDinoflagellatesActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_dinoflagellates</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreDinoflagellates">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreDinoflagellates" />
            <Arg Name="PeakPlanktivoreDinoflagellatesDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="ChlThreshTrigger">
        <While>
            <Arg Name="ChlThreshTriggerActive" />
        </While>
        <Trigger:ValueDetect>
            <Sequence />
            <Setting>
                <Trigger:ValueDetect.detect />
                <Arg Name="PeakChl" />
            </Setting>
            <Setting>
                <Trigger:ValueDetect.lowerThreshold />
                <Arg Name="ChlLowerThresh" />
            </Setting>
            <Setting>
                <Trigger:ValueDetect.upperThreshold />
                <Arg Name="ChlUpperThresh" />
            </Setting>
            <Setting>
                <Trigger:ValueDetect.numProfilesThreshold />
                <Arg Name="NumProfilesThresh" />
            </Setting>
            <OutputArg Name="ChlTriggering">
                <Trigger:ValueDetect.outputValue />
            </OutputArg>
        </Trigger:ValueDetect>
        <Assign>
            <Sequence />
            <Arg Name="TriggeredOnChl" />
            <True />
        </Assign>
        <Syslog Severity="Important">
            Triggered. PeakChl values on 
            <Arg Name="NumProfilesThresh" />
            <Units:count />
             consecutive yo-yo profiles fall in [
            <Arg Name="ChlLowerThresh" />
            <Units:microgram_per_liter />
            <Arg Name="ChlUpperThresh" />
            <Units:microgram_per_liter />
            ] (NaN bound is ignored).
        </Syslog>
    </Aggregate>
</Aggregate>

2025-03-12T04:13:00.656Z,1741752780.656 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.PeakDetectChlActive = 0 bool
2025-03-12T04:13:00.659Z,1741752780.659 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.EdgeDetectChlActive = 0 bool
2025-03-12T04:13:00.663Z,1741752780.663 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.TimeWindowPeakReport = nan min
2025-03-12T04:13:00.666Z,1741752780.666 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.HighestChlPeakReportActive = 0 bool
2025-03-12T04:13:00.669Z,1741752780.669 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.HighestSaltPeakReportActive = 0 bool
2025-03-12T04:13:00.672Z,1741752780.672 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.HighestOilPeakReportActive = 0 bool
2025-03-12T04:13:00.691Z,1741752780.691 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.PatchTracking = 0 bool
2025-03-12T04:13:00.695Z,1741752780.695 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.FilterWidthHorizontal = 3.000000 count
2025-03-12T04:13:00.698Z,1741752780.698 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.NumProfilesSlidingwindow = 100.000000 count
2025-03-12T04:13:00.702Z,1741752780.702 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.OffPeakFractionHorizontal = 80.000000 %
2025-03-12T04:13:00.705Z,1741752780.705 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.PeakDetectNO3Active = 0 bool
2025-03-12T04:13:00.727Z,1741752780.727 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.PeakDetectOilActive = 0 bool
2025-03-12T04:13:00.730Z,1741752780.730 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.PeakDetectFDOMActive = 0 bool
2025-03-12T04:13:00.741Z,1741752780.741 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.PeakDetectSalinityActive = 0 bool
2025-03-12T04:13:00.744Z,1741752780.744 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.PeakDetectPlanktivoreLMavgROIActive = 0 bool
2025-03-12T04:13:00.747Z,1741752780.747 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.EdgeDetectPlanktivoreLMavgROIActive = 0 bool
2025-03-12T04:13:00.764Z,1741752780.764 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.PeakDetectPlanktivoreHMavgROIActive = 0 bool
2025-03-12T04:13:00.767Z,1741752780.767 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.PeakDetectPlanktivoreDiatomsActive = 0 bool
2025-03-12T04:13:00.770Z,1741752780.770 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.PeakDetectPlanktivoreDinoflagellatesActive = 0 bool
2025-03-12T04:13:00.773Z,1741752780.773 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2025-03-12T04:13:00.803Z,1741752780.803 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.EnabledAanderaaO2 = 0 bool
2025-03-12T04:13:00.823Z,1741752780.823 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.EnabledNeilBrown = 0 bool
2025-03-12T04:13:00.833Z,1741752780.833 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.EnabledSeabird = 1 bool
2025-03-12T04:13:00.841Z,1741752780.841 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.EnabledWetLabsBB2FL = 1 bool
2025-03-12T04:13:00.857Z,1741752780.857 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.EnabledWetLabsSeaOWL_UV_A = 0 bool
2025-03-12T04:13:00.865Z,1741752780.865 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.EnabledWetLabsUBAT = 0 bool
2025-03-12T04:13:00.881Z,1741752780.881 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.LowPassWindowLength = 20.000000 count
2025-03-12T04:13:00.898Z,1741752780.898 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.MedianFilterLen = 5.000000 count
2025-03-12T04:13:00.901Z,1741752780.901 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.ShallowBound = nan m
2025-03-12T04:13:00.916Z,1741752780.916 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.DeepBound = nan m
2025-03-12T04:13:00.924Z,1741752780.924 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.DepChangeThreshForAttitudeFlip = 2.000000 m
2025-03-12T04:13:00.939Z,1741752780.939 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.OffPeakFractionVertical = nan %
2025-03-12T04:13:00.946Z,1741752780.946 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.ChlPeakThresh = 0.000000 ug/l
2025-03-12T04:13:00.952Z,1741752780.952 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.ChlThreshTriggerActive = 0 bool
2025-03-12T04:13:00.956Z,1741752780.956 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.ChlLowerThresh = nan ug/l
2025-03-12T04:13:00.960Z,1741752780.960 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.ChlUpperThresh = nan ug/l
2025-03-12T04:13:00.972Z,1741752780.972 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.NumProfilesThresh = 5.000000 count
2025-03-12T04:13:00.975Z,1741752780.975 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.PlanktivoreLMavgROIPeakThresh = 0.000000 count/s
2025-03-12T04:13:00.991Z,1741752780.991 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.GoDown = 1 bool
2025-03-12T04:13:00.999Z,1741752780.999 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakChl = nan ug/l
2025-03-12T04:13:01.006Z,1741752781.006 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakChlDepth = nan m
2025-03-12T04:13:01.010Z,1741752781.010 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakChlTemperature = nan degC
2025-03-12T04:13:01.017Z,1741752781.017 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakChlLatitude = nan arcdeg
2025-03-12T04:13:01.025Z,1741752781.025 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakChlLongitude = nan arcdeg
2025-03-12T04:13:01.040Z,1741752781.040 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.EdgeChl = nan ug/l
2025-03-12T04:13:01.044Z,1741752781.044 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.EdgeChlDepth = nan m
2025-03-12T04:13:01.055Z,1741752781.055 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.EdgeChlTemperature = nan degC
2025-03-12T04:13:01.059Z,1741752781.059 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.EdgeChlLatitude = nan arcdeg
2025-03-12T04:13:01.071Z,1741752781.071 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.EdgeChlLongitude = nan arcdeg
2025-03-12T04:13:01.076Z,1741752781.076 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakNO3 = nan umol/l
2025-03-12T04:13:01.091Z,1741752781.091 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakNO3Depth = nan m
2025-03-12T04:13:01.099Z,1741752781.099 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakNO3Latitude = nan arcdeg
2025-03-12T04:13:01.106Z,1741752781.106 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakNO3Longitude = nan arcdeg
2025-03-12T04:13:01.113Z,1741752781.113 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakOil = nan kg/m3
2025-03-12T04:13:01.116Z,1741752781.116 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakOilDepth = nan m
2025-03-12T04:13:01.124Z,1741752781.124 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakOilLatitude = nan arcdeg
2025-03-12T04:13:01.132Z,1741752781.132 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakOilLongitude = nan arcdeg
2025-03-12T04:13:01.143Z,1741752781.143 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakFDOM = nan ppb
2025-03-12T04:13:01.147Z,1741752781.147 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakFDOMDepth = nan m
2025-03-12T04:13:01.163Z,1741752781.163 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakFDOMTemperature = nan degC
2025-03-12T04:13:01.171Z,1741752781.171 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakFDOMLatitude = nan arcdeg
2025-03-12T04:13:01.178Z,1741752781.178 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakFDOMLongitude = nan arcdeg
2025-03-12T04:13:01.182Z,1741752781.182 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakSalt = nan psu
2025-03-12T04:13:01.227Z,1741752781.227 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakSaltDepth = nan m
2025-03-12T04:13:01.245Z,1741752781.245 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakSaltTemperature = nan degC
2025-03-12T04:13:01.257Z,1741752781.257 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakSaltLatitude = nan arcdeg
2025-03-12T04:13:01.276Z,1741752781.276 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakSaltLongitude = nan arcdeg
2025-03-12T04:13:01.280Z,1741752781.280 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakPlanktivoreLMavgROI = nan count/s
2025-03-12T04:13:01.291Z,1741752781.291 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakPlanktivoreLMavgROIDepth = nan m
2025-03-12T04:13:01.296Z,1741752781.296 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakPlanktivoreLMavgROITemperature = nan degC
2025-03-12T04:13:01.307Z,1741752781.307 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakPlanktivoreLMavgROILatitude = nan arcdeg
2025-03-12T04:13:01.311Z,1741752781.311 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakPlanktivoreLMavgROILongitude = nan arcdeg
2025-03-12T04:13:01.327Z,1741752781.327 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.EdgePlanktivoreLMavgROI = nan count/s
2025-03-12T04:13:01.336Z,1741752781.336 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.EdgePlanktivoreLMavgROIDepth = nan m
2025-03-12T04:13:01.344Z,1741752781.344 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.EdgePlanktivoreLMavgROITemperature = nan degC
2025-03-12T04:13:01.348Z,1741752781.348 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.EdgePlanktivoreLMavgROILatitude = nan arcdeg
2025-03-12T04:13:01.360Z,1741752781.360 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.EdgePlanktivoreLMavgROILongitude = nan arcdeg
2025-03-12T04:13:01.365Z,1741752781.365 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakPlanktivoreHMavgROI = nan count/s
2025-03-12T04:13:01.377Z,1741752781.377 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakPlanktivoreHMavgROIDepth = nan m
2025-03-12T04:13:01.381Z,1741752781.381 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakPlanktivoreHMavgROITemperature = nan degC
2025-03-12T04:13:01.396Z,1741752781.396 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakPlanktivoreHMavgROILatitude = nan arcdeg
2025-03-12T04:13:01.400Z,1741752781.400 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakPlanktivoreHMavgROILongitude = nan arcdeg
2025-03-12T04:13:01.403Z,1741752781.403 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakPlanktivoreDiatoms = nan count/ml
2025-03-12T04:13:01.420Z,1741752781.420 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakPlanktivoreDiatomsDepth = nan m
2025-03-12T04:13:01.424Z,1741752781.424 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakPlanktivoreDiatomsTemperature = nan degC
2025-03-12T04:13:01.427Z,1741752781.427 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakPlanktivoreDiatomsLatitude = nan arcdeg
2025-03-12T04:13:01.441Z,1741752781.441 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakPlanktivoreDiatomsLongitude = nan arcdeg
2025-03-12T04:13:01.447Z,1741752781.447 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakPlanktivoreDinoflagellates = nan count/ml
2025-03-12T04:13:01.450Z,1741752781.450 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakPlanktivoreDinoflagellatesDepth = nan m
2025-03-12T04:13:01.453Z,1741752781.453 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakPlanktivoreDinoflagellatesTemperature = nan degC
2025-03-12T04:13:01.482Z,1741752781.482 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakPlanktivoreDinoflagellatesLatitude = nan arcdeg
2025-03-12T04:13:01.485Z,1741752781.485 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakPlanktivoreDinoflagellatesLongitude = nan arcdeg
2025-03-12T04:13:01.489Z,1741752781.489 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PatchChl = nan ug/l
2025-03-12T04:13:01.503Z,1741752781.503 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PatchChlDepth = nan m
2025-03-12T04:13:01.506Z,1741752781.506 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PatchChlLatitude = nan arcdeg
2025-03-12T04:13:01.509Z,1741752781.509 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PatchChlLongitude = nan arcdeg
2025-03-12T04:13:01.531Z,1741752781.531 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PatchChlDistance = nan m
2025-03-12T04:13:01.534Z,1741752781.534 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PatchSalt = nan psu
2025-03-12T04:13:01.538Z,1741752781.538 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PatchSaltDepth = nan m
2025-03-12T04:13:01.551Z,1741752781.551 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PatchSaltLatitude = nan arcdeg
2025-03-12T04:13:01.555Z,1741752781.555 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PatchSaltLongitude = nan arcdeg
2025-03-12T04:13:01.575Z,1741752781.575 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PatchSaltDistance = nan m
2025-03-12T04:13:01.578Z,1741752781.578 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PatchOil = nan psu
2025-03-12T04:13:01.582Z,1741752781.582 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PatchOilDepth = nan m
2025-03-12T04:13:01.637Z,1741752781.637 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PatchOilLatitude = nan arcdeg
2025-03-12T04:13:01.649Z,1741752781.649 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PatchOilLongitude = nan arcdeg
2025-03-12T04:13:01.661Z,1741752781.661 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PatchOilDistance = nan m
2025-03-12T04:13:01.669Z,1741752781.669 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.TriggeredOnChl = 0 bool
2025-03-12T04:13:01.676Z,1741752781.676 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.ChlTriggering = nan ug/l
2025-03-12T04:13:01.732Z,1741752781.732 [run_backseat_on_surface:Science:PeakDetectChl:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-03-12T04:13:01.768Z,1741752781.768 [run_backseat_on_surface:Science:EdgeDetectChl:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-03-12T04:13:01.823Z,1741752781.823 [run_backseat_on_surface:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-03-12T04:13:01.854Z,1741752781.854 [run_backseat_on_surface:Science:PeakDetectNO3:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-03-12T04:13:01.873Z,1741752781.873 [run_backseat_on_surface:Science:PeakDetectOil:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-03-12T04:13:01.897Z,1741752781.897 [run_backseat_on_surface:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-03-12T04:13:01.929Z,1741752781.929 [run_backseat_on_surface:Science:PeakDetectFDOM:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-03-12T04:13:01.968Z,1741752781.968 [run_backseat_on_surface:Science:PeakDetectSalinity:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-03-12T04:13:02.033Z,1741752782.033 [run_backseat_on_surface:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-03-12T04:13:02.094Z,1741752782.094 [run_backseat_on_surface:Science:PeakDetectPlanktivoreLMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-03-12T04:13:02.121Z,1741752782.121 [run_backseat_on_surface:Science:EdgeDetectPlanktivoreLMavgROI:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-03-12T04:13:02.181Z,1741752782.181 [run_backseat_on_surface:Science:PeakDetectPlanktivoreHMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-03-12T04:13:02.203Z,1741752782.203 [run_backseat_on_surface:Science:PeakDetectPlanktivoreDiatoms:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-03-12T04:13:02.229Z,1741752782.229 [run_backseat_on_surface:Science:PeakDetectPlanktivoreDinoflagellates:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-03-12T04:13:02.260Z,1741752782.260 [run_backseat_on_surface:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Construct ValueDetect.
2025-03-12T04:13:02.283Z,1741752782.283 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2025-03-12T04:13:02.283Z,1741752782.283 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2025-03-12T04:13:02.284Z,1741752782.284 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2025-03-12T04:13:02.328Z,1741752782.328 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/BackseatDriver.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="BackseatDriver">
    <DefineArg Name="EnableBackseat">
        <False />
    </DefineArg>
    <Parallel />
    <Guidance:BackseatDriver>
        <Sequence />
        <Setting>
            <Guidance:BackseatDriver.powerBackseat />
            <Arg Name="EnableBackseat" />
        </Setting>
    </Guidance:BackseatDriver>
</Aggregate>

2025-03-12T04:13:02.346Z,1741752782.346 [MissionManager](INFO): DefineArg run_backseat_on_surface:BackseatDriver.EnableBackseat = 0 bool
2025-03-12T04:13:02.349Z,1741752782.349 [run_backseat_on_surface:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2025-03-12T04:13:02.366Z,1741752782.366 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2025-03-12T04:13:02.367Z,1741752782.367 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2025-03-12T04:13:02.368Z,1741752782.368 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2025-03-12T04:13:02.702Z,1741752782.702 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/PowerOnly.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="PowerOnly">
    <DefineArg Name="SampleAll">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad1">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad2">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad3">
        <False />
    </DefineArg>
    <DefineArg Name="EnabledPowerOnly">
        <Sensor:PowerOnly.loadAtStartup />
    </DefineArg>
    <Parallel />
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleAll" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.samplePowerOnly />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad1" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad1 />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad2" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad2 />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad3" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad3 />
    </ReadData>
    <Guidance:Wait>
        <Sequence />
        <Setting>
            <Guidance:Wait.duration />
            <Units:hour />
            <Value>99999</Value>
        </Setting>
    </Guidance:Wait>
</Aggregate>

2025-03-12T04:13:02.708Z,1741752782.708 [MissionManager](INFO): DefineArg run_backseat_on_surface:PowerOnly.SampleAll = 0 bool
2025-03-12T04:13:02.719Z,1741752782.719 [MissionManager](INFO): DefineArg run_backseat_on_surface:PowerOnly.SampleLoad1 = 0 bool
2025-03-12T04:13:02.726Z,1741752782.726 [MissionManager](INFO): DefineArg run_backseat_on_surface:PowerOnly.SampleLoad2 = 0 bool
2025-03-12T04:13:02.729Z,1741752782.729 [MissionManager](INFO): DefineArg run_backseat_on_surface:PowerOnly.SampleLoad3 = 0 bool
2025-03-12T04:13:02.746Z,1741752782.746 [MissionManager](INFO): DefineArg run_backseat_on_surface:PowerOnly.EnabledPowerOnly = 1 bool
2025-03-12T04:13:02.763Z,1741752782.763 [run_backseat_on_surface:PowerOnly:E.Wait](DEBUG): Construct Wait.
2025-03-12T04:13:02.765Z,1741752782.765 [run_backseat_on_surface:E.GoToSurface](DEBUG): Construct GoToSurface.
2025-03-12T04:13:02.793Z,1741752782.793 [run_backseat_on_surface:CheckIn:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2025-03-12T04:13:02.796Z,1741752782.796 [run_backseat_on_surface:CheckIn:C.Wait](DEBUG): Construct Wait.
2025-03-12T04:13:02.855Z,1741752782.855 [run_backseat_on_surface:H.Execute](DEBUG): Construct Execute.
2025-03-12T04:13:02.972Z,1741752782.972 [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 run_backseat_on_surface {
  arguments {
    ElapsedSinceMissionStarted = 0 minute
  }

  # Power the science payload.

  insert id="Science" Insert/Science.tl

  # Power the Backseat payload.

  insert Insert/BackseatDriver.tl

  assign in sequence BackseatDriver:EnableBackseat = true

  insert Insert/PowerOnly.tl

  behavior Guidance:GoToSurface {
    run in progression
  }

  aggregate CheckIn {
    run in sequence repeat=288

    readDatum id="Read_GPS" {
      timeout duration=P5M

      Universal:time_fix
    }

    readDatum id="Read_Iridium" {
      timeout duration=P2H {
        behavior Guidance:Execute {
          run in sequence

          set command = "Burn on"
        }

        syslog critical "Dropped weight due to communications timeout."
      }

      Universal:platform_communications
    }

    behavior Guidance:Wait {
      run in sequence

      set duration = 5 minute
    }

    assign in sequence ElapsedSinceMissionStarted = elapsed ( Universal:mission_started )

    syslog important "run_backseat_on_surface mission has been running for "
         + ElapsedSinceMissionStarted~minute
  }

  syslog important "Restarting logs and run_backseat_on_surface mission."

  behavior Guidance:Execute {
    run in sequence

    set command = "restart logs"
  }
}


2025-03-12T04:13:02.973Z,1741752782.973 [CommandExec](IMPORTANT): Loaded ./Missions/Maintenance/run_backseat_on_surface.tl id=run_backseat_on_surface
2025-03-12T04:13:13.249Z,1741752793.249 [CommandExec](IMPORTANT): got command set run_backseat_on_surface:PowerOnly.SampleLoad1 1 bool
2025-03-12T04:13:13.249Z,1741752793.249 [CommandExec](IMPORTANT): got command run
2025-03-12T04:13:13.253Z,1741752793.253 [CommandExec](IMPORTANT): Running 
2025-03-12T04:13:13.400Z,1741752793.400 [Default] Stopped
2025-03-12T04:13:13.400Z,1741752793.400 [Default](DEBUG): Aggregate::uninitialize Default
2025-03-12T04:13:13.400Z,1741752793.400 [Default:B.GoToSurface] Stopped
2025-03-12T04:13:13.400Z,1741752793.400 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-03-12T04:13:13.400Z,1741752793.400 [Default:CheckIn] Stopped
2025-03-12T04:13:13.400Z,1741752793.400 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-03-12T04:13:13.400Z,1741752793.400 [Default:CheckIn:C.Wait] Stopped
2025-03-12T04:13:13.400Z,1741752793.400 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2025-03-12T04:13:13.400Z,1741752793.400 [MissionManager](IMPORTANT): Started mission run_backseat_on_surface
2025-03-12T04:13:13.401Z,1741752793.401 [run_backseat_on_surface] Running Loop=1
2025-03-12T04:13:13.401Z,1741752793.401 [run_backseat_on_surface](DEBUG): Aggregate::initialize run_backseat_on_surface
2025-03-12T04:13:13.401Z,1741752793.401 [run_backseat_on_surface:Science] Running Loop=1
2025-03-12T04:13:13.401Z,1741752793.401 [run_backseat_on_surface:Science](DEBUG): Aggregate::initialize run_backseat_on_surface:Science
2025-03-12T04:13:13.401Z,1741752793.401 [run_backseat_on_surface:Science:A] Running Loop=1
2025-03-12T04:13:13.401Z,1741752793.401 [run_backseat_on_surface:Science:B] Running Loop=1
2025-03-12T04:13:13.401Z,1741752793.401 [run_backseat_on_surface:Science:C] Running Loop=1
2025-03-12T04:13:13.401Z,1741752793.401 [run_backseat_on_surface:Science:D] Running Loop=1
2025-03-12T04:13:13.401Z,1741752793.401 [run_backseat_on_surface:Science:E] Running Loop=1
2025-03-12T04:13:13.401Z,1741752793.401 [run_backseat_on_surface:Science:F] Running Loop=1
2025-03-12T04:13:13.401Z,1741752793.401 [run_backseat_on_surface:Science:Read_Oil] Running Loop=1
2025-03-12T04:13:13.401Z,1741752793.401 [run_backseat_on_surface:Science:PeakDetectChl] Running Loop=1
2025-03-12T04:13:13.402Z,1741752793.402 [run_backseat_on_surface:Science:PeakDetectChl](DEBUG): Aggregate::initialize run_backseat_on_surface:Science:PeakDetectChl
2025-03-12T04:13:13.402Z,1741752793.402 [run_backseat_on_surface:Science:PeakDetectChl:A] Running Loop=1
2025-03-12T04:13:13.402Z,1741752793.402 [run_backseat_on_surface:Science:EdgeDetectChl] Running Loop=1
2025-03-12T04:13:13.402Z,1741752793.402 [run_backseat_on_surface:Science:EdgeDetectChl](DEBUG): Aggregate::initialize run_backseat_on_surface:Science:EdgeDetectChl
2025-03-12T04:13:13.402Z,1741752793.402 [run_backseat_on_surface:Science:EdgeDetectChl:A] Running Loop=1
2025-03-12T04:13:13.402Z,1741752793.402 [run_backseat_on_surface:Science:HighestChlPeakReport] Running Loop=1
2025-03-12T04:13:13.402Z,1741752793.402 [run_backseat_on_surface:Science:HighestChlPeakReport](DEBUG): Aggregate::initialize run_backseat_on_surface:Science:HighestChlPeakReport
2025-03-12T04:13:13.403Z,1741752793.403 [run_backseat_on_surface:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-03-12T04:13:13.403Z,1741752793.403 [run_backseat_on_surface:Science:HighestChlPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-03-12T04:13:13.403Z,1741752793.403 [run_backseat_on_surface:Science:PeakDetectNO3] Running Loop=1
2025-03-12T04:13:13.403Z,1741752793.403 [run_backseat_on_surface:Science:PeakDetectNO3](DEBUG): Aggregate::initialize run_backseat_on_surface:Science:PeakDetectNO3
2025-03-12T04:13:13.403Z,1741752793.403 [run_backseat_on_surface:Science:PeakDetectNO3:A] Running Loop=1
2025-03-12T04:13:13.403Z,1741752793.403 [run_backseat_on_surface:Science:PeakDetectOil] Running Loop=1
2025-03-12T04:13:13.404Z,1741752793.404 [run_backseat_on_surface:Science:PeakDetectOil](DEBUG): Aggregate::initialize run_backseat_on_surface:Science:PeakDetectOil
2025-03-12T04:13:13.404Z,1741752793.404 [run_backseat_on_surface:Science:PeakDetectOil:A] Running Loop=1
2025-03-12T04:13:13.404Z,1741752793.404 [run_backseat_on_surface:Science:HighestOilPeakReport] Running Loop=1
2025-03-12T04:13:13.404Z,1741752793.404 [run_backseat_on_surface:Science:HighestOilPeakReport](DEBUG): Aggregate::initialize run_backseat_on_surface:Science:HighestOilPeakReport
2025-03-12T04:13:13.404Z,1741752793.404 [run_backseat_on_surface:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-03-12T04:13:13.404Z,1741752793.404 [run_backseat_on_surface:Science:HighestOilPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-03-12T04:13:13.404Z,1741752793.404 [run_backseat_on_surface:Science:PeakDetectFDOM] Running Loop=1
2025-03-12T04:13:13.405Z,1741752793.405 [run_backseat_on_surface:Science:PeakDetectFDOM](DEBUG): Aggregate::initialize run_backseat_on_surface:Science:PeakDetectFDOM
2025-03-12T04:13:13.405Z,1741752793.405 [run_backseat_on_surface:Science:PeakDetectFDOM:A] Running Loop=1
2025-03-12T04:13:13.405Z,1741752793.405 [run_backseat_on_surface:Science:PeakDetectSalinity] Running Loop=1
2025-03-12T04:13:13.405Z,1741752793.405 [run_backseat_on_surface:Science:PeakDetectSalinity](DEBUG): Aggregate::initialize run_backseat_on_surface:Science:PeakDetectSalinity
2025-03-12T04:13:13.405Z,1741752793.405 [run_backseat_on_surface:Science:PeakDetectSalinity:A] Running Loop=1
2025-03-12T04:13:13.405Z,1741752793.405 [run_backseat_on_surface:Science:HighestSaltPeakReport] Running Loop=1
2025-03-12T04:13:13.405Z,1741752793.405 [run_backseat_on_surface:Science:HighestSaltPeakReport](DEBUG): Aggregate::initialize run_backseat_on_surface:Science:HighestSaltPeakReport
2025-03-12T04:13:13.405Z,1741752793.405 [run_backseat_on_surface:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-03-12T04:13:13.405Z,1741752793.405 [run_backseat_on_surface:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-03-12T04:13:13.406Z,1741752793.406 [run_backseat_on_surface:Science:PeakDetectPlanktivoreLMavgROI] Running Loop=1
2025-03-12T04:13:13.406Z,1741752793.406 [run_backseat_on_surface:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::initialize run_backseat_on_surface:Science:PeakDetectPlanktivoreLMavgROI
2025-03-12T04:13:13.406Z,1741752793.406 [run_backseat_on_surface:Science:PeakDetectPlanktivoreLMavgROI:A] Running Loop=1
2025-03-12T04:13:13.406Z,1741752793.406 [run_backseat_on_surface:Science:EdgeDetectPlanktivoreLMavgROI] Running Loop=1
2025-03-12T04:13:13.406Z,1741752793.406 [run_backseat_on_surface:Science:EdgeDetectPlanktivoreLMavgROI](DEBUG): Aggregate::initialize run_backseat_on_surface:Science:EdgeDetectPlanktivoreLMavgROI
2025-03-12T04:13:13.407Z,1741752793.407 [run_backseat_on_surface:Science:EdgeDetectPlanktivoreLMavgROI:A] Running Loop=1
2025-03-12T04:13:13.407Z,1741752793.407 [run_backseat_on_surface:Science:PeakDetectPlanktivoreHMavgROI] Running Loop=1
2025-03-12T04:13:13.407Z,1741752793.407 [run_backseat_on_surface:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::initialize run_backseat_on_surface:Science:PeakDetectPlanktivoreHMavgROI
2025-03-12T04:13:13.408Z,1741752793.408 [run_backseat_on_surface:Science:PeakDetectPlanktivoreHMavgROI:A] Running Loop=1
2025-03-12T04:13:13.408Z,1741752793.408 [run_backseat_on_surface:Science:PeakDetectPlanktivoreDiatoms] Running Loop=1
2025-03-12T04:13:13.408Z,1741752793.408 [run_backseat_on_surface:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::initialize run_backseat_on_surface:Science:PeakDetectPlanktivoreDiatoms
2025-03-12T04:13:13.408Z,1741752793.408 [run_backseat_on_surface:Science:PeakDetectPlanktivoreDiatoms:A] Running Loop=1
2025-03-12T04:13:13.408Z,1741752793.408 [run_backseat_on_surface:Science:PeakDetectPlanktivoreDinoflagellates] Running Loop=1
2025-03-12T04:13:13.408Z,1741752793.408 [run_backseat_on_surface:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::initialize run_backseat_on_surface:Science:PeakDetectPlanktivoreDinoflagellates
2025-03-12T04:13:13.408Z,1741752793.408 [run_backseat_on_surface:Science:PeakDetectPlanktivoreDinoflagellates:A] Running Loop=1
2025-03-12T04:13:13.408Z,1741752793.408 [run_backseat_on_surface:Science:ChlThreshTrigger] Running Loop=1
2025-03-12T04:13:13.408Z,1741752793.408 [run_backseat_on_surface:Science:ChlThreshTrigger](DEBUG): Aggregate::initialize run_backseat_on_surface:Science:ChlThreshTrigger
2025-03-12T04:13:13.408Z,1741752793.408 [run_backseat_on_surface:Science:ChlThreshTrigger:A.ValueDetect] Running Loop=1
2025-03-12T04:13:13.409Z,1741752793.409 [run_backseat_on_surface:Science:ChlThreshTrigger:A.ValueDetect](INFO): Initialize.
2025-03-12T04:13:13.409Z,1741752793.409 [run_backseat_on_surface:Science:OceanCurrent] Running Loop=1
2025-03-12T04:13:13.409Z,1741752793.409 [run_backseat_on_surface:Science:OceanCurrent](DEBUG): Aggregate::initialize run_backseat_on_surface:Science:OceanCurrent
2025-03-12T04:13:13.409Z,1741752793.409 [run_backseat_on_surface:Science:OceanCurrent:A.] Running Loop=1
2025-03-12T04:13:13.409Z,1741752793.409 [run_backseat_on_surface:Science:OceanCurrent:A.](INFO): Initializing CurrentEstimator.
2025-03-12T04:13:13.409Z,1741752793.409 [run_backseat_on_surface:BackseatDriver] Running Loop=1
2025-03-12T04:13:13.409Z,1741752793.409 [run_backseat_on_surface:BackseatDriver](DEBUG): Aggregate::initialize run_backseat_on_surface:BackseatDriver
2025-03-12T04:13:13.409Z,1741752793.409 [run_backseat_on_surface:BackseatDriver:A.BackseatDriver] Running Loop=1
2025-03-12T04:13:13.410Z,1741752793.410 [run_backseat_on_surface:PowerOnly] Running Loop=1
2025-03-12T04:13:13.410Z,1741752793.410 [run_backseat_on_surface:PowerOnly](DEBUG): Aggregate::initialize run_backseat_on_surface:PowerOnly
2025-03-12T04:13:13.410Z,1741752793.410 [run_backseat_on_surface:PowerOnly:A] Running Loop=1
2025-03-12T04:13:13.410Z,1741752793.410 [run_backseat_on_surface:PowerOnly:B] Running Loop=1
2025-03-12T04:13:13.410Z,1741752793.410 [run_backseat_on_surface:PowerOnly:C] Running Loop=1
2025-03-12T04:13:13.410Z,1741752793.410 [run_backseat_on_surface:PowerOnly:D] Running Loop=1
2025-03-12T04:13:13.410Z,1741752793.410 [run_backseat_on_surface:PowerOnly:E.Wait] Running Loop=1
2025-03-12T04:13:13.410Z,1741752793.410 [run_backseat_on_surface:PowerOnly:E.Wait](DEBUG): Initialize Wait Component.
2025-03-12T04:13:13.410Z,1741752793.410 [run_backseat_on_surface:E.GoToSurface] Running Loop=1
2025-03-12T04:13:13.411Z,1741752793.411 [run_backseat_on_surface:E.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-03-12T04:13:13.411Z,1741752793.411 [run_backseat_on_surface:E.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-03-12T04:13:13.411Z,1741752793.411 [run_backseat_on_surface:E.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-03-12T04:13:13.411Z,1741752793.411 [run_backseat_on_surface:E.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-03-12T04:13:13.412Z,1741752793.412 [run_backseat_on_surface:E.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-03-12T04:13:13.412Z,1741752793.412 [run_backseat_on_surface:E.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-03-12T04:13:13.412Z,1741752793.412 [run_backseat_on_surface:E.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-03-12T04:13:13.413Z,1741752793.413 [run_backseat_on_surface:C] Running Loop=1
2025-03-12T04:13:13.414Z,1741752793.414 [run_backseat_on_surface:PowerOnly] Running Loop=1
2025-03-12T04:13:13.414Z,1741752793.414 [run_backseat_on_surface:PowerOnly:D] Stopped
2025-03-12T04:13:13.414Z,1741752793.414 [run_backseat_on_surface:PowerOnly:C] Stopped
2025-03-12T04:13:13.414Z,1741752793.414 [run_backseat_on_surface:PowerOnly:B] Running Loop=1
2025-03-12T04:13:13.415Z,1741752793.415 [run_backseat_on_surface:PowerOnly:B](DEBUG): Initialize ReadDataComponent to sense PowerOnly.sampleLoad1
2025-03-12T04:13:13.415Z,1741752793.415 [run_backseat_on_surface:PowerOnly:A] Stopped
2025-03-12T04:13:13.416Z,1741752793.416 [run_backseat_on_surface:C] Stopped
2025-03-12T04:13:13.416Z,1741752793.416 [run_backseat_on_surface:BackseatDriver] Running Loop=1
2025-03-12T04:13:13.416Z,1741752793.416 [run_backseat_on_surface:BackseatDriver:A.BackseatDriver](INFO): Initializing backseat
2025-03-12T04:13:13.432Z,1741752793.432 [run_backseat_on_surface:Science] Running Loop=1
2025-03-12T04:13:13.433Z,1741752793.433 [run_backseat_on_surface:Science:ChlThreshTrigger] Stopped
2025-03-12T04:13:13.434Z,1741752793.434 [run_backseat_on_surface:Science:ChlThreshTrigger](DEBUG): Aggregate::uninitialize run_backseat_on_surface:Science:ChlThreshTrigger
2025-03-12T04:13:13.434Z,1741752793.434 [run_backseat_on_surface:Science:ChlThreshTrigger:A.ValueDetect] Stopped
2025-03-12T04:13:13.434Z,1741752793.434 [run_backseat_on_surface:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Uninitialize.
2025-03-12T04:13:13.434Z,1741752793.434 [run_backseat_on_surface:Science:PeakDetectPlanktivoreDinoflagellates] Stopped
2025-03-12T04:13:13.436Z,1741752793.436 [run_backseat_on_surface:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::uninitialize run_backseat_on_surface:Science:PeakDetectPlanktivoreDinoflagellates
2025-03-12T04:13:13.436Z,1741752793.436 [run_backseat_on_surface:Science:PeakDetectPlanktivoreDinoflagellates:A] Stopped
2025-03-12T04:13:13.436Z,1741752793.436 [run_backseat_on_surface:Science:PeakDetectPlanktivoreDiatoms] Stopped
2025-03-12T04:13:13.436Z,1741752793.436 [run_backseat_on_surface:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::uninitialize run_backseat_on_surface:Science:PeakDetectPlanktivoreDiatoms
2025-03-12T04:13:13.436Z,1741752793.436 [run_backseat_on_surface:Science:PeakDetectPlanktivoreDiatoms:A] Stopped
2025-03-12T04:13:13.436Z,1741752793.436 [run_backseat_on_surface:Science:PeakDetectPlanktivoreHMavgROI] Stopped
2025-03-12T04:13:13.436Z,1741752793.436 [run_backseat_on_surface:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::uninitialize run_backseat_on_surface:Science:PeakDetectPlanktivoreHMavgROI
2025-03-12T04:13:13.436Z,1741752793.436 [run_backseat_on_surface:Science:PeakDetectPlanktivoreHMavgROI:A] Stopped
2025-03-12T04:13:13.436Z,1741752793.436 [run_backseat_on_surface:Science:EdgeDetectPlanktivoreLMavgROI] Stopped
2025-03-12T04:13:13.436Z,1741752793.436 [run_backseat_on_surface:Science:EdgeDetectPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize run_backseat_on_surface:Science:EdgeDetectPlanktivoreLMavgROI
2025-03-12T04:13:13.436Z,1741752793.436 [run_backseat_on_surface:Science:EdgeDetectPlanktivoreLMavgROI:A] Stopped
2025-03-12T04:13:13.436Z,1741752793.436 [run_backseat_on_surface:Science:PeakDetectPlanktivoreLMavgROI] Stopped
2025-03-12T04:13:13.437Z,1741752793.437 [run_backseat_on_surface:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize run_backseat_on_surface:Science:PeakDetectPlanktivoreLMavgROI
2025-03-12T04:13:13.437Z,1741752793.437 [run_backseat_on_surface:Science:PeakDetectPlanktivoreLMavgROI:A] Stopped
2025-03-12T04:13:13.437Z,1741752793.437 [run_backseat_on_surface:Science:HighestSaltPeakReport] Stopped
2025-03-12T04:13:13.437Z,1741752793.437 [run_backseat_on_surface:Science:HighestSaltPeakReport](DEBUG): Aggregate::uninitialize run_backseat_on_surface:Science:HighestSaltPeakReport
2025-03-12T04:13:13.437Z,1741752793.437 [run_backseat_on_surface:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Stopped
2025-03-12T04:13:13.437Z,1741752793.437 [run_backseat_on_surface:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-03-12T04:13:13.437Z,1741752793.437 [run_backseat_on_surface:Science:PeakDetectSalinity] Stopped
2025-03-12T04:13:13.437Z,1741752793.437 [run_backseat_on_surface:Science:PeakDetectSalinity](DEBUG): Aggregate::uninitialize run_backseat_on_surface:Science:PeakDetectSalinity
2025-03-12T04:13:13.437Z,1741752793.437 [run_backseat_on_surface:Science:PeakDetectSalinity:A] Stopped
2025-03-12T04:13:13.437Z,1741752793.437 [run_backseat_on_surface:Science:PeakDetectFDOM] Stopped
2025-03-12T04:13:13.437Z,1741752793.437 [run_backseat_on_surface:Science:PeakDetectFDOM](DEBUG): Aggregate::uninitialize run_backseat_on_surface:Science:PeakDetectFDOM
2025-03-12T04:13:13.437Z,1741752793.437 [run_backseat_on_surface:Science:PeakDetectFDOM:A] Stopped
2025-03-12T04:13:13.437Z,1741752793.437 [run_backseat_on_surface:Science:HighestOilPeakReport] Stopped
2025-03-12T04:13:13.438Z,1741752793.438 [run_backseat_on_surface:Science:HighestOilPeakReport](DEBUG): Aggregate::uninitialize run_backseat_on_surface:Science:HighestOilPeakReport
2025-03-12T04:13:13.438Z,1741752793.438 [run_backseat_on_surface:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Stopped
2025-03-12T04:13:13.438Z,1741752793.438 [run_backseat_on_surface:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-03-12T04:13:13.438Z,1741752793.438 [run_backseat_on_surface:Science:PeakDetectOil] Stopped
2025-03-12T04:13:13.438Z,1741752793.438 [run_backseat_on_surface:Science:PeakDetectOil](DEBUG): Aggregate::uninitialize run_backseat_on_surface:Science:PeakDetectOil
2025-03-12T04:13:13.438Z,1741752793.438 [run_backseat_on_surface:Science:PeakDetectOil:A] Stopped
2025-03-12T04:13:13.438Z,1741752793.438 [run_backseat_on_surface:Science:PeakDetectNO3] Stopped
2025-03-12T04:13:13.438Z,1741752793.438 [run_backseat_on_surface:Science:PeakDetectNO3](DEBUG): Aggregate::uninitialize run_backseat_on_surface:Science:PeakDetectNO3
2025-03-12T04:13:13.438Z,1741752793.438 [run_backseat_on_surface:Science:PeakDetectNO3:A] Stopped
2025-03-12T04:13:13.438Z,1741752793.438 [run_backseat_on_surface:Science:HighestChlPeakReport] Stopped
2025-03-12T04:13:13.438Z,1741752793.438 [run_backseat_on_surface:Science:HighestChlPeakReport](DEBUG): Aggregate::uninitialize run_backseat_on_surface:Science:HighestChlPeakReport
2025-03-12T04:13:13.439Z,1741752793.439 [run_backseat_on_surface:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Stopped
2025-03-12T04:13:13.439Z,1741752793.439 [run_backseat_on_surface:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-03-12T04:13:13.439Z,1741752793.439 [run_backseat_on_surface:Science:EdgeDetectChl] Stopped
2025-03-12T04:13:13.439Z,1741752793.439 [run_backseat_on_surface:Science:EdgeDetectChl](DEBUG): Aggregate::uninitialize run_backseat_on_surface:Science:EdgeDetectChl
2025-03-12T04:13:13.439Z,1741752793.439 [run_backseat_on_surface:Science:EdgeDetectChl:A] Stopped
2025-03-12T04:13:13.439Z,1741752793.439 [run_backseat_on_surface:Science:PeakDetectChl] Stopped
2025-03-12T04:13:13.439Z,1741752793.439 [run_backseat_on_surface:Science:PeakDetectChl](DEBUG): Aggregate::uninitialize run_backseat_on_surface:Science:PeakDetectChl
2025-03-12T04:13:13.439Z,1741752793.439 [run_backseat_on_surface:Science:PeakDetectChl:A] Stopped
2025-03-12T04:13:13.439Z,1741752793.439 [run_backseat_on_surface:Science:OceanCurrent:A.] Running Loop=1
2025-03-12T04:13:13.439Z,1741752793.439 [run_backseat_on_surface:Science:Read_Oil] Stopped
2025-03-12T04:13:13.439Z,1741752793.439 [run_backseat_on_surface:Science:F] Stopped
2025-03-12T04:13:13.439Z,1741752793.439 [run_backseat_on_surface:Science:E] Running Loop=1
2025-03-12T04:13:13.440Z,1741752793.440 [run_backseat_on_surface:Science:E](DEBUG): Initialize ReadDataComponent to sense mass_concentration_of_chlorophyll_in_sea_water
2025-03-12T04:13:13.440Z,1741752793.440 [run_backseat_on_surface:Science:D] Stopped
2025-03-12T04:13:13.440Z,1741752793.440 [run_backseat_on_surface:Science:C] Running Loop=1
2025-03-12T04:13:13.441Z,1741752793.441 [run_backseat_on_surface:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_temperature
2025-03-12T04:13:13.442Z,1741752793.442 [run_backseat_on_surface:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_salinity
2025-03-12T04:13:13.442Z,1741752793.442 [run_backseat_on_surface:Science:B] Running Loop=1
2025-03-12T04:13:13.475Z,1741752793.475 [run_backseat_on_surface:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_temperature
2025-03-12T04:13:13.475Z,1741752793.475 [run_backseat_on_surface:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_salinity
2025-03-12T04:13:13.476Z,1741752793.476 [run_backseat_on_surface:Science:A] Stopped
2025-03-12T04:13:13.478Z,1741752793.478 [BackseatComponent](INFO): Powering up
2025-03-12T04:13:13.479Z,1741752793.479 [BackseatComponent](INFO): Subscribing to LCM channels.
2025-03-12T04:13:13.679Z,1741752793.679 [WetLabsBB2FL](INFO): Powering up
2025-03-12T04:13:13.740Z,1741752793.740 [PowerOnly](INFO): Powering up loadControl
2025-03-12T04:13:13.801Z,1741752793.801 [run_backseat_on_surface:CheckIn] Running Loop=1
2025-03-12T04:13:13.801Z,1741752793.801 [run_backseat_on_surface:CheckIn](DEBUG): Aggregate::initialize run_backseat_on_surface:CheckIn
2025-03-12T04:13:13.801Z,1741752793.801 [run_backseat_on_surface:CheckIn:Read_GPS] Running Loop=1
2025-03-12T04:13:14.157Z,1741752794.157 [run_backseat_on_surface:CheckIn:Read_GPS](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-03-12T04:13:15.763Z,1741752795.763 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,041314.00,A,3648.08261,N,12150.32425,W,0.408,310.30,120325,,,A*74
2025-03-12T04:13:15.765Z,1741752795.765 [NAL9602](INFO): GPS fix at 20250312T041314: (36.801377, -121.838737)
2025-03-12T04:13:15.790Z,1741752795.790 [UniversalFixResidualReporter](INFO): Fix residual: 4.9 %DT, over the last 3068.4 m. Residual distance 150.4 m at bearing -179.6 degrees. Fix at (36.8014, -121.8387) with 233.7 m made good.
2025-03-12T04:13:15.805Z,1741752795.805 [run_backseat_on_surface:CheckIn:Read_GPS] Stopped
2025-03-12T04:13:15.805Z,1741752795.805 [run_backseat_on_surface:CheckIn:Read_Iridium] Running Loop=1
2025-03-12T04:13:16.064Z,1741752796.064 [CTD_Seabird](ERROR): Pressure reading out of range: -10.110000 decibar
2025-03-12T04:13:16.065Z,1741752796.065 [CTD_Seabird](INFO): some bad data, not updating bins
2025-03-12T04:13:16.191Z,1741752796.191 [run_backseat_on_surface:CheckIn:Read_Iridium](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-03-12T04:13:23.564Z,1741752803.564 [DataOverHttps](INFO): Sending 82 bytes from file Logs/20250311T232940/Courier0072.lzma
2025-03-12T04:13:24.564Z,1741752804.564 [DataOverHttps](INFO): Moved sent file to Logs/20250311T232940/Courier0072.lzma.bak
2025-03-12T04:13:24.564Z,1741752804.564 [DataOverHttps](INFO): SBD MOMSN=24182177
2025-03-12T04:13:40.928Z,1741752820.928 [DataOverHttps](INFO): Sending 370 bytes from file Logs/20250311T232940/Express0073.lzma
2025-03-12T04:13:41.928Z,1741752821.928 [DataOverHttps](INFO): Moved sent file to Logs/20250311T232940/Express0073.lzma.bak
2025-03-12T04:13:41.928Z,1741752821.928 [DataOverHttps](INFO): SBD MOMSN=24182180
2025-03-12T04:13:46.468Z,1741752826.468 [NAL9602](ERROR): Failed to receive proper response when querying signal strength for MT queue check.
2025-03-12T04:13:46.542Z,1741752826.542 [NAL9602](ERROR): received: 
+CSQ:0

OK511, 2, 0, 0, 0

OK
2025-03-12T04:14:04.098Z,1741752844.098 [DataOverHttps](INFO): Sending 63 bytes from file Logs/20250311T232940/Express0076.lzma
2025-03-12T04:14:05.101Z,1741752845.101 [DataOverHttps](INFO): Moved sent file to Logs/20250311T232940/Express0076.lzma.bak
2025-03-12T04:14:05.101Z,1741752845.101 [DataOverHttps](INFO): SBD MOMSN=24182196
2025-03-12T04:14:06.390Z,1741752846.390 [run_backseat_on_surface:CheckIn:Read_Iridium] Stopped
2025-03-12T04:14:06.391Z,1741752846.391 [run_backseat_on_surface:CheckIn:C.Wait] Running Loop=1
2025-03-12T04:14:06.391Z,1741752846.391 [run_backseat_on_surface:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2025-03-12T04:14:12.727Z,1741752852.727 [BackseatComponent](IMPORTANT): ikshana: running backseat application.
2025-03-12T04:18:18.488Z,1741753098.488 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2025-03-12T04:18:49.213Z,1741753129.213 [NAL9602](INFO): Not Powering down - fast GPS
2025-03-12T04:19:06.990Z,1741753146.990 [run_backseat_on_surface:CheckIn:C.Wait](INFO): Done Waiting.
2025-03-12T04:19:06.990Z,1741753146.990 [run_backseat_on_surface:CheckIn:C.Wait] Stopped
2025-03-12T04:19:06.990Z,1741753146.990 [run_backseat_on_surface:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2025-03-12T04:19:06.991Z,1741753146.991 [run_backseat_on_surface:CheckIn:D] Running Loop=1
2025-03-12T04:19:07.382Z,1741753147.382 [run_backseat_on_surface:CheckIn:D] Stopped
2025-03-12T04:19:07.382Z,1741753147.382 [run_backseat_on_surface:CheckIn:E] Running Loop=1
2025-03-12T04:19:07.785Z,1741753147.785 [run_backseat_on_surface:CheckIn:E](IMPORTANT): run_backseat_on_surface mission has been running for  5.899685 min 
2025-03-12T04:19:07.785Z,1741753147.785 [run_backseat_on_surface:CheckIn:E] Stopped
2025-03-12T04:19:07.786Z,1741753147.786 [run_backseat_on_surface:CheckIn](INFO): Completed run_backseat_on_surface:CheckIn
2025-03-12T04:19:07.786Z,1741753147.786 [run_backseat_on_surface:CheckIn] Stopped
2025-03-12T04:19:07.786Z,1741753147.786 [run_backseat_on_surface:CheckIn](DEBUG): Aggregate::uninitialize run_backseat_on_surface:CheckIn
2025-03-12T04:19:07.787Z,1741753147.787 [run_backseat_on_surface:CheckIn](INFO): Running loop #2
2025-03-12T04:19:07.787Z,1741753147.787 [run_backseat_on_surface:CheckIn] Running Loop=2
2025-03-12T04:19:07.787Z,1741753147.787 [run_backseat_on_surface:CheckIn](DEBUG): Aggregate::initialize run_backseat_on_surface:CheckIn
2025-03-12T04:19:07.787Z,1741753147.787 [run_backseat_on_surface:CheckIn:Read_GPS] Running Loop=1
2025-03-12T04:19:09.794Z,1741753149.794 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,041909.00,A,3648.08911,N,12150.34577,W,0.389,237.33,120325,,,A*77
2025-03-12T04:19:09.806Z,1741753149.806 [NAL9602](INFO): GPS fix at 20250312T041909: (36.801485, -121.839096)
2025-03-12T04:19:09.816Z,1741753149.816 [run_backseat_on_surface:CheckIn:Read_GPS] Stopped
2025-03-12T04:19:09.817Z,1741753149.817 [run_backseat_on_surface:CheckIn:Read_Iridium] Running Loop=1
2025-03-12T04:19:17.514Z,1741753157.514 [DataOverHttps](INFO): Sending 73 bytes from file Logs/20250311T232940/Courier0078.lzma
2025-03-12T04:19:18.508Z,1741753158.508 [DataOverHttps](INFO): Moved sent file to Logs/20250311T232940/Courier0078.lzma.bak
2025-03-12T04:19:18.508Z,1741753158.508 [DataOverHttps](INFO): SBD MOMSN=24182205
2025-03-12T04:19:34.975Z,1741753174.975 [DataOverHttps](INFO): Sending 366 bytes from file Logs/20250311T232940/Express0079.lzma
2025-03-12T04:19:35.976Z,1741753175.976 [DataOverHttps](INFO): Moved sent file to Logs/20250311T232940/Express0079.lzma.bak
2025-03-12T04:19:35.976Z,1741753175.976 [DataOverHttps](INFO): SBD MOMSN=24182208
2025-03-12T04:19:37.277Z,1741753177.277 [run_backseat_on_surface:CheckIn:Read_Iridium] Stopped
2025-03-12T04:19:37.277Z,1741753177.277 [run_backseat_on_surface:CheckIn:C.Wait] Running Loop=1
2025-03-12T04:19:37.277Z,1741753177.277 [run_backseat_on_surface:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2025-03-12T04:19:40.496Z,1741753180.496 [NAL9602](ERROR): Failed to receive proper response when querying signal strength for MT queue check.
2025-03-12T04:19:40.574Z,1741753180.574 [NAL9602](ERROR): received: 
+CSQ:0

OK511, 2, 0, 0, 0

OK
2025-03-12T04:24:12.420Z,1741753452.420 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2025-03-12T04:24:13.242Z,1741753453.242 [run_backseat_on_surface:BackseatDriver:A.BackseatDriver](INFO): Created data writer for _.data_dir_logging_rate with code: 2169
2025-03-12T04:24:37.876Z,1741753477.876 [run_backseat_on_surface:CheckIn:C.Wait](INFO): Done Waiting.
2025-03-12T04:24:37.876Z,1741753477.876 [run_backseat_on_surface:CheckIn:C.Wait] Stopped
2025-03-12T04:24:37.876Z,1741753477.876 [run_backseat_on_surface:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2025-03-12T04:24:37.876Z,1741753477.876 [run_backseat_on_surface:CheckIn:D] Running Loop=1
2025-03-12T04:24:38.295Z,1741753478.295 [run_backseat_on_surface:CheckIn:D] Stopped
2025-03-12T04:24:38.295Z,1741753478.295 [run_backseat_on_surface:CheckIn:E] Running Loop=1
2025-03-12T04:24:38.682Z,1741753478.682 [run_backseat_on_surface:CheckIn:E](IMPORTANT): run_backseat_on_surface mission has been running for  11.414894 min 
2025-03-12T04:24:38.683Z,1741753478.683 [run_backseat_on_surface:CheckIn:E] Stopped
2025-03-12T04:24:38.683Z,1741753478.683 [run_backseat_on_surface:CheckIn](INFO): Completed run_backseat_on_surface:CheckIn
2025-03-12T04:24:38.683Z,1741753478.683 [run_backseat_on_surface:CheckIn] Stopped
2025-03-12T04:24:38.683Z,1741753478.683 [run_backseat_on_surface:CheckIn](DEBUG): Aggregate::uninitialize run_backseat_on_surface:CheckIn
2025-03-12T04:24:38.683Z,1741753478.683 [run_backseat_on_surface:CheckIn](INFO): Running loop #3
2025-03-12T04:24:38.683Z,1741753478.683 [run_backseat_on_surface:CheckIn] Running Loop=3
2025-03-12T04:24:38.683Z,1741753478.683 [run_backseat_on_surface:CheckIn](DEBUG): Aggregate::initialize run_backseat_on_surface:CheckIn
2025-03-12T04:24:38.683Z,1741753478.683 [run_backseat_on_surface:CheckIn:Read_GPS] Running Loop=1
2025-03-12T04:24:40.695Z,1741753480.695 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,042439.00,A,3648.08906,N,12150.36488,W,0.467,356.41,120325,,,A*7B
2025-03-12T04:24:40.697Z,1741753480.697 [NAL9602](INFO): GPS fix at 20250312T042439: (36.801484, -121.839415)
2025-03-12T04:24:40.708Z,1741753480.708 [run_backseat_on_surface:CheckIn:Read_GPS] Stopped
2025-03-12T04:24:40.708Z,1741753480.708 [run_backseat_on_surface:CheckIn:Read_Iridium] Running Loop=1
2025-03-12T04:24:44.743Z,1741753484.743 [BPC1](INFO): Calculating totals. Valid battery stick count: 49. Valid reserve battery stick count: 5.
2025-03-12T04:24:44.746Z,1741753484.746 [BPC1](FAULT): Failed to receive data from 1 sticks prior to timeout. Will not retry this scan cycle. Missing stick IDs are: 21.
2025-03-12T04:24:48.678Z,1741753488.678 [DataOverHttps](INFO): Sending 73 bytes from file Logs/20250311T232940/Courier0081.lzma
2025-03-12T04:24:49.681Z,1741753489.681 [DataOverHttps](INFO): Moved sent file to Logs/20250311T232940/Courier0081.lzma.bak
2025-03-12T04:24:49.681Z,1741753489.681 [DataOverHttps](INFO): SBD MOMSN=24182242
2025-03-12T04:25:05.850Z,1741753505.850 [DataOverHttps](INFO): Sending 261 bytes from file Logs/20250311T232940/Express0082.lzma
2025-03-12T04:25:06.853Z,1741753506.853 [DataOverHttps](INFO): Moved sent file to Logs/20250311T232940/Express0082.lzma.bak
2025-03-12T04:25:06.853Z,1741753506.853 [DataOverHttps](INFO): SBD MOMSN=24182246
2025-03-12T04:25:08.183Z,1741753508.183 [run_backseat_on_surface:CheckIn:Read_Iridium] Stopped
2025-03-12T04:25:08.183Z,1741753508.183 [run_backseat_on_surface:CheckIn:C.Wait] Running Loop=1
2025-03-12T04:25:08.183Z,1741753508.183 [run_backseat_on_surface:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2025-03-12T04:25:13.419Z,1741753513.419 [NAL9602](INFO): Not Powering down - fast GPS
2025-03-12T04:29:25.132Z,1741753765.132 [DataOverHttps](IMPORTANT): SBD MTMSN=20250312T042924
2025-03-12T04:29:32.658Z,1741753772.658 [DataOverHttps](INFO): Received command: sched asap "load Science/sci2_noyo_optim.tl;set sci2_noyo_optim.MissionTimeout 12 h;set sci2_noyo_optim.NeedCommsTime 60 min;set sci2_noyo_optim.Repeat 12 count;set sci2_noyo_optim.Lat1 36.797 degree;set sci2_noyo_optim.Lon1 -121.847 degree" 31lsg 1 3
2025-03-12T04:29:32.695Z,1741753772.695 [CommandExec](IMPORTANT): got command schedule asap "load Science/sci2_noyo_optim.tl;set sci2_noyo_optim.MissionTimeout 12 h;set sci2_noyo_optim.NeedCommsTime 60 min;set sci2_noyo_optim.Repeat 12 count;set sci2_noyo_optim.Lat1 36.797 degree;set sci2_noyo_optim.Lon1 -121.847 degree" 31lsg 1 3.000000
2025-03-12T04:29:32.696Z,1741753772.696 [CommandExec](IMPORTANT): Scheduling command #1 of 3 with id=31lsg
2025-03-12T04:29:32.697Z,1741753772.697 [CommandExec](IMPORTANT): Scheduled #8 (#1 of 3 with id='31lsg'): "load Science/sci2_noyo_optim.tl;set sci2_noyo_optim.MissionTimeout 12 h;set sci2_noyo_optim.NeedCommsTime 60 min;set sci2_noyo_optim.Repeat 12 count;set sci2_noyo_optim.Lat1 36.797 degree;set sci2_noyo_optim.Lon1 -121.847 degree", ASAP
2025-03-12T04:29:33.660Z,1741753773.660 [DataOverHttps](IMPORTANT): SBD MTMSN=20250312T042932
2025-03-12T04:29:41.238Z,1741753781.238 [DataOverHttps](INFO): Received command: sched asap "set sci2_noyo_optim.Lat2 36.79705 degree;set sci2_noyo_optim.Lon2 -121.87769 degree;set sci2_noyo_optim.ApproachDepth 10 m;set sci2_noyo_optim.SlowSpeed 0.4 m/s;set sci2_noyo_optim.MinAltitude 10 m;set sci2_noyo_optim.MaxDepth 40 m" 31lsg 2 3
2025-03-12T04:29:41.331Z,1741753781.331 [CommandExec](IMPORTANT): got command schedule asap "set sci2_noyo_optim.Lat2 36.79705 degree;set sci2_noyo_optim.Lon2 -121.87769 degree;set sci2_noyo_optim.ApproachDepth 10 m;set sci2_noyo_optim.SlowSpeed 0.4 m/s;set sci2_noyo_optim.MinAltitude 10 m;set sci2_noyo_optim.MaxDepth 40 m" 31lsg 2 3.000000
2025-03-12T04:29:41.332Z,1741753781.332 [CommandExec](IMPORTANT): Scheduling command #2 of 3 with id=31lsg
2025-03-12T04:29:41.333Z,1741753781.333 [CommandExec](IMPORTANT): Scheduled #9 (#2 of 3 with id='31lsg'): "set sci2_noyo_optim.Lat2 36.79705 degree;set sci2_noyo_optim.Lon2 -121.87769 degree;set sci2_noyo_optim.ApproachDepth 10 m;set sci2_noyo_optim.SlowSpeed 0.4 m/s;set sci2_noyo_optim.MinAltitude 10 m;set sci2_noyo_optim.MaxDepth 40 m", ASAP
2025-03-12T04:29:42.242Z,1741753782.242 [DataOverHttps](IMPORTANT): SBD MTMSN=20250312T042941
2025-03-12T04:29:52.770Z,1741753792.770 [DataOverHttps](INFO): Received command: sched asap "set sci2_noyo_optim:PowerOnly.SampleLoad1 1 bool;run" 31lsg 3 3
2025-03-12T04:29:52.842Z,1741753792.842 [CommandExec](IMPORTANT): got command schedule asap "set sci2_noyo_optim:PowerOnly.SampleLoad1 1 bool;run" 31lsg 3 3.000000
2025-03-12T04:29:52.842Z,1741753792.842 [CommandExec](IMPORTANT): Scheduling command #3 of 3 with id=31lsg
2025-03-12T04:29:52.843Z,1741753792.843 [CommandExec](IMPORTANT): Scheduled #10 (#3 of 3 with id='31lsg'): "set sci2_noyo_optim:PowerOnly.SampleLoad1 1 bool;run", ASAP
2025-03-12T04:29:53.001Z,1741753793.001 [CommandExec](IMPORTANT): got command load ./Missions/Science/sci2_noyo_optim.tl
2025-03-12T04:29:53.001Z,1741753793.001 [MissionManager](INFO): Uninitializing Mission run_backseat_on_surface
2025-03-12T04:29:53.001Z,1741753793.001 [run_backseat_on_surface] Stopped
2025-03-12T04:29:53.001Z,1741753793.001 [run_backseat_on_surface](DEBUG): Aggregate::uninitialize run_backseat_on_surface
2025-03-12T04:29:53.001Z,1741753793.001 [run_backseat_on_surface:Science] Stopped
2025-03-12T04:29:53.001Z,1741753793.001 [run_backseat_on_surface:Science](DEBUG): Aggregate::uninitialize run_backseat_on_surface:Science
2025-03-12T04:29:53.001Z,1741753793.001 [run_backseat_on_surface:Science:B] Stopped
2025-03-12T04:29:53.002Z,1741753793.002 [run_backseat_on_surface:Science:C] Stopped
2025-03-12T04:29:53.002Z,1741753793.002 [run_backseat_on_surface:Science:E] Stopped
2025-03-12T04:29:53.002Z,1741753793.002 [run_backseat_on_surface:Science:OceanCurrent] Stopped
2025-03-12T04:29:53.002Z,1741753793.002 [run_backseat_on_surface:Science:OceanCurrent](DEBUG): Aggregate::uninitialize run_backseat_on_surface:Science:OceanCurrent
2025-03-12T04:29:53.002Z,1741753793.002 [run_backseat_on_surface:Science:OceanCurrent:A.] Stopped
2025-03-12T04:29:53.002Z,1741753793.002 [run_backseat_on_surface:BackseatDriver] Stopped
2025-03-12T04:29:53.002Z,1741753793.002 [run_backseat_on_surface:BackseatDriver](DEBUG): Aggregate::uninitialize run_backseat_on_surface:BackseatDriver
2025-03-12T04:29:53.002Z,1741753793.002 [run_backseat_on_surface:BackseatDriver:A.BackseatDriver] Stopped
2025-03-12T04:29:53.002Z,1741753793.002 [run_backseat_on_surface:PowerOnly] Stopped
2025-03-12T04:29:53.003Z,1741753793.003 [run_backseat_on_surface:PowerOnly](DEBUG): Aggregate::uninitialize run_backseat_on_surface:PowerOnly
2025-03-12T04:29:53.003Z,1741753793.003 [run_backseat_on_surface:PowerOnly:B] Stopped
2025-03-12T04:29:53.003Z,1741753793.003 [run_backseat_on_surface:PowerOnly:E.Wait] Stopped
2025-03-12T04:29:53.003Z,1741753793.003 [run_backseat_on_surface:PowerOnly:E.Wait](DEBUG): Uninitialize Wait Component.
2025-03-12T04:29:53.003Z,1741753793.003 [run_backseat_on_surface:E.GoToSurface] Stopped
2025-03-12T04:29:53.003Z,1741753793.003 [run_backseat_on_surface:E.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-03-12T04:29:53.003Z,1741753793.003 [run_backseat_on_surface:CheckIn] Stopped
2025-03-12T04:29:53.003Z,1741753793.003 [run_backseat_on_surface:CheckIn](DEBUG): Aggregate::uninitialize run_backseat_on_surface:CheckIn
2025-03-12T04:29:53.003Z,1741753793.003 [run_backseat_on_surface:CheckIn:C.Wait] Stopped
2025-03-12T04:29:53.003Z,1741753793.003 [run_backseat_on_surface:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2025-03-12T04:29:53.174Z,1741753793.174 [WetLabsBB2FL](INFO): Powering down
2025-03-12T04:29:53.241Z,1741753793.241 [MissionManager](INFO): Loading Mission from file: ./Missions/Science/sci2_noyo_optim.tl
2025-03-12T04:29:53.241Z,1741753793.241 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Science/sci2_noyo_optim.tl
2025-03-12T04:29:53.264Z,1741753793.264 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Science/sci2_noyo_optim.tl
2025-03-12T04:29:55.411Z,1741753795.411 [BackseatComponent](INFO): Sent LCM shutdown request.
2025-03-12T04:29:55.412Z,1741753795.412 [BackseatComponent](INFO): Shutdown requested. Waiting (18.00 sec to power down.).
2025-03-12T04:30:00.237Z,1741753800.237 [MissionManager](DEBUG): TethyslAPI: ./Missions/Science/sci2_noyo_optim.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Mission Id="sci2_noyo_optim">
    <DefineArg Name="MissionTimeout">
        <Units:hour />
        <Value>2</Value>
    </DefineArg>
    <DefineArg Name="NeedCommsTime">
        <Units:minute />
        <Value>60</Value>
    </DefineArg>
    <DefineArg Name="Depth1">
        <Units:meter />
        <Value>35</Value>
    </DefineArg>
    <DefineArg Name="Depth2">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Depth3">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Depth4">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Depth5">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Depth6">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Depth7">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Depth8">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="DepthPerLeg">
        <False />
    </DefineArg>
    <DefineArg Name="Repeat">
        <Units:count />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="Lat1">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lat2">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lat3">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lat4">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lat5">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lat6">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lat7">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lat8">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lon1">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lon2">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lon3">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lon4">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lon5">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lon6">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lon7">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lon8">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="FastSpeed">
        <Units:meter_per_second />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="ApproachDepth">
        <Units:meter />
        <Value>30</Value>
    </DefineArg>
    <DefineArg Name="ApproachSpeed">
        <Units:meter_per_second />
        <Value>0.7</Value>
    </DefineArg>
    <DefineArg Name="ApproachDepthRate">
        <Units:meter_per_second />
        <Value>0.05</Value>
    </DefineArg>
    <DefineArg Name="ApproachPitchLimit">
        <Units:degree />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="ApproachDepthTimeout">
        <Units:minute />
        <Value>15</Value>
    </DefineArg>
    <DefineArg Name="ApproachSettleTimePreDive">
        <Units:minute />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="ApproachSettleTimePostDive">
        <Units:minute />
        <Value>3</Value>
    </DefineArg>
    <DefineArg Name="kpDepth">
        <Units:radian_per_meter />
        <Value>0.07</Value>
    </DefineArg>
    <DefineArg Name="SlowSpeed">
        <Units:meter_per_second />
        <Value>0.25</Value>
    </DefineArg>
    <DefineArg Name="DepthDeviationSlow">
        <Units:meter />
        <Value>3</Value>
    </DefineArg>
    <DefineArg Name="BuoyancyNeutral">
        <Control:VerticalControl.buoyancyNeutral />
    </DefineArg>
    <DefineArg Name="MassDefault">
        <Control:VerticalControl.massDefault />
    </DefineArg>
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>2</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>50</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:kilometer />
        <Value>2</Value>
    </DefineArg>
    <DefineOutput Name="DiveMode">
        <Units:count />
        <Value>0</Value>
    </DefineOutput>
    <DefineOutput Name="DoingComms">
        <Units:count />
        <Value>0</Value>
    </DefineOutput>
    <DefineOutput Name="InitialDive">
        <Units:count />
        <Value>1</Value>
    </DefineOutput>
    <DefineOutput Name="SettleAtDepth">
        <Units:count />
        <Value>2</Value>
    </DefineOutput>
    <DefineOutput Name="MaintainDepth">
        <Units:count />
        <Value>3</Value>
    </DefineOutput>
    <DefineOutput Name="LegDepth">
        <Arg Name="Depth1" />
    </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="MissionTimeout" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="NeedComms:WaitForPitchUp" />
        <Units:minute />
        <Value>0</Value>
    </Assign>
    <Insert Filename="Insert/BackseatDriver.tl" />
    <Assign>
        <Parallel />
        <Arg Name="BackseatDriver:EnableBackseat" />
        <True />
    </Assign>
    <Insert Filename="Insert/PowerOnly.tl" />
    <Assign>
        <Parallel />
        <Arg Name="PowerOnly:SampleLoad1" />
        <True />
    </Assign>
    <Guidance:Buoyancy>
        <Parallel />
        <Setting>
            <Guidance:Buoyancy.position />
            <Arg Name="BuoyancyNeutral" />
        </Setting>
    </Guidance:Buoyancy>
    <Aggregate Id="SurfaceComms">
        <When>
            <Called />
            <Or>
                <Elapsed>
                    <Universal:time_fix />
                </Elapsed>
                <Gt>
                    <Arg Name="NeedCommsTime" />
                </Gt>
            </Or>
        </When>
        <Assign>
            <Sequence />
            <Arg Name="DiveMode" />
            <Arg Name="DoingComms" />
        </Assign>
        <Call RefId="NeedComms" />
        <Assign>
            <Sequence />
            <Arg Name="DiveMode" />
            <Arg Name="InitialDive" />
        </Assign>
    </Aggregate>
    <Aggregate Id="DiveCmd">
        <When>
            <Called />
        </When>
        <Aggregate Id="InitialDive">
            <While>
                <Arg Name="DiveMode" />
                <Eq>
                    <Arg Name="InitialDive" />
                </Eq>
            </While>
            <Aggregate Id="dive">
                <Sequence />
                <Assign>
                    <Parallel />
                    <Control:VerticalControl.pitchLimit />
                    <Arg Name="ApproachPitchLimit" />
                </Assign>
                <Assign>
                    <Parallel />
                    <Control:VerticalControl.kpDepth />
                    <Arg Name="kpDepth" />
                </Assign>
                <Guidance:Mass>
                    <Parallel />
                    <Setting>
                        <Guidance:Mass.position />
                        <Arg Name="MassDefault" />
                    </Setting>
                </Guidance:Mass>
                <Syslog Severity="Info">
                    Waiting for 
                    <Arg Name="ApproachSettleTimePreDive" />
                    <Units:minute />
                    while pumping down to neutral.
                </Syslog>
                <Guidance:Wait>
                    <Sequence />
                    <Setting>
                        <Guidance:Wait.duration />
                        <Arg Name="ApproachSettleTimePreDive" />
                    </Setting>
                </Guidance:Wait>
                <Syslog>
                    Moving to 
                    <Arg Name="ApproachDepth" />
                    <Units:meter />
                </Syslog>
                <Aggregate Id="ApproachDepth">
                    <Sequence />
                    <Guidance:SetSpeed>
                        <Parallel />
                        <Setting>
                            <Guidance:SetSpeed.speed />
                            <Arg Name="ApproachSpeed" />
                        </Setting>
                    </Guidance:SetSpeed>
                    <Guidance:Pitch>
                        <Sequence />
                        <Timeout Duration="ApproachDepthTimeout">
                            <Syslog Severity="Important">
                                Timed out while trying to reach target depth at current depth of 
                                <Universal:depth />
                                <Units:meter />
                            </Syslog>
                            <Guidance:Execute>
                                <Sequence />
                                <Setting>
                                    <Guidance:Execute.command />
                                    <String>stop</String>
                                </Setting>
                            </Guidance:Execute>
                        </Timeout>
                        <Setting>
                            <Guidance:Pitch.depth />
                            <Arg Name="ApproachDepth" />
                        </Setting>
                        <Setting>
                            <Guidance:Pitch.depthRate />
                            <Arg Name="ApproachDepthRate" />
                        </Setting>
                    </Guidance:Pitch>
                </Aggregate>
                <Assign>
                    <Sequence />
                    <Arg Name="DiveMode" />
                    <Arg Name="SettleAtDepth" />
                </Assign>
            </Aggregate>
        </Aggregate>
        <Aggregate Id="SettleAtDepth">
            <While>
                <Arg Name="DiveMode" />
                <Eq>
                    <Arg Name="SettleAtDepth" />
                </Eq>
            </While>
            <Aggregate Id="dive">
                <Sequence />
                <Syslog Severity="Info">
                    Reached 
                    <Universal:depth />
                    <Units:meter />
                    , settling for 
                    <Arg Name="ApproachSettleTimePostDive" />
                    <Units:minute />
                </Syslog>
                <Guidance:Pitch>
                    <Parallel />
                    <Setting>
                        <Guidance:Pitch.depth />
                        <Arg Name="LegDepth" />
                    </Setting>
                </Guidance:Pitch>
                <Guidance:Wait>
                    <Sequence />
                    <Setting>
                        <Guidance:Wait.duration />
                        <Arg Name="ApproachSettleTimePostDive" />
                    </Setting>
                </Guidance:Wait>
                <Assign>
                    <Sequence />
                    <Arg Name="DiveMode" />
                    <Arg Name="MaintainDepth" />
                </Assign>
            </Aggregate>
        </Aggregate>
        <Aggregate Id="MaintainDepth">
            <While>
                <Arg Name="DiveMode" />
                <Eq>
                    <Arg Name="MaintainDepth" />
                </Eq>
                <And>
                    <Universal:depth />
                    <Gt>
                        <Arg Name="LegDepth" />
                        <Add>
                            <Arg Name="DepthDeviationSlow" />
                        </Add>
                    </Gt>
                </And>
                <Or>
                    <Universal:depth />
                    <Lt>
                        <Arg Name="LegDepth" />
                        <Sub>
                            <Arg Name="DepthDeviationSlow" />
                        </Sub>
                    </Lt>
                </Or>
            </While>
            <Aggregate Id="dive">
                <Parallel />
                <Aggregate Id="ThrusterDive">
                    <While>
                        <Arg Name="FastSpeed" />
                        <Gt>
                            <Units:meter_per_second />
                            <Value>0.0</Value>
                        </Gt>
                    </While>
                    <Guidance:Mass>
                        <Parallel />
                        <Setting>
                            <Guidance:Mass.position />
                            <Arg Name="MassDefault" />
                        </Setting>
                    </Guidance:Mass>
                    <Guidance:SetSpeed>
                        <Parallel />
                        <Setting>
                            <Guidance:SetSpeed.speed />
                            <Arg Name="FastSpeed" />
                        </Setting>
                    </Guidance:SetSpeed>
                </Aggregate>
                <Guidance:Pitch>
                    <Parallel />
                    <Setting>
                        <Guidance:Pitch.depth />
                        <Arg Name="LegDepth" />
                    </Setting>
                </Guidance:Pitch>
            </Aggregate>
        </Aggregate>
        <Aggregate Id="MaintainDepthSlow">
            <While>
                <Not>
                    <IsNaN>
                        <Arg Name="SlowSpeed" />
                    </IsNaN>
                </Not>
                <And>
                    <Arg Name="DiveMode" />
                    <Eq>
                        <Arg Name="MaintainDepth" />
                    </Eq>
                </And>
                <And>
                    <Universal:depth />
                    <Le>
                        <Arg Name="LegDepth" />
                        <Add>
                            <Arg Name="DepthDeviationSlow" />
                        </Add>
                    </Le>
                </And>
                <And>
                    <Universal:depth />
                    <Ge>
                        <Arg Name="LegDepth" />
                        <Sub>
                            <Arg Name="DepthDeviationSlow" />
                        </Sub>
                    </Ge>
                </And>
            </While>
            <Guidance:SetSpeed>
                <Parallel />
                <Setting>
                    <Guidance:SetSpeed.speed />
                    <Arg Name="SlowSpeed" />
                </Setting>
            </Guidance:SetSpeed>
            <Assign>
                <Parallel />
                <Control:VerticalControl.depthDeadband />
                <Arg Name="DepthDeviationSlow" />
                <Add>
                    <Units:meter />
                    <Value>3</Value>
                </Add>
            </Assign>
            <Guidance:Buoyancy>
                <Parallel />
                <Setting>
                    <Guidance:Buoyancy.position />
                    <Units:cubic_centimeter />
                    <Value>NaN</Value>
                </Setting>
            </Guidance:Buoyancy>
            <Guidance:Pitch>
                <Parallel />
                <Setting>
                    <Guidance:Pitch.depth />
                    <Arg Name="LegDepth" />
                </Setting>
            </Guidance:Pitch>
        </Aggregate>
    </Aggregate>
    <Call RefId="SurfaceComms" Id="StartingMission" />
    <Aggregate Id="Lap">
        <Sequence Repeat="Repeat" />
        <Aggregate Id="Dive">
            <While>
                <Not>
                    <Arg Name="DiveMode" />
                    <Eq>
                        <Arg Name="DoingComms" />
                    </Eq>
                </Not>
            </While>
            <Call RefId="DiveCmd" />
        </Aggregate>
        <Aggregate Id="DepthByLap">
            <Sequence />
            <Break>
                <Arg Name="DepthPerLeg" />
            </Break>
            <Assign>
                <Sequence />
                <Arg Name="LegDepth" />
                <Arg Name="Depth1" />
            </Assign>
            <Aggregate Id="Wpt1">
                <Sequence />
                <Guidance:Waypoint>
                    <Sequence />
                    <Setting>
                        <Guidance:Waypoint.latitude />
                        <Arg Name="Lat1" />
                    </Setting>
                    <Setting>
                        <Guidance:Waypoint.longitude />
                        <Arg Name="Lon1" />
                    </Setting>
                </Guidance:Waypoint>
            </Aggregate>
            <Aggregate Id="Wpt2">
                <Sequence />
                <Guidance:Waypoint>
                    <Sequence />
                    <Setting>
                        <Guidance:Waypoint.latitude />
                        <Arg Name="Lat2" />
                    </Setting>
                    <Setting>
                        <Guidance:Waypoint.longitude />
                        <Arg Name="Lon2" />
                    </Setting>
                </Guidance:Waypoint>
            </Aggregate>
            <Aggregate Id="Wpt3">
                <Sequence />
                <Guidance:Waypoint>
                    <Sequence />
                    <Setting>
                        <Guidance:Waypoint.latitude />
                        <Arg Name="Lat3" />
                    </Setting>
                    <Setting>
                        <Guidance:Waypoint.longitude />
                        <Arg Name="Lon3" />
                    </Setting>
                </Guidance:Waypoint>
            </Aggregate>
            <Aggregate Id="Wpt4">
                <Sequence />
                <Guidance:Waypoint>
                    <Sequence />
                    <Setting>
                        <Guidance:Waypoint.latitude />
                        <Arg Name="Lat4" />
                    </Setting>
                    <Setting>
                        <Guidance:Waypoint.longitude />
                        <Arg Name="Lon4" />
                    </Setting>
                </Guidance:Waypoint>
            </Aggregate>
            <Aggregate Id="Wpt5">
                <Sequence />
                <Guidance:Waypoint>
                    <Sequence />
                    <Setting>
                        <Guidance:Waypoint.latitude />
                        <Arg Name="Lat5" />
                    </Setting>
                    <Setting>
                        <Guidance:Waypoint.longitude />
                        <Arg Name="Lon5" />
                    </Setting>
                </Guidance:Waypoint>
            </Aggregate>
            <Aggregate Id="Wpt6">
                <Sequence />
                <Guidance:Waypoint>
                    <Sequence />
                    <Setting>
                        <Guidance:Waypoint.latitude />
                        <Arg Name="Lat6" />
                    </Setting>
                    <Setting>
                        <Guidance:Waypoint.longitude />
                        <Arg Name="Lon6" />
                    </Setting>
                </Guidance:Waypoint>
            </Aggregate>
            <Aggregate Id="Wpt7">
                <Sequence />
                <Guidance:Waypoint>
                    <Sequence />
                    <Setting>
                        <Guidance:Waypoint.latitude />
                        <Arg Name="Lat7" />
                    </Setting>
                    <Setting>
                        <Guidance:Waypoint.longitude />
                        <Arg Name="Lon7" />
                    </Setting>
                </Guidance:Waypoint>
            </Aggregate>
            <Aggregate Id="Wpt8">
                <Sequence />
                <Guidance:Waypoint>
                    <Sequence />
                    <Setting>
                        <Guidance:Waypoint.latitude />
                        <Arg Name="Lat8" />
                    </Setting>
                    <Setting>
                        <Guidance:Waypoint.longitude />
                        <Arg Name="Lon8" />
                    </Setting>
                </Guidance:Waypoint>
            </Aggregate>
            <Aggregate Id="Leg2">
                <Sequence />
                <Break>
                    <IsNaN>
                        <Arg Name="Depth2" />
                    </IsNaN>
                </Break>
                <Syslog Severity="Important">
                    Transiting waypoints at depth 
                    <Arg Name="Depth2" />
                    <Units:meter />
                </Syslog>
                <Assign>
                    <Sequence />
                    <Arg Name="LegDepth" />
                    <Arg Name="Depth2" />
                </Assign>
                <Aggregate Id="Wpt1">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat1" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon1" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt2">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat2" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon2" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt3">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat3" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon3" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt4">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat4" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon4" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt5">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat5" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon5" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt6">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat6" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon6" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt7">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat7" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon7" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt8">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat8" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon8" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
            </Aggregate>
            <Aggregate Id="Leg3">
                <Sequence />
                <Break>
                    <IsNaN>
                        <Arg Name="Depth3" />
                    </IsNaN>
                </Break>
                <Syslog Severity="Important">
                    Transiting waypoints at depth 
                    <Arg Name="Depth3" />
                    <Units:meter />
                </Syslog>
                <Assign>
                    <Sequence />
                    <Arg Name="LegDepth" />
                    <Arg Name="Depth3" />
                </Assign>
                <Aggregate Id="Wpt1">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat1" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon1" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt2">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat2" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon2" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt3">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat3" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon3" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt4">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat4" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon4" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt5">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat5" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon5" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt6">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat6" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon6" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt7">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat7" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon7" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt8">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat8" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon8" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
            </Aggregate>
            <Aggregate Id="Leg4">
                <Sequence />
                <Break>
                    <IsNaN>
                        <Arg Name="Depth4" />
                    </IsNaN>
                </Break>
                <Syslog Severity="Important">
                    Transiting waypoints at depth 
                    <Arg Name="Depth4" />
                    <Units:meter />
                </Syslog>
                <Assign>
                    <Sequence />
                    <Arg Name="LegDepth" />
                    <Arg Name="Depth4" />
                </Assign>
                <Aggregate Id="Wpt1">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat1" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon1" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt2">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat2" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon2" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt3">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat3" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon3" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt4">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat4" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon4" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt5">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat5" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon5" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt6">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat6" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon6" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt7">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat7" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon7" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt8">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat8" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon8" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
            </Aggregate>
            <Aggregate Id="Leg5">
                <Sequence />
                <Break>
                    <IsNaN>
                        <Arg Name="Depth5" />
                    </IsNaN>
                </Break>
                <Syslog Severity="Important">
                    Transiting waypoints at depth 
                    <Arg Name="Depth5" />
                    <Units:meter />
                </Syslog>
                <Assign>
                    <Sequence />
                    <Arg Name="LegDepth" />
                    <Arg Name="Depth5" />
                </Assign>
                <Aggregate Id="Wpt1">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat1" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon1" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt2">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat2" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon2" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt3">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat3" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon3" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt4">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat4" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon4" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt5">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat5" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon5" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt6">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat6" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon6" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt7">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat7" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon7" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt8">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat8" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon8" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
            </Aggregate>
            <Aggregate Id="Leg6">
                <Sequence />
                <Break>
                    <IsNaN>
                        <Arg Name="Depth6" />
                    </IsNaN>
                </Break>
                <Syslog Severity="Important">
                    Transiting waypoints at depth 
                    <Arg Name="Depth6" />
                    <Units:meter />
                </Syslog>
                <Assign>
                    <Sequence />
                    <Arg Name="LegDepth" />
                    <Arg Name="Depth6" />
                </Assign>
                <Aggregate Id="Wpt1">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat1" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon1" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt2">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat2" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon2" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt3">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat3" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon3" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt4">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat4" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon4" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt5">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat5" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon5" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt6">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat6" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon6" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt7">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat7" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon7" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt8">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat8" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon8" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
            </Aggregate>
            <Aggregate Id="Leg7">
                <Sequence />
                <Break>
                    <IsNaN>
                        <Arg Name="Depth7" />
                    </IsNaN>
                </Break>
                <Syslog Severity="Important">
                    Transiting waypoints at depth 
                    <Arg Name="Depth7" />
                    <Units:meter />
                </Syslog>
                <Assign>
                    <Sequence />
                    <Arg Name="LegDepth" />
                    <Arg Name="Depth7" />
                </Assign>
                <Aggregate Id="Wpt1">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat1" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon1" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt2">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat2" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon2" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt3">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat3" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon3" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt4">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat4" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon4" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt5">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat5" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon5" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt6">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat6" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon6" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt7">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat7" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon7" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt8">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat8" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon8" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
            </Aggregate>
            <Aggregate Id="Leg8">
                <Sequence />
                <Break>
                    <IsNaN>
                        <Arg Name="Depth8" />
                    </IsNaN>
                </Break>
                <Syslog Severity="Important">
                    Transiting waypoints at depth 
                    <Arg Name="Depth8" />
                    <Units:meter />
                </Syslog>
                <Assign>
                    <Sequence />
                    <Arg Name="LegDepth" />
                    <Arg Name="Depth8" />
                </Assign>
                <Aggregate Id="Wpt1">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat1" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon1" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt2">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat2" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon2" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt3">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat3" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon3" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt4">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat4" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon4" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt5">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat5" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon5" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt6">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat6" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon6" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt7">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat7" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon7" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt8">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat8" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon8" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
            </Aggregate>
        </Aggregate>
        <Aggregate Id="DepthByLeg">
            <Sequence />
            <Break>
                <Not>
                    <Arg Name="DepthPerLeg" />
                </Not>
            </Break>
            <Aggregate Id="Leg1">
                <Sequence />
                <Assign>
                    <Sequence />
                    <Arg Name="LegDepth" />
                    <Arg Name="Depth1" />
                </Assign>
                <Guidance:Waypoint>
                    <Sequence />
                    <Setting>
                        <Guidance:Waypoint.latitude />
                        <Arg Name="Lat1" />
                    </Setting>
                    <Setting>
                        <Guidance:Waypoint.longitude />
                        <Arg Name="Lon1" />
                    </Setting>
                </Guidance:Waypoint>
            </Aggregate>
            <Aggregate Id="Leg2">
                <Sequence />
                <Break>
                    <IsNaN>
                        <Arg Name="Depth2" />
                    </IsNaN>
                </Break>
                <Syslog Severity="Info">
                    Transiting to next waypoint at depth 
                    <Arg Name="Depth2" />
                    <Units:meter />
                </Syslog>
                <Assign>
                    <Sequence />
                    <Arg Name="LegDepth" />
                    <Arg Name="Depth2" />
                </Assign>
                <Aggregate Id="Wpt2">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat2" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon2" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
            </Aggregate>
            <Aggregate Id="Leg3">
                <Sequence />
                <Break>
                    <IsNaN>
                        <Arg Name="Depth3" />
                    </IsNaN>
                </Break>
                <Syslog Severity="Info">
                    Transiting to next waypoint at depth 
                    <Arg Name="Depth3" />
                    <Units:meter />
                </Syslog>
                <Assign>
                    <Sequence />
                    <Arg Name="LegDepth" />
                    <Arg Name="Depth3" />
                </Assign>
                <Aggregate Id="Wpt3">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat3" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon3" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
            </Aggregate>
            <Aggregate Id="Leg4">
                <Sequence />
                <Break>
                    <IsNaN>
                        <Arg Name="Depth4" />
                    </IsNaN>
                </Break>
                <Syslog Severity="Info">
                    Transiting to next waypoint at depth 
                    <Arg Name="Depth4" />
                    <Units:meter />
                </Syslog>
                <Assign>
                    <Sequence />
                    <Arg Name="LegDepth" />
                    <Arg Name="Depth4" />
                </Assign>
                <Aggregate Id="Wpt4">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat4" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon4" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
            </Aggregate>
            <Aggregate Id="Leg5">
                <Sequence />
                <Break>
                    <IsNaN>
                        <Arg Name="Depth5" />
                    </IsNaN>
                </Break>
                <Syslog Severity="Info">
                    Transiting to next waypoint at depth 
                    <Arg Name="Depth5" />
                    <Units:meter />
                </Syslog>
                <Assign>
                    <Sequence />
                    <Arg Name="LegDepth" />
                    <Arg Name="Depth5" />
                </Assign>
                <Aggregate Id="Wpt5">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat5" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon5" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
            </Aggregate>
            <Aggregate Id="Leg6">
                <Sequence />
                <Break>
                    <IsNaN>
                        <Arg Name="Depth6" />
                    </IsNaN>
                </Break>
                <Syslog Severity="Info">
                    Transiting to next waypoint at depth 
                    <Arg Name="Depth6" />
                    <Units:meter />
                </Syslog>
                <Assign>
                    <Sequence />
                    <Arg Name="LegDepth" />
                    <Arg Name="Depth6" />
                </Assign>
                <Aggregate Id="Wpt6">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat6" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon6" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
            </Aggregate>
            <Aggregate Id="Leg7">
                <Sequence />
                <Break>
                    <IsNaN>
                        <Arg Name="Depth7" />
                    </IsNaN>
                </Break>
                <Syslog Severity="Info">
                    Transiting to next waypoint at depth 
                    <Arg Name="Depth7" />
                    <Units:meter />
                </Syslog>
                <Assign>
                    <Sequence />
                    <Arg Name="LegDepth" />
                    <Arg Name="Depth7" />
                </Assign>
                <Aggregate Id="Wpt7">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat7" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon7" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
            </Aggregate>
            <Aggregate Id="Leg8">
                <Sequence />
                <Break>
                    <IsNaN>
                        <Arg Name="Depth8" />
                    </IsNaN>
                </Break>
                <Syslog Severity="Info">
                    Transiting to next waypoint at depth 
                    <Arg Name="Depth8" />
                    <Units:meter />
                </Syslog>
                <Assign>
                    <Sequence />
                    <Arg Name="LegDepth" />
                    <Arg Name="Depth8" />
                </Assign>
                <Aggregate Id="Wpt8">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat8" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon8" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
            </Aggregate>
        </Aggregate>
    </Aggregate>
</Mission>

2025-03-12T04:30:00.262Z,1741753800.262 [MissionManager](INFO): DefineArg sci2_noyo_optim.MissionTimeout = 2.000000 h
2025-03-12T04:30:00.264Z,1741753800.264 [MissionManager](INFO): DefineArg sci2_noyo_optim.NeedCommsTime = 60.000000 min
2025-03-12T04:30:00.269Z,1741753800.269 [MissionManager](INFO): DefineArg sci2_noyo_optim.Depth1 = 35.000000 m
2025-03-12T04:30:00.274Z,1741753800.274 [MissionManager](INFO): DefineArg sci2_noyo_optim.Depth2 = nan m
2025-03-12T04:30:00.303Z,1741753800.303 [MissionManager](INFO): DefineArg sci2_noyo_optim.Depth3 = nan m
2025-03-12T04:30:00.308Z,1741753800.308 [MissionManager](INFO): DefineArg sci2_noyo_optim.Depth4 = nan m
2025-03-12T04:30:00.325Z,1741753800.325 [MissionManager](INFO): DefineArg sci2_noyo_optim.Depth5 = nan m
2025-03-12T04:30:00.330Z,1741753800.330 [MissionManager](INFO): DefineArg sci2_noyo_optim.Depth6 = nan m
2025-03-12T04:30:00.350Z,1741753800.350 [MissionManager](INFO): DefineArg sci2_noyo_optim.Depth7 = nan m
2025-03-12T04:30:00.364Z,1741753800.364 [MissionManager](INFO): DefineArg sci2_noyo_optim.Depth8 = nan m
2025-03-12T04:30:00.368Z,1741753800.368 [MissionManager](INFO): DefineArg sci2_noyo_optim.DepthPerLeg = 0 bool
2025-03-12T04:30:00.371Z,1741753800.371 [MissionManager](INFO): DefineArg sci2_noyo_optim.Repeat = 1.000000 count
2025-03-12T04:30:00.373Z,1741753800.373 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lat1 = nan arcdeg
2025-03-12T04:30:00.419Z,1741753800.419 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lat2 = nan arcdeg
2025-03-12T04:30:00.422Z,1741753800.422 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lat3 = nan arcdeg
2025-03-12T04:30:00.436Z,1741753800.436 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lat4 = nan arcdeg
2025-03-12T04:30:00.452Z,1741753800.452 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lat5 = nan arcdeg
2025-03-12T04:30:00.464Z,1741753800.464 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lat6 = nan arcdeg
2025-03-12T04:30:00.476Z,1741753800.476 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lat7 = nan arcdeg
2025-03-12T04:30:00.495Z,1741753800.495 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lat8 = nan arcdeg
2025-03-12T04:30:00.497Z,1741753800.497 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lon1 = nan arcdeg
2025-03-12T04:30:00.510Z,1741753800.510 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lon2 = nan arcdeg
2025-03-12T04:30:00.512Z,1741753800.512 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lon3 = nan arcdeg
2025-03-12T04:30:00.519Z,1741753800.519 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lon4 = nan arcdeg
2025-03-12T04:30:00.521Z,1741753800.521 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lon5 = nan arcdeg
2025-03-12T04:30:00.528Z,1741753800.528 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lon6 = nan arcdeg
2025-03-12T04:30:00.530Z,1741753800.530 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lon7 = nan arcdeg
2025-03-12T04:30:00.536Z,1741753800.536 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lon8 = nan arcdeg
2025-03-12T04:30:00.543Z,1741753800.543 [MissionManager](INFO): DefineArg sci2_noyo_optim.FastSpeed = 1.000000 m/s
2025-03-12T04:30:00.545Z,1741753800.545 [MissionManager](INFO): DefineArg sci2_noyo_optim.ApproachDepth = 30.000000 m
2025-03-12T04:30:00.552Z,1741753800.552 [MissionManager](INFO): DefineArg sci2_noyo_optim.ApproachSpeed = 0.700000 m/s
2025-03-12T04:30:00.555Z,1741753800.555 [MissionManager](INFO): DefineArg sci2_noyo_optim.ApproachDepthRate = 0.050000 m/s
2025-03-12T04:30:00.557Z,1741753800.557 [MissionManager](INFO): DefineArg sci2_noyo_optim.ApproachPitchLimit = 20.000000 arcdeg
2025-03-12T04:30:00.564Z,1741753800.564 [MissionManager](INFO): DefineArg sci2_noyo_optim.ApproachDepthTimeout = 15.000000 min
2025-03-12T04:30:00.570Z,1741753800.570 [MissionManager](INFO): DefineArg sci2_noyo_optim.ApproachSettleTimePreDive = 1.000000 min
2025-03-12T04:30:00.575Z,1741753800.575 [MissionManager](INFO): DefineArg sci2_noyo_optim.ApproachSettleTimePostDive = 3.000000 min
2025-03-12T04:30:00.577Z,1741753800.577 [MissionManager](INFO): DefineArg sci2_noyo_optim.kpDepth = 0.070000 rad/m
2025-03-12T04:30:00.580Z,1741753800.580 [MissionManager](INFO): DefineArg sci2_noyo_optim.SlowSpeed = 0.250000 m/s
2025-03-12T04:30:00.588Z,1741753800.588 [MissionManager](INFO): DefineArg sci2_noyo_optim.DepthDeviationSlow = 3.000000 m
2025-03-12T04:30:00.603Z,1741753800.603 [MissionManager](INFO): DefineArg sci2_noyo_optim.BuoyancyNeutral = 373.087250 cc
2025-03-12T04:30:00.606Z,1741753800.606 [MissionManager](INFO): DefineArg sci2_noyo_optim.MassDefault = 0.684636 cm
2025-03-12T04:30:00.612Z,1741753800.612 [MissionManager](INFO): DefineArg sci2_noyo_optim.MinAltitude = 2.000000 m
2025-03-12T04:30:00.619Z,1741753800.619 [MissionManager](INFO): DefineArg sci2_noyo_optim.MaxDepth = 50.000000 m
2025-03-12T04:30:00.621Z,1741753800.621 [MissionManager](INFO): DefineArg sci2_noyo_optim.MinOffshore = 2.000000 km
2025-03-12T04:30:00.633Z,1741753800.633 [MissionManager](INFO): DefineOutput sci2_noyo_optim.DiveMode = 0.000000 count
2025-03-12T04:30:00.655Z,1741753800.655 [MissionManager](INFO): DefineOutput sci2_noyo_optim.DoingComms = 0.000000 count
2025-03-12T04:30:00.657Z,1741753800.657 [MissionManager](INFO): DefineOutput sci2_noyo_optim.InitialDive = 1.000000 count
2025-03-12T04:30:00.669Z,1741753800.669 [MissionManager](INFO): DefineOutput sci2_noyo_optim.SettleAtDepth = 2.000000 count
2025-03-12T04:30:00.682Z,1741753800.682 [MissionManager](INFO): DefineOutput sci2_noyo_optim.MaintainDepth = 3.000000 count
2025-03-12T04:30:00.698Z,1741753800.698 [MissionManager](INFO): DefineOutput sci2_noyo_optim.LegDepth = 35.000000 m
2025-03-12T04:30:00.699Z,1741753800.699 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/Science.tl
2025-03-12T04:30:00.699Z,1741753800.699 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/Science.tl
2025-03-12T04:30:00.707Z,1741753800.707 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/Science.tl
2025-03-12T04:30:03.448Z,1741753803.448 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/Science.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="Science">
    <DefineArg Name="PeakDetectChlActive">
        <False />
    </DefineArg>
    <DefineArg Name="EdgeDetectChlActive">
        <False />
    </DefineArg>
    <DefineArg Name="TimeWindowPeakReport">
        <Units:minute />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="HighestChlPeakReportActive">
        <False />
    </DefineArg>
    <DefineArg Name="HighestSaltPeakReportActive">
        <False />
    </DefineArg>
    <DefineArg Name="HighestOilPeakReportActive">
        <False />
    </DefineArg>
    <DefineArg Name="PatchTracking">
        <False />
    </DefineArg>
    <DefineArg Name="FilterWidthHorizontal">
        <Units:count />
        <Value>3</Value>
    </DefineArg>
    <DefineArg Name="NumProfilesSlidingwindow">
        <Units:count />
        <Value>100</Value>
    </DefineArg>
    <DefineArg Name="OffPeakFractionHorizontal">
        <Units:percent />
        <Value>80</Value>
    </DefineArg>
    <DefineArg Name="PeakDetectNO3Active">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectOilActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectFDOMActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectSalinityActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreLMavgROIActive">
        <False />
    </DefineArg>
    <DefineArg Name="EdgeDetectPlanktivoreLMavgROIActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreHMavgROIActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreDiatomsActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreDinoflagellatesActive">
        <False />
    </DefineArg>
    <DefineArg Name="UpwardDerivativeOfTemperatureActive">
        <False />
    </DefineArg>
    <DefineArg Name="EnabledAanderaaO2">
        <Science:Aanderaa_O2.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledNeilBrown">
        <Science:CTD_NeilBrown.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledSeabird">
        <Science:CTD_Seabird.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledWetLabsBB2FL">
        <Science:WetLabsBB2FL.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledWetLabsSeaOWL_UV_A">
        <Science:WetLabsSeaOWL_UV_A.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledWetLabsUBAT">
        <Science:WetLabsUBAT.loadAtStartup />
    </DefineArg>
    <DefineArg Name="LowPassWindowLength">
        <Units:count />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="MedianFilterLen">
        <Units:count />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="ShallowBound">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="DeepBound">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="DepChangeThreshForAttitudeFlip">
        <Units:meter />
        <Value>2.0</Value>
    </DefineArg>
    <DefineArg Name="OffPeakFractionVertical">
        <Units:percent />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="ChlPeakThresh">
        <Units:microgram_per_liter />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="ChlThreshTriggerActive">
        <False />
    </DefineArg>
    <DefineArg Name="ChlLowerThresh">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="ChlUpperThresh">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="NumProfilesThresh">
        <Units:count />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="PlanktivoreLMavgROIPeakThresh">
        <Units:count_per_second />
        <Value>0</Value>
    </DefineArg>
    <DefineOutput Name="GoDown">
        <True />
    </DefineOutput>
    <DefineOutput Name="PeakChl">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChl">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChlDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChlTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChlLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChlLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3">
        <Units:micromole_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3Depth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3Latitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3Longitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOil">
        <Units:kilogram_per_cubic_meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOilDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOilLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOilLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOM">
        <Units:part_per_billion />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSalt">
        <Units:practical_salinity_unit />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROI">
        <Units:count_per_second />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROIDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROITemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROILatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROILongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROI">
        <Units:count_per_second />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROIDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROITemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROILatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROILongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROI">
        <Units:count_per_second />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROIDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROITemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROILatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROILongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatoms">
        <Units:count_per_milliliter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellates">
        <Units:count_per_milliliter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChl">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlDistance">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSalt">
        <Units:practical_salinity_unit />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltDistance">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOil">
        <Units:practical_salinity_unit />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilDistance">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="TriggeredOnChl">
        <False />
    </DefineOutput>
    <DefineOutput Name="ChlTriggering">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <Parallel />
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledAanderaaO2" />
        </While>
        <Universal:mass_concentration_of_oxygen_in_sea_water />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledNeilBrown" />
            <Or>
                <Arg Name="EnabledSeabird" />
            </Or>
        </While>
        <Universal:sea_water_temperature />
        <Universal:sea_water_salinity />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledSeabird" />
        </While>
        <Science:CTD_Seabird.sea_water_temperature />
        <Science:CTD_Seabird.sea_water_salinity />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledNeilBrown" />
            <Or>
                <Arg Name="EnabledSeabird" />
            </Or>
            <And>
                <Arg Name="UpwardDerivativeOfTemperatureActive" />
            </And>
        </While>
        <Universal:upward_derivative_of_sea_water_temperature />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledWetLabsBB2FL" />
            <Or>
                <Arg Name="PeakDetectChlActive" />
            </Or>
        </While>
        <Universal:mass_concentration_of_chlorophyll_in_sea_water />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledWetLabsUBAT" />
        </While>
        <Science:WetLabsUBAT.average_bioluminescence />
    </ReadData>
    <ReadData Id="Read_Oil" Strategy="MinError">
        <While>
            <Arg Name="EnabledWetLabsSeaOWL_UV_A" />
            <Or>
                <Arg Name="PeakDetectOilActive" />
            </Or>
        </While>
        <Universal:mass_concentration_of_petroleum_hydrocarbons_in_sea_water />
    </ReadData>
    <Aggregate Id="OceanCurrent">
        <Sequence />
        <Estimation:CurrentEstimator>
            <Parallel />
        </Estimation:CurrentEstimator>
    </Aggregate>
    <Aggregate Id="PeakDetectChl">
        <While>
            <Arg Name="PeakDetectChlActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:mass_concentration_of_chlorophyll_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakChl">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakChlDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakChlTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakChlLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakChlLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakChl" />
            <Arg Name="PeakChlDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="EdgeDetectChl">
        <While>
            <Arg Name="EdgeDetectChlActive" />
        </While>
        <Syslog Severity="Debug">EdgeDetectVsDepth</Syslog>
        <Trigger:EdgeDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:EdgeDetectVsDepth.detect />
                <Universal:mass_concentration_of_chlorophyll_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFraction />
                <Arg Name="OffPeakFractionVertical" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.peakThresh />
                <Arg Name="ChlPeakThresh" />
            </Setting>
            <OutputArg Name="GoDown">
                <Trigger:EdgeDetectVsDepth.goDown />
            </OutputArg>
            <OutputArg Name="PeakChl">
                <Trigger:EdgeDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakChlDepth">
                <Trigger:EdgeDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakChlTemperature">
                <Trigger:EdgeDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakChlLatitude">
                <Trigger:EdgeDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakChlLongitude">
                <Trigger:EdgeDetectVsDepth.peakLongitude />
            </OutputArg>
            <OutputArg Name="EdgeChl">
                <Trigger:EdgeDetectVsDepth.edgeDetect />
            </OutputArg>
            <OutputArg Name="EdgeChlDepth">
                <Trigger:EdgeDetectVsDepth.edgeDepth />
            </OutputArg>
            <OutputArg Name="EdgeChlTemperature">
                <Trigger:EdgeDetectVsDepth.edgeTemperature />
            </OutputArg>
            <OutputArg Name="EdgeChlLatitude">
                <Trigger:EdgeDetectVsDepth.edgeLatitude />
            </OutputArg>
            <OutputArg Name="EdgeChlLongitude">
                <Trigger:EdgeDetectVsDepth.edgeLongitude />
            </OutputArg>
        </Trigger:EdgeDetectVsDepth>
        <Syslog Severity="Info">
            GoDown, ChlPeakThresh, PeakChl, PeakChlDepth, EdgeChl, EdgeChlDepth = 
            <Arg Name="GoDown" />
            <Units:bool />
            , 
            <Arg Name="ChlPeakThresh" />
            <Units:microgram_per_liter />
            , 
            <Arg Name="PeakChl" />
            <Units:microgram_per_liter />
            , 
            <Arg Name="PeakChlDepth" />
            <Units:meter />
            , 
            <Arg Name="EdgeChl" />
            <Units:microgram_per_liter />
            , 
            <Arg Name="EdgeChlDepth" />
            <Units:meter />
        </Syslog>
        <SendData Service="Express">
            <Arg Name="PeakChl" />
            <Arg Name="PeakChlDepth" />
            <Arg Name="EdgeChl" />
            <Arg Name="EdgeChlDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="HighestChlPeakReport">
        <While>
            <Arg Name="HighestChlPeakReportActive" />
        </While>
        <Trigger:PeakDetectHorizontal>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectHorizontal.detectFrom />
                <Arg Name="PeakChl" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.depthFrom />
                <Arg Name="PeakChlDepth" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.latitudeFrom />
                <Arg Name="PeakChlLatitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.longitudeFrom />
                <Arg Name="PeakChlLongitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.patchTracking />
                <Arg Name="PatchTracking" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.filterWidth />
                <Arg Name="FilterWidthHorizontal" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.numProfilesSlidingwindow />
                <Arg Name="NumProfilesSlidingwindow" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.offPeakFraction />
                <Arg Name="OffPeakFractionHorizontal" />
            </Setting>
            <OutputArg Name="PatchChl">
                <Trigger:PeakDetectHorizontal.peakDetect />
            </OutputArg>
            <OutputArg Name="PatchChlDepth">
                <Trigger:PeakDetectHorizontal.peakDepth />
            </OutputArg>
            <OutputArg Name="PatchChlLatitude">
                <Trigger:PeakDetectHorizontal.peakLatitude />
            </OutputArg>
            <OutputArg Name="PatchChlLongitude">
                <Trigger:PeakDetectHorizontal.peakLongitude />
            </OutputArg>
            <OutputArg Name="PatchChlDistance">
                <Trigger:PeakDetectHorizontal.peakDistance />
            </OutputArg>
        </Trigger:PeakDetectHorizontal>
    </Aggregate>
    <Aggregate Id="PeakDetectNO3">
        <While>
            <Arg Name="PeakDetectNO3Active" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:mole_concentration_of_nitrate_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <OutputArg Name="PeakNO3">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakNO3Depth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakNO3Latitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakNO3Longitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakNO3" />
            <Arg Name="PeakNO3Depth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectOil">
        <While>
            <Arg Name="PeakDetectOilActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:mass_concentration_of_petroleum_hydrocarbons_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <OutputArg Name="PeakOil">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakOilDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakOilLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakOilLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakOil" />
            <Arg Name="PeakOilDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="HighestOilPeakReport">
        <While>
            <Arg Name="HighestOilPeakReportActive" />
        </While>
        <Trigger:PeakDetectHorizontal>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectHorizontal.detectFrom />
                <Arg Name="PeakOil" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.depthFrom />
                <Arg Name="PeakOilDepth" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.latitudeFrom />
                <Arg Name="PeakOilLatitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.longitudeFrom />
                <Arg Name="PeakOilLongitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.patchTracking />
                <Arg Name="PatchTracking" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.filterWidth />
                <Arg Name="FilterWidthHorizontal" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.numProfilesSlidingwindow />
                <Arg Name="NumProfilesSlidingwindow" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.offPeakFraction />
                <Arg Name="OffPeakFractionHorizontal" />
            </Setting>
            <OutputArg Name="PatchOil">
                <Trigger:PeakDetectHorizontal.peakDetect />
            </OutputArg>
            <OutputArg Name="PatchOilDepth">
                <Trigger:PeakDetectHorizontal.peakDepth />
            </OutputArg>
            <OutputArg Name="PatchOilLatitude">
                <Trigger:PeakDetectHorizontal.peakLatitude />
            </OutputArg>
            <OutputArg Name="PatchOilLongitude">
                <Trigger:PeakDetectHorizontal.peakLongitude />
            </OutputArg>
            <OutputArg Name="PatchOilDistance">
                <Trigger:PeakDetectHorizontal.peakDistance />
            </OutputArg>
        </Trigger:PeakDetectHorizontal>
    </Aggregate>
    <Aggregate Id="PeakDetectFDOM">
        <While>
            <Arg Name="PeakDetectFDOMActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:concentration_of_colored_dissolved_organic_matter_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <OutputArg Name="PeakFDOM">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakFDOMDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakFDOMTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakFDOMLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakFDOMLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakFDOM" />
            <Arg Name="PeakFDOMDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectSalinity">
        <While>
            <Arg Name="PeakDetectSalinityActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:sea_water_salinity />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakSalt">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakSaltDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakSaltTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakSaltLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakSaltLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakSalt" />
            <Arg Name="PeakSaltDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="HighestSaltPeakReport">
        <While>
            <Arg Name="HighestSaltPeakReportActive" />
        </While>
        <Trigger:PeakDetectHorizontal>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectHorizontal.detectFrom />
                <Arg Name="PeakSalt" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.depthFrom />
                <Arg Name="PeakSaltDepth" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.latitudeFrom />
                <Arg Name="PeakSaltLatitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.longitudeFrom />
                <Arg Name="PeakSaltLongitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.patchTracking />
                <Arg Name="PatchTracking" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.filterWidth />
                <Arg Name="FilterWidthHorizontal" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.numProfilesSlidingwindow />
                <Arg Name="NumProfilesSlidingwindow" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.offPeakFraction />
                <Arg Name="OffPeakFractionHorizontal" />
            </Setting>
            <OutputArg Name="PatchSalt">
                <Trigger:PeakDetectHorizontal.peakDetect />
            </OutputArg>
            <OutputArg Name="PatchSaltDepth">
                <Trigger:PeakDetectHorizontal.peakDepth />
            </OutputArg>
            <OutputArg Name="PatchSaltLatitude">
                <Trigger:PeakDetectHorizontal.peakLatitude />
            </OutputArg>
            <OutputArg Name="PatchSaltLongitude">
                <Trigger:PeakDetectHorizontal.peakLongitude />
            </OutputArg>
            <OutputArg Name="PatchSaltDistance">
                <Trigger:PeakDetectHorizontal.peakDistance />
            </OutputArg>
        </Trigger:PeakDetectHorizontal>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreLMavgROI">
        <While>
            <Arg Name="PeakDetectPlanktivoreLMavgROIActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_LM_AvgRois</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreLMavgROI">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROIDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROITemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROILatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROILongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreLMavgROI" />
            <Arg Name="PeakPlanktivoreLMavgROIDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="EdgeDetectPlanktivoreLMavgROI">
        <While>
            <Arg Name="EdgeDetectPlanktivoreLMavgROIActive" />
        </While>
        <Syslog Severity="Debug">EdgeDetectVsDepth</Syslog>
        <Trigger:EdgeDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:EdgeDetectVsDepth.detect />
                <String>_.planktivore_LM_AvgRois</String>
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFraction />
                <Arg Name="OffPeakFractionVertical" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.peakThresh />
                <Arg Name="PlanktivoreLMavgROIPeakThresh" />
            </Setting>
            <OutputArg Name="GoDown">
                <Trigger:EdgeDetectVsDepth.goDown />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROI">
                <Trigger:EdgeDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROIDepth">
                <Trigger:EdgeDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROITemperature">
                <Trigger:EdgeDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROILatitude">
                <Trigger:EdgeDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROILongitude">
                <Trigger:EdgeDetectVsDepth.peakLongitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROI">
                <Trigger:EdgeDetectVsDepth.edgeDetect />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROIDepth">
                <Trigger:EdgeDetectVsDepth.edgeDepth />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROITemperature">
                <Trigger:EdgeDetectVsDepth.edgeTemperature />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROILatitude">
                <Trigger:EdgeDetectVsDepth.edgeLatitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROILongitude">
                <Trigger:EdgeDetectVsDepth.edgeLongitude />
            </OutputArg>
        </Trigger:EdgeDetectVsDepth>
        <Syslog Severity="Important">
            GoDown, PlanktivoreLMavgROIPeakThresh, PeakPlanktivoreLMavgROI, PeakPlanktivoreLMavgROIDepth, EdgePlanktivoreLMavgROI, EdgePlanktivoreLMavgROIDepth = 
            <Arg Name="GoDown" />
            <Units:bool />
            , 
            <Arg Name="PlanktivoreLMavgROIPeakThresh" />
            <Units:microgram_per_liter />
            , 
            <Arg Name="PeakPlanktivoreLMavgROI" />
            <Units:microgram_per_liter />
            , 
            <Arg Name="PeakPlanktivoreLMavgROIDepth" />
            <Units:meter />
            , 
            <Arg Name="EdgePlanktivoreLMavgROI" />
            <Units:microgram_per_liter />
            , 
            <Arg Name="EdgePlanktivoreLMavgROIDepth" />
            <Units:meter />
        </Syslog>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreLMavgROI" />
            <Arg Name="PeakPlanktivoreLMavgROIDepth" />
            <Arg Name="EdgePlanktivoreLMavgROI" />
            <Arg Name="EdgePlanktivoreLMavgROIDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreHMavgROI">
        <While>
            <Arg Name="PeakDetectPlanktivoreHMavgROIActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_HM_AvgRois</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreHMavgROI">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROIDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROITemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROILatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROILongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreHMavgROI" />
            <Arg Name="PeakPlanktivoreHMavgROIDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreDiatoms">
        <While>
            <Arg Name="PeakDetectPlanktivoreDiatomsActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_diatoms</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreDiatoms">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreDiatoms" />
            <Arg Name="PeakPlanktivoreDiatomsDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreDinoflagellates">
        <While>
            <Arg Name="PeakDetectPlanktivoreDinoflagellatesActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_dinoflagellates</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreDinoflagellates">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreDinoflagellates" />
            <Arg Name="PeakPlanktivoreDinoflagellatesDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="ChlThreshTrigger">
        <While>
            <Arg Name="ChlThreshTriggerActive" />
        </While>
        <Trigger:ValueDetect>
            <Sequence />
            <Setting>
                <Trigger:ValueDetect.detect />
                <Arg Name="PeakChl" />
            </Setting>
            <Setting>
                <Trigger:ValueDetect.lowerThreshold />
                <Arg Name="ChlLowerThresh" />
            </Setting>
            <Setting>
                <Trigger:ValueDetect.upperThreshold />
                <Arg Name="ChlUpperThresh" />
            </Setting>
            <Setting>
                <Trigger:ValueDetect.numProfilesThreshold />
                <Arg Name="NumProfilesThresh" />
            </Setting>
            <OutputArg Name="ChlTriggering">
                <Trigger:ValueDetect.outputValue />
            </OutputArg>
        </Trigger:ValueDetect>
        <Assign>
            <Sequence />
            <Arg Name="TriggeredOnChl" />
            <True />
        </Assign>
        <Syslog Severity="Important">
            Triggered. PeakChl values on 
            <Arg Name="NumProfilesThresh" />
            <Units:count />
             consecutive yo-yo profiles fall in [
            <Arg Name="ChlLowerThresh" />
            <Units:microgram_per_liter />
            <Arg Name="ChlUpperThresh" />
            <Units:microgram_per_liter />
            ] (NaN bound is ignored).
        </Syslog>
    </Aggregate>
</Aggregate>

2025-03-12T04:30:03.470Z,1741753803.470 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.PeakDetectChlActive = 0 bool
2025-03-12T04:30:03.472Z,1741753803.472 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.EdgeDetectChlActive = 0 bool
2025-03-12T04:30:03.474Z,1741753803.474 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.TimeWindowPeakReport = nan min
2025-03-12T04:30:03.476Z,1741753803.476 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.HighestChlPeakReportActive = 0 bool
2025-03-12T04:30:03.478Z,1741753803.478 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.HighestSaltPeakReportActive = 0 bool
2025-03-12T04:30:03.480Z,1741753803.480 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.HighestOilPeakReportActive = 0 bool
2025-03-12T04:30:03.482Z,1741753803.482 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.PatchTracking = 0 bool
2025-03-12T04:30:03.484Z,1741753803.484 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.FilterWidthHorizontal = 3.000000 count
2025-03-12T04:30:03.487Z,1741753803.487 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.NumProfilesSlidingwindow = 100.000000 count
2025-03-12T04:30:03.489Z,1741753803.489 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.OffPeakFractionHorizontal = 80.000000 %
2025-03-12T04:30:03.506Z,1741753803.506 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.PeakDetectNO3Active = 0 bool
2025-03-12T04:30:03.516Z,1741753803.516 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.PeakDetectOilActive = 0 bool
2025-03-12T04:30:03.522Z,1741753803.522 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.PeakDetectFDOMActive = 0 bool
2025-03-12T04:30:03.524Z,1741753803.524 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.PeakDetectSalinityActive = 0 bool
2025-03-12T04:30:03.531Z,1741753803.531 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.PeakDetectPlanktivoreLMavgROIActive = 0 bool
2025-03-12T04:30:03.533Z,1741753803.533 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.EdgeDetectPlanktivoreLMavgROIActive = 0 bool
2025-03-12T04:30:03.543Z,1741753803.543 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.PeakDetectPlanktivoreHMavgROIActive = 0 bool
2025-03-12T04:30:03.545Z,1741753803.545 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.PeakDetectPlanktivoreDiatomsActive = 0 bool
2025-03-12T04:30:03.563Z,1741753803.563 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.PeakDetectPlanktivoreDinoflagellatesActive = 0 bool
2025-03-12T04:30:03.565Z,1741753803.565 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2025-03-12T04:30:03.576Z,1741753803.576 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.EnabledAanderaaO2 = 0 bool
2025-03-12T04:30:03.615Z,1741753803.615 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.EnabledNeilBrown = 0 bool
2025-03-12T04:30:03.617Z,1741753803.617 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.EnabledSeabird = 1 bool
2025-03-12T04:30:03.664Z,1741753803.664 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.EnabledWetLabsBB2FL = 1 bool
2025-03-12T04:30:03.671Z,1741753803.671 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.EnabledWetLabsSeaOWL_UV_A = 0 bool
2025-03-12T04:30:03.673Z,1741753803.673 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.EnabledWetLabsUBAT = 0 bool
2025-03-12T04:30:03.684Z,1741753803.684 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.LowPassWindowLength = 20.000000 count
2025-03-12T04:30:03.698Z,1741753803.698 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.MedianFilterLen = 5.000000 count
2025-03-12T04:30:03.701Z,1741753803.701 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.ShallowBound = nan m
2025-03-12T04:30:03.711Z,1741753803.711 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.DeepBound = nan m
2025-03-12T04:30:03.713Z,1741753803.713 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.DepChangeThreshForAttitudeFlip = 2.000000 m
2025-03-12T04:30:03.736Z,1741753803.736 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.OffPeakFractionVertical = nan %
2025-03-12T04:30:03.742Z,1741753803.742 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.ChlPeakThresh = 0.000000 ug/l
2025-03-12T04:30:03.744Z,1741753803.744 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.ChlThreshTriggerActive = 0 bool
2025-03-12T04:30:03.751Z,1741753803.751 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.ChlLowerThresh = nan ug/l
2025-03-12T04:30:03.753Z,1741753803.753 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.ChlUpperThresh = nan ug/l
2025-03-12T04:30:03.760Z,1741753803.760 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.NumProfilesThresh = 5.000000 count
2025-03-12T04:30:03.762Z,1741753803.762 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.PlanktivoreLMavgROIPeakThresh = 0.000000 count/s
2025-03-12T04:30:03.772Z,1741753803.772 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.GoDown = 1 bool
2025-03-12T04:30:03.779Z,1741753803.779 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakChl = nan ug/l
2025-03-12T04:30:03.781Z,1741753803.781 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakChlDepth = nan m
2025-03-12T04:30:03.788Z,1741753803.788 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakChlTemperature = nan degC
2025-03-12T04:30:03.795Z,1741753803.795 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakChlLatitude = nan arcdeg
2025-03-12T04:30:03.797Z,1741753803.797 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakChlLongitude = nan arcdeg
2025-03-12T04:30:03.804Z,1741753803.804 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.EdgeChl = nan ug/l
2025-03-12T04:30:03.810Z,1741753803.810 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.EdgeChlDepth = nan m
2025-03-12T04:30:03.813Z,1741753803.813 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.EdgeChlTemperature = nan degC
2025-03-12T04:30:03.819Z,1741753803.819 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.EdgeChlLatitude = nan arcdeg
2025-03-12T04:30:03.821Z,1741753803.821 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.EdgeChlLongitude = nan arcdeg
2025-03-12T04:30:03.828Z,1741753803.828 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakNO3 = nan umol/l
2025-03-12T04:30:03.835Z,1741753803.835 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakNO3Depth = nan m
2025-03-12T04:30:03.837Z,1741753803.837 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakNO3Latitude = nan arcdeg
2025-03-12T04:30:03.856Z,1741753803.856 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakNO3Longitude = nan arcdeg
2025-03-12T04:30:03.862Z,1741753803.862 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakOil = nan kg/m3
2025-03-12T04:30:03.867Z,1741753803.867 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakOilDepth = nan m
2025-03-12T04:30:03.870Z,1741753803.870 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakOilLatitude = nan arcdeg
2025-03-12T04:30:03.872Z,1741753803.872 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakOilLongitude = nan arcdeg
2025-03-12T04:30:03.879Z,1741753803.879 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakFDOM = nan ppb
2025-03-12T04:30:03.881Z,1741753803.881 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakFDOMDepth = nan m
2025-03-12T04:30:03.896Z,1741753803.896 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakFDOMTemperature = nan degC
2025-03-12T04:30:03.902Z,1741753803.902 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakFDOMLatitude = nan arcdeg
2025-03-12T04:30:03.905Z,1741753803.905 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakFDOMLongitude = nan arcdeg
2025-03-12T04:30:03.918Z,1741753803.918 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakSalt = nan psu
2025-03-12T04:30:03.921Z,1741753803.921 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakSaltDepth = nan m
2025-03-12T04:30:03.939Z,1741753803.939 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakSaltTemperature = nan degC
2025-03-12T04:30:03.942Z,1741753803.942 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakSaltLatitude = nan arcdeg
2025-03-12T04:30:03.952Z,1741753803.952 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakSaltLongitude = nan arcdeg
2025-03-12T04:30:03.959Z,1741753803.959 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreLMavgROI = nan count/s
2025-03-12T04:30:03.961Z,1741753803.961 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreLMavgROIDepth = nan m
2025-03-12T04:30:03.968Z,1741753803.968 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreLMavgROITemperature = nan degC
2025-03-12T04:30:03.978Z,1741753803.978 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreLMavgROILatitude = nan arcdeg
2025-03-12T04:30:03.981Z,1741753803.981 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreLMavgROILongitude = nan arcdeg
2025-03-12T04:30:03.986Z,1741753803.986 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.EdgePlanktivoreLMavgROI = nan count/s
2025-03-12T04:30:03.989Z,1741753803.989 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.EdgePlanktivoreLMavgROIDepth = nan m
2025-03-12T04:30:03.991Z,1741753803.991 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.EdgePlanktivoreLMavgROITemperature = nan degC
2025-03-12T04:30:03.993Z,1741753803.993 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.EdgePlanktivoreLMavgROILatitude = nan arcdeg
2025-03-12T04:30:04.012Z,1741753804.012 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.EdgePlanktivoreLMavgROILongitude = nan arcdeg
2025-03-12T04:30:04.014Z,1741753804.014 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreHMavgROI = nan count/s
2025-03-12T04:30:04.017Z,1741753804.017 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreHMavgROIDepth = nan m
2025-03-12T04:30:04.019Z,1741753804.019 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreHMavgROITemperature = nan degC
2025-03-12T04:30:04.021Z,1741753804.021 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreHMavgROILatitude = nan arcdeg
2025-03-12T04:30:04.084Z,1741753804.084 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreHMavgROILongitude = nan arcdeg
2025-03-12T04:30:04.092Z,1741753804.092 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreDiatoms = nan count/ml
2025-03-12T04:30:04.099Z,1741753804.099 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreDiatomsDepth = nan m
2025-03-12T04:30:04.101Z,1741753804.101 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreDiatomsTemperature = nan degC
2025-03-12T04:30:04.112Z,1741753804.112 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreDiatomsLatitude = nan arcdeg
2025-03-12T04:30:04.117Z,1741753804.117 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreDiatomsLongitude = nan arcdeg
2025-03-12T04:30:04.127Z,1741753804.127 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreDinoflagellates = nan count/ml
2025-03-12T04:30:04.130Z,1741753804.130 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreDinoflagellatesDepth = nan m
2025-03-12T04:30:04.136Z,1741753804.136 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreDinoflagellatesTemperature = nan degC
2025-03-12T04:30:04.143Z,1741753804.143 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreDinoflagellatesLatitude = nan arcdeg
2025-03-12T04:30:04.145Z,1741753804.145 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreDinoflagellatesLongitude = nan arcdeg
2025-03-12T04:30:04.153Z,1741753804.153 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchChl = nan ug/l
2025-03-12T04:30:04.157Z,1741753804.157 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchChlDepth = nan m
2025-03-12T04:30:04.176Z,1741753804.176 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchChlLatitude = nan arcdeg
2025-03-12T04:30:04.191Z,1741753804.191 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchChlLongitude = nan arcdeg
2025-03-12T04:30:04.193Z,1741753804.193 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchChlDistance = nan m
2025-03-12T04:30:04.200Z,1741753804.200 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchSalt = nan psu
2025-03-12T04:30:04.206Z,1741753804.206 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchSaltDepth = nan m
2025-03-12T04:30:04.209Z,1741753804.209 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchSaltLatitude = nan arcdeg
2025-03-12T04:30:04.215Z,1741753804.215 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchSaltLongitude = nan arcdeg
2025-03-12T04:30:04.222Z,1741753804.222 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchSaltDistance = nan m
2025-03-12T04:30:04.224Z,1741753804.224 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchOil = nan psu
2025-03-12T04:30:04.231Z,1741753804.231 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchOilDepth = nan m
2025-03-12T04:30:04.233Z,1741753804.233 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchOilLatitude = nan arcdeg
2025-03-12T04:30:04.248Z,1741753804.248 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchOilLongitude = nan arcdeg
2025-03-12T04:30:04.255Z,1741753804.255 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchOilDistance = nan m
2025-03-12T04:30:04.257Z,1741753804.257 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.TriggeredOnChl = 0 bool
2025-03-12T04:30:04.260Z,1741753804.260 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.ChlTriggering = nan ug/l
2025-03-12T04:30:04.326Z,1741753804.326 [sci2_noyo_optim:Science:PeakDetectChl:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-03-12T04:30:04.351Z,1741753804.351 [sci2_noyo_optim:Science:EdgeDetectChl:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-03-12T04:30:04.401Z,1741753804.401 [sci2_noyo_optim:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-03-12T04:30:04.466Z,1741753804.466 [sci2_noyo_optim:Science:PeakDetectNO3:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-03-12T04:30:04.493Z,1741753804.493 [sci2_noyo_optim:Science:PeakDetectOil:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-03-12T04:30:04.525Z,1741753804.525 [sci2_noyo_optim:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-03-12T04:30:04.562Z,1741753804.562 [sci2_noyo_optim:Science:PeakDetectFDOM:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-03-12T04:30:04.588Z,1741753804.588 [sci2_noyo_optim:Science:PeakDetectSalinity:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-03-12T04:30:04.616Z,1741753804.616 [sci2_noyo_optim:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-03-12T04:30:04.676Z,1741753804.676 [sci2_noyo_optim:Science:PeakDetectPlanktivoreLMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-03-12T04:30:04.722Z,1741753804.722 [sci2_noyo_optim:Science:EdgeDetectPlanktivoreLMavgROI:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-03-12T04:30:04.772Z,1741753804.772 [sci2_noyo_optim:Science:PeakDetectPlanktivoreHMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-03-12T04:30:04.797Z,1741753804.797 [sci2_noyo_optim:Science:PeakDetectPlanktivoreDiatoms:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-03-12T04:30:04.832Z,1741753804.832 [sci2_noyo_optim:Science:PeakDetectPlanktivoreDinoflagellates:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-03-12T04:30:04.894Z,1741753804.894 [sci2_noyo_optim:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Construct ValueDetect.
2025-03-12T04:30:04.905Z,1741753804.905 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-03-12T04:30:04.906Z,1741753804.906 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-03-12T04:30:04.911Z,1741753804.911 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-03-12T04:30:05.035Z,1741753805.035 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/StandardEnvelopes.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="StandardEnvelopes">
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="MaxDepthIgnore">
        <Units:meter />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>200</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:meter />
        <Value>2000</Value>
    </DefineArg>
    <Parallel />
    <Guidance:AltitudeEnvelope>
        <Parallel />
        <Setting>
            <Guidance:AltitudeEnvelope.minAltitude />
            <Arg Name="MinAltitude" />
        </Setting>
        <Setting>
            <Guidance:AltitudeEnvelope.maxDepthIgnore />
            <Arg Name="MaxDepthIgnore" />
        </Setting>
    </Guidance:AltitudeEnvelope>
    <Guidance:DepthEnvelope>
        <Parallel />
        <Setting>
            <Guidance:DepthEnvelope.maxDepth />
            <Arg Name="MaxDepth" />
        </Setting>
    </Guidance:DepthEnvelope>
    <Guidance:OffshoreEnvelope>
        <Parallel />
        <Setting>
            <Guidance:OffshoreEnvelope.minOffshore />
            <Arg Name="MinOffshore" />
        </Setting>
    </Guidance:OffshoreEnvelope>
</Aggregate>

2025-03-12T04:30:05.039Z,1741753805.039 [MissionManager](INFO): DefineArg sci2_noyo_optim:StandardEnvelopes.MinAltitude = 5.000000 m
2025-03-12T04:30:05.041Z,1741753805.041 [MissionManager](INFO): DefineArg sci2_noyo_optim:StandardEnvelopes.MaxDepthIgnore = 0.000000 m
2025-03-12T04:30:05.043Z,1741753805.043 [MissionManager](INFO): DefineArg sci2_noyo_optim:StandardEnvelopes.MaxDepth = 200.000000 m
2025-03-12T04:30:05.045Z,1741753805.045 [MissionManager](INFO): DefineArg sci2_noyo_optim:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-03-12T04:30:05.046Z,1741753805.046 [sci2_noyo_optim:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-03-12T04:30:05.052Z,1741753805.052 [sci2_noyo_optim:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-03-12T04:30:05.058Z,1741753805.058 [sci2_noyo_optim:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-03-12T04:30:05.066Z,1741753805.066 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl
2025-03-12T04:30:05.067Z,1741753805.067 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl
2025-03-12T04:30:05.068Z,1741753805.068 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl
2025-03-12T04:30:05.356Z,1741753805.356 [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>

2025-03-12T04:30:05.361Z,1741753805.361 [MissionManager](INFO): DefineArg sci2_noyo_optim:NeedComms.DiveInterval = 1.000000 h
2025-03-12T04:30:05.363Z,1741753805.363 [MissionManager](INFO): DefineArg sci2_noyo_optim:NeedComms.WaitForPitchUp = 10.000000 min
2025-03-12T04:30:05.365Z,1741753805.365 [MissionManager](INFO): DefineArg sci2_noyo_optim:NeedComms.SurfacePitch = 20.000000 arcdeg
2025-03-12T04:30:05.368Z,1741753805.368 [MissionManager](INFO): DefineArg sci2_noyo_optim:NeedComms.SurfaceDepthRate = nan m/s
2025-03-12T04:30:05.370Z,1741753805.370 [MissionManager](INFO): DefineArg sci2_noyo_optim:NeedComms.SurfaceSpeed = 1.000000 m/s
2025-03-12T04:30:05.372Z,1741753805.372 [MissionManager](INFO): DefineArg sci2_noyo_optim:NeedComms.SurfacingTimeout = 1000.000000 s
2025-03-12T04:30:05.374Z,1741753805.374 [MissionManager](INFO): DefineArg sci2_noyo_optim:NeedComms.GPSTimeout = 7.000000 min
2025-03-12T04:30:05.377Z,1741753805.377 [MissionManager](INFO): DefineArg sci2_noyo_optim:NeedComms.CommsTimeout = 30.000000 min
2025-03-12T04:30:05.383Z,1741753805.383 [sci2_noyo_optim:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2025-03-12T04:30:05.445Z,1741753805.445 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2025-03-12T04:30:05.445Z,1741753805.445 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2025-03-12T04:30:05.450Z,1741753805.450 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2025-03-12T04:30:05.480Z,1741753805.480 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/BackseatDriver.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="BackseatDriver">
    <DefineArg Name="EnableBackseat">
        <False />
    </DefineArg>
    <Parallel />
    <Guidance:BackseatDriver>
        <Sequence />
        <Setting>
            <Guidance:BackseatDriver.powerBackseat />
            <Arg Name="EnableBackseat" />
        </Setting>
    </Guidance:BackseatDriver>
</Aggregate>

2025-03-12T04:30:05.483Z,1741753805.483 [MissionManager](INFO): DefineArg sci2_noyo_optim:BackseatDriver.EnableBackseat = 0 bool
2025-03-12T04:30:05.486Z,1741753805.486 [sci2_noyo_optim:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2025-03-12T04:30:05.490Z,1741753805.490 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2025-03-12T04:30:05.490Z,1741753805.490 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2025-03-12T04:30:05.491Z,1741753805.491 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2025-03-12T04:30:05.610Z,1741753805.610 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/PowerOnly.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="PowerOnly">
    <DefineArg Name="SampleAll">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad1">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad2">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad3">
        <False />
    </DefineArg>
    <DefineArg Name="EnabledPowerOnly">
        <Sensor:PowerOnly.loadAtStartup />
    </DefineArg>
    <Parallel />
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleAll" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.samplePowerOnly />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad1" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad1 />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad2" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad2 />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad3" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad3 />
    </ReadData>
    <Guidance:Wait>
        <Sequence />
        <Setting>
            <Guidance:Wait.duration />
            <Units:hour />
            <Value>99999</Value>
        </Setting>
    </Guidance:Wait>
</Aggregate>

2025-03-12T04:30:05.615Z,1741753805.615 [MissionManager](INFO): DefineArg sci2_noyo_optim:PowerOnly.SampleAll = 0 bool
2025-03-12T04:30:05.617Z,1741753805.617 [MissionManager](INFO): DefineArg sci2_noyo_optim:PowerOnly.SampleLoad1 = 0 bool
2025-03-12T04:30:05.619Z,1741753805.619 [MissionManager](INFO): DefineArg sci2_noyo_optim:PowerOnly.SampleLoad2 = 0 bool
2025-03-12T04:30:05.621Z,1741753805.621 [MissionManager](INFO): DefineArg sci2_noyo_optim:PowerOnly.SampleLoad3 = 0 bool
2025-03-12T04:30:05.624Z,1741753805.624 [MissionManager](INFO): DefineArg sci2_noyo_optim:PowerOnly.EnabledPowerOnly = 1 bool
2025-03-12T04:30:05.634Z,1741753805.634 [sci2_noyo_optim:PowerOnly:E.Wait](DEBUG): Construct Wait.
2025-03-12T04:30:05.639Z,1741753805.639 [sci2_noyo_optim:M.Buoyancy](DEBUG): Construct Buoyancy.
2025-03-12T04:30:05.729Z,1741753805.729 [sci2_noyo_optim:DiveCmd:InitialDive:dive:C.Mass](DEBUG): Construct.
2025-03-12T04:30:05.737Z,1741753805.737 [sci2_noyo_optim:DiveCmd:InitialDive:dive:E.Wait](DEBUG): Construct Wait.
2025-03-12T04:30:05.752Z,1741753805.752 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:A.SetSpeed](DEBUG): Construct.
2025-03-12T04:30:05.756Z,1741753805.756 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:B.Pitch](DEBUG): Construct.
2025-03-12T04:30:05.767Z,1741753805.767 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:B.Pitch:A_Timeout:B.Execute](DEBUG): Construct Execute.
2025-03-12T04:30:05.783Z,1741753805.783 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:B.Pitch](DEBUG): Construct.
2025-03-12T04:30:05.791Z,1741753805.791 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:C.Wait](DEBUG): Construct Wait.
2025-03-12T04:30:05.808Z,1741753805.808 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass](DEBUG): Construct.
2025-03-12T04:30:05.814Z,1741753805.814 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed](DEBUG): Construct.
2025-03-12T04:30:05.817Z,1741753805.817 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:B.Pitch](DEBUG): Construct.
2025-03-12T04:30:05.832Z,1741753805.832 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:A.SetSpeed](DEBUG): Construct.
2025-03-12T04:30:05.839Z,1741753805.839 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:C.Buoyancy](DEBUG): Construct Buoyancy.
2025-03-12T04:30:05.841Z,1741753805.841 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:D.Pitch](DEBUG): Construct.
2025-03-12T04:30:05.853Z,1741753805.853 [sci2_noyo_optim:Lap:DepthByLap:Wpt1:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:30:05.861Z,1741753805.861 [sci2_noyo_optim:Lap:DepthByLap:Wpt2:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:30:05.884Z,1741753805.884 [sci2_noyo_optim:Lap:DepthByLap:Wpt3:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:30:05.900Z,1741753805.900 [sci2_noyo_optim:Lap:DepthByLap:Wpt4:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:30:05.908Z,1741753805.908 [sci2_noyo_optim:Lap:DepthByLap:Wpt5:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:30:05.923Z,1741753805.923 [sci2_noyo_optim:Lap:DepthByLap:Wpt6:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:30:05.939Z,1741753805.939 [sci2_noyo_optim:Lap:DepthByLap:Wpt7:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:30:05.947Z,1741753805.947 [sci2_noyo_optim:Lap:DepthByLap:Wpt8:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:30:05.979Z,1741753805.979 [sci2_noyo_optim:Lap:DepthByLap:Leg2:Wpt1:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:30:05.996Z,1741753805.996 [sci2_noyo_optim:Lap:DepthByLap:Leg2:Wpt2:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:30:06.011Z,1741753806.011 [sci2_noyo_optim:Lap:DepthByLap:Leg2:Wpt3:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:30:06.027Z,1741753806.027 [sci2_noyo_optim:Lap:DepthByLap:Leg2:Wpt4:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:30:06.083Z,1741753806.083 [sci2_noyo_optim:Lap:DepthByLap:Leg2:Wpt5:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:30:06.107Z,1741753806.107 [sci2_noyo_optim:Lap:DepthByLap:Leg2:Wpt6:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:30:06.131Z,1741753806.131 [sci2_noyo_optim:Lap:DepthByLap:Leg2:Wpt7:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:30:06.155Z,1741753806.155 [sci2_noyo_optim:Lap:DepthByLap:Leg2:Wpt8:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:30:06.180Z,1741753806.180 [sci2_noyo_optim:Lap:DepthByLap:Leg3:Wpt1:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:30:06.197Z,1741753806.197 [sci2_noyo_optim:Lap:DepthByLap:Leg3:Wpt2:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:30:06.218Z,1741753806.218 [sci2_noyo_optim:Lap:DepthByLap:Leg3:Wpt3:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:30:06.226Z,1741753806.226 [sci2_noyo_optim:Lap:DepthByLap:Leg3:Wpt4:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:30:06.253Z,1741753806.253 [sci2_noyo_optim:Lap:DepthByLap:Leg3:Wpt5:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:30:06.269Z,1741753806.269 [sci2_noyo_optim:Lap:DepthByLap:Leg3:Wpt6:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:30:06.284Z,1741753806.284 [sci2_noyo_optim:Lap:DepthByLap:Leg3:Wpt7:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:30:06.301Z,1741753806.301 [sci2_noyo_optim:Lap:DepthByLap:Leg3:Wpt8:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:30:06.325Z,1741753806.325 [sci2_noyo_optim:Lap:DepthByLap:Leg4:Wpt1:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:30:06.348Z,1741753806.348 [sci2_noyo_optim:Lap:DepthByLap:Leg4:Wpt2:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:30:06.356Z,1741753806.356 [sci2_noyo_optim:Lap:DepthByLap:Leg4:Wpt3:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:30:06.363Z,1741753806.363 [sci2_noyo_optim:Lap:DepthByLap:Leg4:Wpt4:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:30:06.394Z,1741753806.394 [sci2_noyo_optim:Lap:DepthByLap:Leg4:Wpt5:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:30:06.401Z,1741753806.401 [sci2_noyo_optim:Lap:DepthByLap:Leg4:Wpt6:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:30:06.420Z,1741753806.420 [sci2_noyo_optim:Lap:DepthByLap:Leg4:Wpt7:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:30:06.435Z,1741753806.435 [sci2_noyo_optim:Lap:DepthByLap:Leg4:Wpt8:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:30:06.487Z,1741753806.487 [sci2_noyo_optim:Lap:DepthByLap:Leg5:Wpt1:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:30:06.511Z,1741753806.511 [sci2_noyo_optim:Lap:DepthByLap:Leg5:Wpt2:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:30:06.535Z,1741753806.535 [sci2_noyo_optim:Lap:DepthByLap:Leg5:Wpt3:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:30:06.550Z,1741753806.550 [sci2_noyo_optim:Lap:DepthByLap:Leg5:Wpt4:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:30:06.567Z,1741753806.567 [sci2_noyo_optim:Lap:DepthByLap:Leg5:Wpt5:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:30:06.583Z,1741753806.583 [sci2_noyo_optim:Lap:DepthByLap:Leg5:Wpt6:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:30:06.600Z,1741753806.600 [sci2_noyo_optim:Lap:DepthByLap:Leg5:Wpt7:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:30:06.616Z,1741753806.616 [sci2_noyo_optim:Lap:DepthByLap:Leg5:Wpt8:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:30:06.641Z,1741753806.641 [sci2_noyo_optim:Lap:DepthByLap:Leg6:Wpt1:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:30:06.657Z,1741753806.657 [sci2_noyo_optim:Lap:DepthByLap:Leg6:Wpt2:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:30:06.672Z,1741753806.672 [sci2_noyo_optim:Lap:DepthByLap:Leg6:Wpt3:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:30:06.689Z,1741753806.689 [sci2_noyo_optim:Lap:DepthByLap:Leg6:Wpt4:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:30:06.705Z,1741753806.705 [sci2_noyo_optim:Lap:DepthByLap:Leg6:Wpt5:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:30:06.721Z,1741753806.721 [sci2_noyo_optim:Lap:DepthByLap:Leg6:Wpt6:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:30:06.736Z,1741753806.736 [sci2_noyo_optim:Lap:DepthByLap:Leg6:Wpt7:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:30:06.753Z,1741753806.753 [sci2_noyo_optim:Lap:DepthByLap:Leg6:Wpt8:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:30:06.777Z,1741753806.777 [sci2_noyo_optim:Lap:DepthByLap:Leg7:Wpt1:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:30:06.793Z,1741753806.793 [sci2_noyo_optim:Lap:DepthByLap:Leg7:Wpt2:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:30:06.809Z,1741753806.809 [sci2_noyo_optim:Lap:DepthByLap:Leg7:Wpt3:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:30:06.825Z,1741753806.825 [sci2_noyo_optim:Lap:DepthByLap:Leg7:Wpt4:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:30:06.845Z,1741753806.845 [sci2_noyo_optim:Lap:DepthByLap:Leg7:Wpt5:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:30:06.892Z,1741753806.892 [sci2_noyo_optim:Lap:DepthByLap:Leg7:Wpt6:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:30:06.913Z,1741753806.913 [sci2_noyo_optim:Lap:DepthByLap:Leg7:Wpt7:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:30:06.933Z,1741753806.933 [sci2_noyo_optim:Lap:DepthByLap:Leg7:Wpt8:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:30:06.972Z,1741753806.972 [sci2_noyo_optim:Lap:DepthByLap:Leg8:Wpt1:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:30:06.980Z,1741753806.980 [sci2_noyo_optim:Lap:DepthByLap:Leg8:Wpt2:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:30:06.996Z,1741753806.996 [sci2_noyo_optim:Lap:DepthByLap:Leg8:Wpt3:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:30:07.012Z,1741753807.012 [sci2_noyo_optim:Lap:DepthByLap:Leg8:Wpt4:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:30:07.028Z,1741753807.028 [sci2_noyo_optim:Lap:DepthByLap:Leg8:Wpt5:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:30:07.050Z,1741753807.050 [sci2_noyo_optim:Lap:DepthByLap:Leg8:Wpt6:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:30:07.062Z,1741753807.062 [sci2_noyo_optim:Lap:DepthByLap:Leg8:Wpt7:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:30:07.082Z,1741753807.082 [sci2_noyo_optim:Lap:DepthByLap:Leg8:Wpt8:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:30:07.102Z,1741753807.102 [sci2_noyo_optim:Lap:DepthByLeg:Leg1:B.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:30:07.127Z,1741753807.127 [sci2_noyo_optim:Lap:DepthByLeg:Leg2:Wpt2:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:30:07.162Z,1741753807.162 [sci2_noyo_optim:Lap:DepthByLeg:Leg3:Wpt3:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:30:07.188Z,1741753807.188 [sci2_noyo_optim:Lap:DepthByLeg:Leg4:Wpt4:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:30:07.208Z,1741753807.208 [sci2_noyo_optim:Lap:DepthByLeg:Leg5:Wpt5:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:30:07.287Z,1741753807.287 [sci2_noyo_optim:Lap:DepthByLeg:Leg6:Wpt6:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:30:07.319Z,1741753807.319 [sci2_noyo_optim:Lap:DepthByLeg:Leg7:Wpt7:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:30:07.349Z,1741753807.349 [sci2_noyo_optim:Lap:DepthByLeg:Leg8:Wpt8:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:30:07.522Z,1741753807.522 [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 sci2_noyo_optim {
  """
  Vehicle transits to the specified waypoints at the commanded depth
  (flat-and-level, no yoyos) with science, Optim camera, and multiray
  lights on.
  """

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

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

    Depth1 = 35 meter
      """
      Depth of flat and level flight during the mission for the first transit leg or lap.
      """

    Depth[2..8] = NaN meter
      """
      Depth of flat and level flight during the mission for subsequent transit legs or laps.
      Skipped if NaN.
      """

    DepthPerLeg = false
      """
      Indicates whether additional depths correspond to laps (cycle through all waypoints at
      each depth, default) or legs (use depth for transit leg ending at corresponding waypoint,
      each lap repeats all depths and waypoints).
      """

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

    Lat[1..8] = NaN degree
      """
      Latitude of waypoint {$}. If nan, waypoint is skipped.
      """

    Lon[1..8] = NaN degree
      """
      Longitude of waypoint {$}. If nan, waypoint is skipped.
      """

    FastSpeed = 1 meter_per_second
      """
      Speed while transiting to waypoint.
      """

    ApproachDepth = 30 meter
      """
      Depth for initial descent form the surface.
      """

    ApproachSpeed = 0.7 meter_per_second
      """
      Speed while descending to target depth.
      """

    ApproachDepthRate = 0.05 meter_per_second
      """
      Descent depth rate (Positive depth rate means going down).
      """

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

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

    ApproachSettleTimePreDive = 1 minute
      """
      Time duration for the vehicle to pump down the VBS *BEFORE* leaving the
      surface.
      """

    ApproachSettleTimePostDive = 3 minute
      """
      Time duration for the vehicle to settle *AFTER* reaching the target
      depth.
      """

    kpDepth = 0.07 radian_per_meter
      """
      Dive loop proportional gain (applied only while the vehicle is
      descending to target depth).
      """

    SlowSpeed = 0.25 meter_per_second
      """
      Set this to something other than Nan if slow speed filming with a
      wide depth deadband is desired.
      """

    DepthDeviationSlow = 3 meter
      """
      Allowable +/- deviation from depth during slow flight. Needs a SlowSpeed
      to be set.
      """

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

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

    MinAltitude = 2 meter
      """
      Minimum height above the sea floor for the entire mission.
      """

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

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

  output {
    DiveMode = 0 count
      """
      Mission variable (don't change). The mission sets this variable to
      switch between dive modes. Initialized to DoingComms.
      """

    DoingComms = 0 count
      """
      Mission variable (don't change). The mission will run in this to mode
      when doing surface comms.
      """

    InitialDive = 1 count
      """
      Mission variable (don't change). The mission will run in this mode after
      surface comms are done to dive the vehicle to the approach depth.
      """

    SettleAtDepth = 2 count
      """
      Mission variable (don't change). The mission will run in this mode to
      settle the vehicle at the target depth.
      """

    MaintainDepth = 3 count
      """
      Mission variable (don't change). The mission will run in this mode to
      maintain the vehicle at the target depth.
      """

    LegDepth = Depth1
      """
      Mission variable to track the current depth for the current leg.
      """
  }

  # Mission timeout

  timeout duration=MissionTimeout

  # Science!

  insert Insert/Science.tl {
    """
    Run the science sensors.
    """
  }

  # 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 = MissionTimeout

  assign in sequence NeedComms:WaitForPitchUp = 0 minute

  insert Insert/BackseatDriver.tl
  assign in parallel BackseatDriver:EnableBackseat = true

  insert Insert/PowerOnly.tl
  assign in parallel PowerOnly:SampleLoad1 = true

  behavior Guidance:Buoyancy {
    run in parallel

    set position = BuoyancyNeutral
  }

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

    assign in sequence DiveMode = DoingComms

    call refId="NeedComms"

    assign in sequence DiveMode = InitialDive
  }

  aggregate DiveCmd {
    """
    Called when the vehicle should be underwater. Arbitrates between 4
    dive modes: 1) descend from the surface to initial depth. 2) settle
    at target depth using the VB. 3) cruise at target depth and go slow
    while within depth deviation bounds if a slow speed is set.
    """

    run when ( called )

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

      run while ( DiveMode == InitialDive )

      aggregate dive {
        run in sequence

        assign in parallel Control:VerticalControl.pitchLimit = ApproachPitchLimit

        assign in parallel Control:VerticalControl.kpDepth = kpDepth

        behavior Guidance:Mass {
          run in parallel

          set position = MassDefault
        }

        # behavior Guidance:Buoyancy {
        #   run in parallel

        #   set position = BuoyancyNeutral
        # }

        syslog info "Waiting for "
             + ApproachSettleTimePreDive~minute + "while pumping down to neutral."

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

          run in sequence

          set duration = ApproachSettleTimePreDive
        }

        syslog "Moving to " + ApproachDepth~meter

        aggregate ApproachDepth {
          run in sequence

          behavior Guidance:SetSpeed {
            run in parallel

            set speed = ApproachSpeed
          }

          behavior Guidance:Pitch {
            run in sequence

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

              behavior Guidance:Execute {
                run in sequence

                set command = "stop"
              }
            }

            set depth = ApproachDepth
            set depthRate = ApproachDepthRate
          }
        }

        assign in sequence DiveMode = SettleAtDepth
      }
    }

    aggregate SettleAtDepth {
      """
      Take a few more moments here to make sure the vehicle is settled
      at the target depth.
      """

      run while ( DiveMode == SettleAtDepth )

      aggregate dive {
        run in sequence

        syslog info "Reached " + Universal:depth~meter + ", settling for "
             + ApproachSettleTimePostDive~minute

        behavior Guidance:Pitch {
          run in parallel

          set depth = LegDepth
        }

        behavior Guidance:Wait {
          run in sequence

          set duration = ApproachSettleTimePostDive
        }

        assign in sequence DiveMode = MaintainDepth
      }
    }

    aggregate MaintainDepth {
      """
      Cruise at the target depth.
      """

      run while (
        DiveMode == MaintainDepth
        and ( Universal:depth > ( LegDepth + DepthDeviationSlow ) )
        or ( Universal:depth < ( LegDepth - DepthDeviationSlow ) )
      )

      aggregate dive {
        run in parallel

        aggregate ThrusterDive {
          run while ( FastSpeed > 0.0 meter_per_second )

          behavior Guidance:Mass {
            run in parallel

            set position = MassDefault
          }

          # behavior Guidance:Buoyancy {
          #   run in parallel

          #   set position = BuoyancyNeutral
          # }

          behavior Guidance:SetSpeed {
            run in parallel

            set speed = FastSpeed
          }
        }

        behavior Guidance:Pitch {
          run in parallel

          set depth = LegDepth
        }
      }
    }

    aggregate MaintainDepthSlow {
      """
      Cruise slow at the target depth.
      """

      run while (
        ( not isNaN ( SlowSpeed ) )
        and ( DiveMode == MaintainDepth )
        and ( Universal:depth <= ( LegDepth + DepthDeviationSlow ) )
        and ( Universal:depth >= ( LegDepth - DepthDeviationSlow ) )
      )

      behavior Guidance:SetSpeed {
        run in parallel

        set speed = SlowSpeed
      }

      # Let's make sure the vertical control depth deadband doesn't interfere with our mission
      # level version of the deadband. And we'll add an extra 3m so we don't trigger any
      # faults inside vertical control when attempting to regain the commanded depth.
      assign in parallel Control:VerticalControl.depthDeadband = ( DepthDeviationSlow + 3 m )

      behavior Guidance:Buoyancy {
        run in parallel

        set position = NaN cc
      }

      behavior Guidance:Pitch {
        run in parallel

        set depth = LegDepth
      }
    }
  }

  # Start mission sequence

  call id="StartingMission" refId="SurfaceComms"

  aggregate Lap {
    run in sequence repeat=Repeat

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

      call refId="DiveCmd"
    }

    # Default behavior: Depths correspond to laps
    # Run through all waypoints at each depth
    aggregate DepthByLap {
      run in sequence

      break if ( DepthPerLeg )

      assign in sequence LegDepth = Depth1

      aggregate Wpt1 {
        run in sequence

        behavior Guidance:Waypoint {
          run in sequence

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

      macro $i = 2..8 {
        aggregate Wpt$i {
          run in sequence

          behavior Guidance:Waypoint {
            run in sequence

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

      macro $j = 2..8 {
        aggregate Leg$j {
          run in sequence

          break if ( isNaN ( Depth[$j] ) )

          syslog important "Transiting waypoints at depth " + Depth[$j]~meter
          assign in sequence LegDepth = Depth[$j]

          macro $i = 1..8 {
            aggregate Wpt$i {
              run in sequence

              behavior Guidance:Waypoint {
                run in sequence

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

    # Non-default behavior: depth by leg
    # Transit to waypoint at corresponding depth, repeat per lap
    # (e.g. Transit to waypoint 1 at depth 1, waypoint 2 at depth 2, and so on)
    aggregate DepthByLeg {
      run in sequence

      break if ( not DepthPerLeg )

      aggregate Leg1 {
        run in sequence

        assign in sequence LegDepth = Depth1

        behavior Guidance:Waypoint {
          run in sequence

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

      macro $i = 2..8 {
        aggregate Leg$i {
          run in sequence

          break if ( isNaN ( Depth[$i] ) )

          syslog info "Transiting to next waypoint at depth " + Depth[$i]~meter
          assign in sequence LegDepth = Depth[$i]

          aggregate Wpt$i {
            run in sequence

            behavior Guidance:Waypoint {
              run in sequence

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


2025-03-12T04:30:07.523Z,1741753807.523 [CommandExec](IMPORTANT): Loaded ./Missions/Science/sci2_noyo_optim.tl id=sci2_noyo_optim
2025-03-12T04:30:07.709Z,1741753807.709 [MissionManager](IMPORTANT): Started mission Default
2025-03-12T04:30:07.709Z,1741753807.709 [Default] Running Loop=1
2025-03-12T04:30:07.709Z,1741753807.709 [Default](DEBUG): Aggregate::initialize Default
2025-03-12T04:30:07.709Z,1741753807.709 [Default:B.GoToSurface] Running Loop=1
2025-03-12T04:30:07.709Z,1741753807.709 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-03-12T04:30:07.718Z,1741753807.718 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-03-12T04:30:07.718Z,1741753807.718 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-03-12T04:30:07.719Z,1741753807.719 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-03-12T04:30:07.719Z,1741753807.719 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-03-12T04:30:07.719Z,1741753807.719 [Default:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-03-12T04:30:07.719Z,1741753807.719 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-03-12T04:30:07.720Z,1741753807.720 [Default:A.Wait] Running Loop=1
2025-03-12T04:30:07.720Z,1741753807.720 [Default:A.Wait](DEBUG): Initialize Wait Component.
2025-03-12T04:30:13.608Z,1741753813.608 [BackseatComponent](INFO): Powering down and starting shutdown timer (18.00 sec).
2025-03-12T04:30:13.608Z,1741753813.608 [BackseatComponent](INFO): Unsubscribing from LCM channels.
2025-03-12T04:30:13.609Z,1741753813.609 [LcmUniversalReporter](INFO): Deactivating messaging.
2025-03-12T04:30:21.046Z,1741753821.046 [Default:A.Wait](INFO): Done Waiting.
2025-03-12T04:30:21.046Z,1741753821.046 [Default:A.Wait] Stopped
2025-03-12T04:30:21.046Z,1741753821.046 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2025-03-12T04:30:21.462Z,1741753821.462 [Default:CheckIn] Running Loop=1
2025-03-12T04:30:21.462Z,1741753821.462 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-03-12T04:30:21.462Z,1741753821.462 [Default:CheckIn:Read_GPS] Running Loop=1
2025-03-12T04:30:23.437Z,1741753823.437 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,043022.00,A,3648.09794,N,12150.38732,W,1.108,289.56,120325,,,A*74
2025-03-12T04:30:23.440Z,1741753823.440 [NAL9602](INFO): GPS fix at 20250312T043022: (36.801632, -121.839789)
2025-03-12T04:30:23.461Z,1741753823.461 [Default:CheckIn:Read_GPS] Stopped
2025-03-12T04:30:23.461Z,1741753823.461 [Default:CheckIn:Read_Iridium] Running Loop=1
2025-03-12T04:30:29.054Z,1741753829.054 [DataOverHttps](INFO): Sending 85 bytes from file Logs/20250311T232940/Courier0084.lzma
2025-03-12T04:30:30.056Z,1741753830.056 [DataOverHttps](INFO): Moved sent file to Logs/20250311T232940/Courier0084.lzma.bak
2025-03-12T04:30:30.056Z,1741753830.056 [DataOverHttps](INFO): SBD MOMSN=24182276
2025-03-12T04:30:43.320Z,1741753843.320 [CommandExec](IMPORTANT): got command set sci2_noyo_optim.MissionTimeout 12 hour
2025-03-12T04:30:43.320Z,1741753843.320 [CommandExec](IMPORTANT): got command set sci2_noyo_optim.NeedCommsTime 60 minute
2025-03-12T04:30:43.321Z,1741753843.321 [CommandExec](IMPORTANT): got command set sci2_noyo_optim.Repeat 12 count
2025-03-12T04:30:43.322Z,1741753843.322 [CommandExec](IMPORTANT): got command set sci2_noyo_optim.Lat1 36.797 degree
2025-03-12T04:30:43.323Z,1741753843.323 [CommandExec](IMPORTANT): got command set sci2_noyo_optim.Lon1 -121.847 degree
2025-03-12T04:30:54.034Z,1741753854.034 [DataOverHttps](INFO): Sending 39 bytes from file Logs/20250311T232940/Courier0087.lzma
2025-03-12T04:30:55.036Z,1741753855.036 [DataOverHttps](INFO): Moved sent file to Logs/20250311T232940/Courier0087.lzma.bak
2025-03-12T04:30:55.036Z,1741753855.036 [DataOverHttps](INFO): SBD MOMSN=24182279
2025-03-12T04:31:17.888Z,1741753877.888 [DataOverHttps](INFO): Sending 694 bytes from file Logs/20250311T232940/Express0085.lzma
2025-03-12T04:31:18.888Z,1741753878.888 [DataOverHttps](INFO): Moved sent file to Logs/20250311T232940/Express0085.lzma.bak
2025-03-12T04:31:18.888Z,1741753878.888 [DataOverHttps](INFO): SBD MOMSN=24182281
2025-03-12T04:31:23.173Z,1741753883.173 [PowerOnly](INFO): Powering down loadControl
2025-03-12T04:31:30.721Z,1741753890.721 [CommandExec](IMPORTANT): got command set sci2_noyo_optim.Lat2 36.79705 degree
2025-03-12T04:31:30.721Z,1741753890.721 [CommandExec](IMPORTANT): got command set sci2_noyo_optim.Lon2 -121.87769 degree
2025-03-12T04:31:30.723Z,1741753890.723 [CommandExec](IMPORTANT): got command set sci2_noyo_optim.ApproachDepth 10 meter
2025-03-12T04:31:30.724Z,1741753890.724 [CommandExec](IMPORTANT): got command set sci2_noyo_optim.SlowSpeed 0.4 meter_per_second
2025-03-12T04:31:30.725Z,1741753890.724 [CommandExec](IMPORTANT): got command set sci2_noyo_optim.MinAltitude 10 meter
2025-03-12T04:31:30.725Z,1741753890.725 [CommandExec](IMPORTANT): got command set sci2_noyo_optim.MaxDepth 40 meter
2025-03-12T04:31:47.222Z,1741753907.222 [DataOverHttps](INFO): Sending 62 bytes from file Logs/20250311T232940/Express0088.lzma
2025-03-12T04:31:48.228Z,1741753908.228 [DataOverHttps](INFO): Moved sent file to Logs/20250311T232940/Express0088.lzma.bak
2025-03-12T04:31:48.228Z,1741753908.228 [DataOverHttps](INFO): SBD MOMSN=24182299
2025-03-12T04:31:49.579Z,1741753909.579 [Default:CheckIn:Read_Iridium] Stopped
2025-03-12T04:31:49.579Z,1741753909.579 [Default:CheckIn:C.Wait] Running Loop=1
2025-03-12T04:31:49.579Z,1741753909.579 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2025-03-12T04:31:50.493Z,1741753910.493 [CommandExec](IMPORTANT): got command set sci2_noyo_optim:PowerOnly.SampleLoad1 1 bool
2025-03-12T04:31:50.494Z,1741753910.494 [CommandExec](IMPORTANT): got command run
2025-03-12T04:31:50.500Z,1741753910.500 [CommandExec](IMPORTANT): Running 
2025-03-12T04:31:50.786Z,1741753910.786 [Default] Stopped
2025-03-12T04:31:50.786Z,1741753910.786 [Default](DEBUG): Aggregate::uninitialize Default
2025-03-12T04:31:50.786Z,1741753910.786 [Default:B.GoToSurface] Stopped
2025-03-12T04:31:50.786Z,1741753910.786 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-03-12T04:31:50.786Z,1741753910.786 [Default:CheckIn] Stopped
2025-03-12T04:31:50.786Z,1741753910.786 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-03-12T04:31:50.786Z,1741753910.786 [Default:CheckIn:C.Wait] Stopped
2025-03-12T04:31:50.786Z,1741753910.786 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2025-03-12T04:31:50.787Z,1741753910.787 [MissionManager](IMPORTANT): Started mission sci2_noyo_optim
2025-03-12T04:31:50.787Z,1741753910.787 [sci2_noyo_optim] Running Loop=1
2025-03-12T04:31:50.787Z,1741753910.787 [sci2_noyo_optim](DEBUG): Aggregate::initialize sci2_noyo_optim
2025-03-12T04:31:50.787Z,1741753910.787 [sci2_noyo_optim:Science] Running Loop=1
2025-03-12T04:31:50.787Z,1741753910.787 [sci2_noyo_optim:Science](DEBUG): Aggregate::initialize sci2_noyo_optim:Science
2025-03-12T04:31:50.787Z,1741753910.787 [sci2_noyo_optim:Science:A] Running Loop=1
2025-03-12T04:31:50.787Z,1741753910.787 [sci2_noyo_optim:Science:B] Running Loop=1
2025-03-12T04:31:50.787Z,1741753910.787 [sci2_noyo_optim:Science:C] Running Loop=1
2025-03-12T04:31:50.787Z,1741753910.787 [sci2_noyo_optim:Science:D] Running Loop=1
2025-03-12T04:31:50.788Z,1741753910.788 [sci2_noyo_optim:Science:E] Running Loop=1
2025-03-12T04:31:50.788Z,1741753910.788 [sci2_noyo_optim:Science:F] Running Loop=1
2025-03-12T04:31:50.788Z,1741753910.788 [sci2_noyo_optim:Science:Read_Oil] Running Loop=1
2025-03-12T04:31:50.788Z,1741753910.788 [sci2_noyo_optim:Science:PeakDetectChl] Running Loop=1
2025-03-12T04:31:50.788Z,1741753910.788 [sci2_noyo_optim:Science:PeakDetectChl](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:PeakDetectChl
2025-03-12T04:31:50.788Z,1741753910.788 [sci2_noyo_optim:Science:PeakDetectChl:A] Running Loop=1
2025-03-12T04:31:50.788Z,1741753910.788 [sci2_noyo_optim:Science:EdgeDetectChl] Running Loop=1
2025-03-12T04:31:50.788Z,1741753910.788 [sci2_noyo_optim:Science:EdgeDetectChl](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:EdgeDetectChl
2025-03-12T04:31:50.788Z,1741753910.788 [sci2_noyo_optim:Science:EdgeDetectChl:A] Running Loop=1
2025-03-12T04:31:50.788Z,1741753910.788 [sci2_noyo_optim:Science:HighestChlPeakReport] Running Loop=1
2025-03-12T04:31:50.788Z,1741753910.788 [sci2_noyo_optim:Science:HighestChlPeakReport](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:HighestChlPeakReport
2025-03-12T04:31:50.789Z,1741753910.789 [sci2_noyo_optim:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-03-12T04:31:50.789Z,1741753910.789 [sci2_noyo_optim:Science:HighestChlPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-03-12T04:31:50.789Z,1741753910.789 [sci2_noyo_optim:Science:PeakDetectNO3] Running Loop=1
2025-03-12T04:31:50.789Z,1741753910.789 [sci2_noyo_optim:Science:PeakDetectNO3](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:PeakDetectNO3
2025-03-12T04:31:50.789Z,1741753910.789 [sci2_noyo_optim:Science:PeakDetectNO3:A] Running Loop=1
2025-03-12T04:31:50.789Z,1741753910.789 [sci2_noyo_optim:Science:PeakDetectOil] Running Loop=1
2025-03-12T04:31:50.790Z,1741753910.790 [sci2_noyo_optim:Science:PeakDetectOil](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:PeakDetectOil
2025-03-12T04:31:50.790Z,1741753910.790 [sci2_noyo_optim:Science:PeakDetectOil:A] Running Loop=1
2025-03-12T04:31:50.790Z,1741753910.790 [sci2_noyo_optim:Science:HighestOilPeakReport] Running Loop=1
2025-03-12T04:31:50.790Z,1741753910.790 [sci2_noyo_optim:Science:HighestOilPeakReport](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:HighestOilPeakReport
2025-03-12T04:31:50.790Z,1741753910.790 [sci2_noyo_optim:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-03-12T04:31:50.790Z,1741753910.790 [sci2_noyo_optim:Science:HighestOilPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-03-12T04:31:50.791Z,1741753910.791 [sci2_noyo_optim:Science:PeakDetectFDOM] Running Loop=1
2025-03-12T04:31:50.791Z,1741753910.791 [sci2_noyo_optim:Science:PeakDetectFDOM](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:PeakDetectFDOM
2025-03-12T04:31:50.791Z,1741753910.791 [sci2_noyo_optim:Science:PeakDetectFDOM:A] Running Loop=1
2025-03-12T04:31:50.791Z,1741753910.791 [sci2_noyo_optim:Science:PeakDetectSalinity] Running Loop=1
2025-03-12T04:31:50.791Z,1741753910.791 [sci2_noyo_optim:Science:PeakDetectSalinity](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:PeakDetectSalinity
2025-03-12T04:31:50.791Z,1741753910.791 [sci2_noyo_optim:Science:PeakDetectSalinity:A] Running Loop=1
2025-03-12T04:31:50.791Z,1741753910.791 [sci2_noyo_optim:Science:HighestSaltPeakReport] Running Loop=1
2025-03-12T04:31:50.791Z,1741753910.791 [sci2_noyo_optim:Science:HighestSaltPeakReport](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:HighestSaltPeakReport
2025-03-12T04:31:50.792Z,1741753910.792 [sci2_noyo_optim:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-03-12T04:31:50.792Z,1741753910.792 [sci2_noyo_optim:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-03-12T04:31:50.792Z,1741753910.792 [sci2_noyo_optim:Science:PeakDetectPlanktivoreLMavgROI] Running Loop=1
2025-03-12T04:31:50.792Z,1741753910.792 [sci2_noyo_optim:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:PeakDetectPlanktivoreLMavgROI
2025-03-12T04:31:50.793Z,1741753910.793 [sci2_noyo_optim:Science:PeakDetectPlanktivoreLMavgROI:A] Running Loop=1
2025-03-12T04:31:50.793Z,1741753910.793 [sci2_noyo_optim:Science:EdgeDetectPlanktivoreLMavgROI] Running Loop=1
2025-03-12T04:31:50.793Z,1741753910.793 [sci2_noyo_optim:Science:EdgeDetectPlanktivoreLMavgROI](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:EdgeDetectPlanktivoreLMavgROI
2025-03-12T04:31:50.793Z,1741753910.793 [sci2_noyo_optim:Science:EdgeDetectPlanktivoreLMavgROI:A] Running Loop=1
2025-03-12T04:31:50.793Z,1741753910.793 [sci2_noyo_optim:Science:PeakDetectPlanktivoreHMavgROI] Running Loop=1
2025-03-12T04:31:50.793Z,1741753910.793 [sci2_noyo_optim:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:PeakDetectPlanktivoreHMavgROI
2025-03-12T04:31:50.793Z,1741753910.793 [sci2_noyo_optim:Science:PeakDetectPlanktivoreHMavgROI:A] Running Loop=1
2025-03-12T04:31:50.793Z,1741753910.793 [sci2_noyo_optim:Science:PeakDetectPlanktivoreDiatoms] Running Loop=1
2025-03-12T04:31:50.793Z,1741753910.793 [sci2_noyo_optim:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:PeakDetectPlanktivoreDiatoms
2025-03-12T04:31:50.794Z,1741753910.794 [sci2_noyo_optim:Science:PeakDetectPlanktivoreDiatoms:A] Running Loop=1
2025-03-12T04:31:50.794Z,1741753910.794 [sci2_noyo_optim:Science:PeakDetectPlanktivoreDinoflagellates] Running Loop=1
2025-03-12T04:31:50.794Z,1741753910.794 [sci2_noyo_optim:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:PeakDetectPlanktivoreDinoflagellates
2025-03-12T04:31:50.819Z,1741753910.819 [sci2_noyo_optim:Science:PeakDetectPlanktivoreDinoflagellates:A] Running Loop=1
2025-03-12T04:31:50.819Z,1741753910.819 [sci2_noyo_optim:Science:ChlThreshTrigger] Running Loop=1
2025-03-12T04:31:50.820Z,1741753910.820 [sci2_noyo_optim:Science:ChlThreshTrigger](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:ChlThreshTrigger
2025-03-12T04:31:50.820Z,1741753910.820 [sci2_noyo_optim:Science:ChlThreshTrigger:A.ValueDetect] Running Loop=1
2025-03-12T04:31:50.820Z,1741753910.820 [sci2_noyo_optim:Science:ChlThreshTrigger:A.ValueDetect](INFO): Initialize.
2025-03-12T04:31:50.820Z,1741753910.820 [sci2_noyo_optim:Science:OceanCurrent] Running Loop=1
2025-03-12T04:31:50.820Z,1741753910.820 [sci2_noyo_optim:Science:OceanCurrent](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:OceanCurrent
2025-03-12T04:31:50.820Z,1741753910.820 [sci2_noyo_optim:Science:OceanCurrent:A.] Running Loop=1
2025-03-12T04:31:50.820Z,1741753910.820 [sci2_noyo_optim:Science:OceanCurrent:A.](INFO): Initializing CurrentEstimator.
2025-03-12T04:31:50.821Z,1741753910.821 [sci2_noyo_optim:StandardEnvelopes] Running Loop=1
2025-03-12T04:31:50.821Z,1741753910.821 [sci2_noyo_optim:StandardEnvelopes](DEBUG): Aggregate::initialize sci2_noyo_optim:StandardEnvelopes
2025-03-12T04:31:50.821Z,1741753910.821 [sci2_noyo_optim:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-03-12T04:31:50.821Z,1741753910.821 [sci2_noyo_optim:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-03-12T04:31:50.821Z,1741753910.821 [sci2_noyo_optim:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-03-12T04:31:50.821Z,1741753910.821 [sci2_noyo_optim:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-03-12T04:31:50.821Z,1741753910.821 [sci2_noyo_optim:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-03-12T04:31:50.821Z,1741753910.821 [sci2_noyo_optim:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-03-12T04:31:50.821Z,1741753910.821 [sci2_noyo_optim:BackseatDriver] Running Loop=1
2025-03-12T04:31:50.822Z,1741753910.822 [sci2_noyo_optim:BackseatDriver](DEBUG): Aggregate::initialize sci2_noyo_optim:BackseatDriver
2025-03-12T04:31:50.822Z,1741753910.822 [sci2_noyo_optim:BackseatDriver:A.BackseatDriver] Running Loop=1
2025-03-12T04:31:50.822Z,1741753910.822 [sci2_noyo_optim:J] Running Loop=1
2025-03-12T04:31:50.822Z,1741753910.822 [sci2_noyo_optim:PowerOnly] Running Loop=1
2025-03-12T04:31:50.826Z,1741753910.826 [sci2_noyo_optim:PowerOnly](DEBUG): Aggregate::initialize sci2_noyo_optim:PowerOnly
2025-03-12T04:31:50.826Z,1741753910.826 [sci2_noyo_optim:PowerOnly:A] Running Loop=1
2025-03-12T04:31:50.826Z,1741753910.826 [sci2_noyo_optim:PowerOnly:B] Running Loop=1
2025-03-12T04:31:50.826Z,1741753910.826 [sci2_noyo_optim:PowerOnly:C] Running Loop=1
2025-03-12T04:31:50.826Z,1741753910.826 [sci2_noyo_optim:PowerOnly:D] Running Loop=1
2025-03-12T04:31:50.827Z,1741753910.827 [sci2_noyo_optim:PowerOnly:E.Wait] Running Loop=1
2025-03-12T04:31:50.827Z,1741753910.827 [sci2_noyo_optim:PowerOnly:E.Wait](DEBUG): Initialize Wait Component.
2025-03-12T04:31:50.827Z,1741753910.827 [sci2_noyo_optim:L] Running Loop=1
2025-03-12T04:31:50.827Z,1741753910.827 [sci2_noyo_optim:M.Buoyancy] Running Loop=1
2025-03-12T04:31:50.827Z,1741753910.827 [sci2_noyo_optim:M.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-03-12T04:31:50.827Z,1741753910.827 [sci2_noyo_optim:C] Running Loop=1
2025-03-12T04:31:50.828Z,1741753910.828 [sci2_noyo_optim:M.Buoyancy] Running Loop=1
2025-03-12T04:31:50.828Z,1741753910.828 [sci2_noyo_optim:L] Running Loop=1
2025-03-12T04:31:50.829Z,1741753910.829 [sci2_noyo_optim:PowerOnly] Running Loop=1
2025-03-12T04:31:50.829Z,1741753910.829 [sci2_noyo_optim:PowerOnly:D] Stopped
2025-03-12T04:31:50.829Z,1741753910.829 [sci2_noyo_optim:PowerOnly:C] Stopped
2025-03-12T04:31:50.829Z,1741753910.829 [sci2_noyo_optim:PowerOnly:B] Running Loop=1
2025-03-12T04:31:50.830Z,1741753910.830 [sci2_noyo_optim:PowerOnly:B](DEBUG): Initialize ReadDataComponent to sense PowerOnly.sampleLoad1
2025-03-12T04:31:50.836Z,1741753910.836 [sci2_noyo_optim:PowerOnly:A] Stopped
2025-03-12T04:31:50.836Z,1741753910.836 [sci2_noyo_optim:J] Running Loop=1
2025-03-12T04:31:50.837Z,1741753910.837 [sci2_noyo_optim:BackseatDriver] Running Loop=1
2025-03-12T04:31:50.837Z,1741753910.837 [sci2_noyo_optim:BackseatDriver:A.BackseatDriver](INFO): Initializing backseat
2025-03-12T04:31:50.884Z,1741753910.884 [sci2_noyo_optim:C] Stopped
2025-03-12T04:31:50.885Z,1741753910.885 [sci2_noyo_optim:D] Running Loop=1
2025-03-12T04:31:50.885Z,1741753910.885 [sci2_noyo_optim:StandardEnvelopes] Running Loop=1
2025-03-12T04:31:50.885Z,1741753910.885 [sci2_noyo_optim:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-03-12T04:31:50.885Z,1741753910.885 [sci2_noyo_optim:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-03-12T04:31:50.885Z,1741753910.885 [sci2_noyo_optim:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-03-12T04:31:50.886Z,1741753910.886 [sci2_noyo_optim:Science] Running Loop=1
2025-03-12T04:31:50.887Z,1741753910.887 [sci2_noyo_optim:Science:ChlThreshTrigger] Stopped
2025-03-12T04:31:50.887Z,1741753910.887 [sci2_noyo_optim:Science:ChlThreshTrigger](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:ChlThreshTrigger
2025-03-12T04:31:50.887Z,1741753910.887 [sci2_noyo_optim:Science:ChlThreshTrigger:A.ValueDetect] Stopped
2025-03-12T04:31:50.888Z,1741753910.888 [sci2_noyo_optim:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Uninitialize.
2025-03-12T04:31:50.888Z,1741753910.888 [sci2_noyo_optim:Science:PeakDetectPlanktivoreDinoflagellates] Stopped
2025-03-12T04:31:50.888Z,1741753910.888 [sci2_noyo_optim:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:PeakDetectPlanktivoreDinoflagellates
2025-03-12T04:31:50.888Z,1741753910.888 [sci2_noyo_optim:Science:PeakDetectPlanktivoreDinoflagellates:A] Stopped
2025-03-12T04:31:50.888Z,1741753910.888 [sci2_noyo_optim:Science:PeakDetectPlanktivoreDiatoms] Stopped
2025-03-12T04:31:50.888Z,1741753910.888 [sci2_noyo_optim:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:PeakDetectPlanktivoreDiatoms
2025-03-12T04:31:50.888Z,1741753910.888 [sci2_noyo_optim:Science:PeakDetectPlanktivoreDiatoms:A] Stopped
2025-03-12T04:31:50.888Z,1741753910.888 [sci2_noyo_optim:Science:PeakDetectPlanktivoreHMavgROI] Stopped
2025-03-12T04:31:50.888Z,1741753910.888 [sci2_noyo_optim:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:PeakDetectPlanktivoreHMavgROI
2025-03-12T04:31:50.888Z,1741753910.888 [sci2_noyo_optim:Science:PeakDetectPlanktivoreHMavgROI:A] Stopped
2025-03-12T04:31:50.888Z,1741753910.888 [sci2_noyo_optim:Science:EdgeDetectPlanktivoreLMavgROI] Stopped
2025-03-12T04:31:50.888Z,1741753910.888 [sci2_noyo_optim:Science:EdgeDetectPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:EdgeDetectPlanktivoreLMavgROI
2025-03-12T04:31:50.889Z,1741753910.889 [sci2_noyo_optim:Science:EdgeDetectPlanktivoreLMavgROI:A] Stopped
2025-03-12T04:31:50.889Z,1741753910.889 [sci2_noyo_optim:Science:PeakDetectPlanktivoreLMavgROI] Stopped
2025-03-12T04:31:50.889Z,1741753910.889 [sci2_noyo_optim:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:PeakDetectPlanktivoreLMavgROI
2025-03-12T04:31:50.889Z,1741753910.889 [sci2_noyo_optim:Science:PeakDetectPlanktivoreLMavgROI:A] Stopped
2025-03-12T04:31:50.889Z,1741753910.889 [sci2_noyo_optim:Science:HighestSaltPeakReport] Stopped
2025-03-12T04:31:50.889Z,1741753910.889 [sci2_noyo_optim:Science:HighestSaltPeakReport](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:HighestSaltPeakReport
2025-03-12T04:31:50.889Z,1741753910.889 [sci2_noyo_optim:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Stopped
2025-03-12T04:31:50.889Z,1741753910.889 [sci2_noyo_optim:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-03-12T04:31:50.889Z,1741753910.889 [sci2_noyo_optim:Science:PeakDetectSalinity] Stopped
2025-03-12T04:31:50.889Z,1741753910.889 [sci2_noyo_optim:Science:PeakDetectSalinity](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:PeakDetectSalinity
2025-03-12T04:31:50.889Z,1741753910.889 [sci2_noyo_optim:Science:PeakDetectSalinity:A] Stopped
2025-03-12T04:31:50.889Z,1741753910.889 [sci2_noyo_optim:Science:PeakDetectFDOM] Stopped
2025-03-12T04:31:50.889Z,1741753910.889 [sci2_noyo_optim:Science:PeakDetectFDOM](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:PeakDetectFDOM
2025-03-12T04:31:50.890Z,1741753910.890 [sci2_noyo_optim:Science:PeakDetectFDOM:A] Stopped
2025-03-12T04:31:50.890Z,1741753910.890 [sci2_noyo_optim:Science:HighestOilPeakReport] Stopped
2025-03-12T04:31:50.890Z,1741753910.890 [sci2_noyo_optim:Science:HighestOilPeakReport](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:HighestOilPeakReport
2025-03-12T04:31:50.890Z,1741753910.890 [sci2_noyo_optim:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Stopped
2025-03-12T04:31:50.894Z,1741753910.894 [sci2_noyo_optim:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-03-12T04:31:50.894Z,1741753910.894 [sci2_noyo_optim:Science:PeakDetectOil] Stopped
2025-03-12T04:31:50.894Z,1741753910.894 [sci2_noyo_optim:Science:PeakDetectOil](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:PeakDetectOil
2025-03-12T04:31:50.894Z,1741753910.894 [sci2_noyo_optim:Science:PeakDetectOil:A] Stopped
2025-03-12T04:31:50.894Z,1741753910.894 [sci2_noyo_optim:Science:PeakDetectNO3] Stopped
2025-03-12T04:31:50.895Z,1741753910.895 [sci2_noyo_optim:Science:PeakDetectNO3](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:PeakDetectNO3
2025-03-12T04:31:50.895Z,1741753910.895 [sci2_noyo_optim:Science:PeakDetectNO3:A] Stopped
2025-03-12T04:31:50.895Z,1741753910.895 [sci2_noyo_optim:Science:HighestChlPeakReport] Stopped
2025-03-12T04:31:50.895Z,1741753910.895 [sci2_noyo_optim:Science:HighestChlPeakReport](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:HighestChlPeakReport
2025-03-12T04:31:50.895Z,1741753910.895 [sci2_noyo_optim:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Stopped
2025-03-12T04:31:50.895Z,1741753910.895 [sci2_noyo_optim:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-03-12T04:31:50.895Z,1741753910.895 [sci2_noyo_optim:Science:EdgeDetectChl] Stopped
2025-03-12T04:31:50.895Z,1741753910.895 [sci2_noyo_optim:Science:EdgeDetectChl](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:EdgeDetectChl
2025-03-12T04:31:50.895Z,1741753910.895 [sci2_noyo_optim:Science:EdgeDetectChl:A] Stopped
2025-03-12T04:31:50.895Z,1741753910.895 [sci2_noyo_optim:Science:PeakDetectChl] Stopped
2025-03-12T04:31:50.895Z,1741753910.895 [sci2_noyo_optim:Science:PeakDetectChl](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:PeakDetectChl
2025-03-12T04:31:50.895Z,1741753910.895 [sci2_noyo_optim:Science:PeakDetectChl:A] Stopped
2025-03-12T04:31:50.895Z,1741753910.895 [sci2_noyo_optim:Science:OceanCurrent:A.] Running Loop=1
2025-03-12T04:31:50.896Z,1741753910.896 [sci2_noyo_optim:Science:Read_Oil] Stopped
2025-03-12T04:31:50.896Z,1741753910.896 [sci2_noyo_optim:Science:F] Stopped
2025-03-12T04:31:50.896Z,1741753910.896 [sci2_noyo_optim:Science:E] Running Loop=1
2025-03-12T04:31:50.896Z,1741753910.896 [sci2_noyo_optim:Science:E](DEBUG): Initialize ReadDataComponent to sense mass_concentration_of_chlorophyll_in_sea_water
2025-03-12T04:31:50.896Z,1741753910.896 [sci2_noyo_optim:Science:D] Stopped
2025-03-12T04:31:50.896Z,1741753910.896 [sci2_noyo_optim:Science:C] Running Loop=1
2025-03-12T04:31:50.897Z,1741753910.897 [sci2_noyo_optim:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_temperature
2025-03-12T04:31:50.897Z,1741753910.897 [sci2_noyo_optim:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_salinity
2025-03-12T04:31:50.897Z,1741753910.897 [sci2_noyo_optim:Science:B] Running Loop=1
2025-03-12T04:31:50.902Z,1741753910.902 [sci2_noyo_optim:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_temperature
2025-03-12T04:31:50.903Z,1741753910.903 [sci2_noyo_optim:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_salinity
2025-03-12T04:31:50.903Z,1741753910.903 [sci2_noyo_optim:Science:A] Stopped
2025-03-12T04:31:51.014Z,1741753911.014 [BackseatComponent](INFO): Powering up
2025-03-12T04:31:51.015Z,1741753911.015 [BackseatComponent](INFO): Subscribing to LCM channels.
2025-03-12T04:31:51.023Z,1741753911.023 [WetLabsBB2FL](INFO): Powering up
2025-03-12T04:31:51.180Z,1741753911.180 [PowerOnly](INFO): Powering up loadControl
2025-03-12T04:31:51.238Z,1741753911.238 [sci2_noyo_optim:D] Stopped
2025-03-12T04:31:51.239Z,1741753911.239 [sci2_noyo_optim:E] Running Loop=1
2025-03-12T04:31:51.589Z,1741753911.589 [NAL9602](INFO): SBD MO Status=0, MOMSN=18511, MT Status=0, MTMSN=0
2025-03-12T04:31:51.589Z,1741753911.589 [NAL9602](INFO): No messages in MT queue
2025-03-12T04:31:51.622Z,1741753911.622 [sci2_noyo_optim:E] Stopped
2025-03-12T04:31:51.622Z,1741753911.622 [sci2_noyo_optim:G] Running Loop=1
2025-03-12T04:31:52.030Z,1741753912.030 [sci2_noyo_optim:G] Stopped
2025-03-12T04:31:52.031Z,1741753912.031 [sci2_noyo_optim:H] Running Loop=1
2025-03-12T04:31:52.438Z,1741753912.438 [sci2_noyo_optim:H] Stopped
2025-03-12T04:31:52.438Z,1741753912.438 [sci2_noyo_optim:StartingMission] Running Loop=1
2025-03-12T04:31:52.439Z,1741753912.439 [sci2_noyo_optim:StartingMission](DEBUG): Aggregate::initialize sci2_noyo_optim:StartingMission
2025-03-12T04:31:52.815Z,1741753912.815 [sci2_noyo_optim:SurfaceComms] Running Loop=1
2025-03-12T04:31:52.815Z,1741753912.815 [sci2_noyo_optim:SurfaceComms](DEBUG): Aggregate::initialize sci2_noyo_optim:SurfaceComms
2025-03-12T04:31:52.815Z,1741753912.815 [sci2_noyo_optim:SurfaceComms:A] Running Loop=1
2025-03-12T04:31:52.816Z,1741753912.816 [sci2_noyo_optim:SurfaceComms:A] Stopped
2025-03-12T04:31:52.816Z,1741753912.816 [sci2_noyo_optim:SurfaceComms:B] Running Loop=1
2025-03-12T04:31:52.816Z,1741753912.816 [sci2_noyo_optim:SurfaceComms:B](DEBUG): Aggregate::initialize sci2_noyo_optim:SurfaceComms:B
2025-03-12T04:31:53.222Z,1741753913.222 [sci2_noyo_optim:NeedComms] Running Loop=1
2025-03-12T04:31:53.222Z,1741753913.222 [sci2_noyo_optim:NeedComms](DEBUG): Aggregate::initialize sci2_noyo_optim:NeedComms
2025-03-12T04:31:53.222Z,1741753913.222 [sci2_noyo_optim:NeedComms:B.GoToSurface] Running Loop=1
2025-03-12T04:31:53.222Z,1741753913.222 [sci2_noyo_optim:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-03-12T04:31:53.223Z,1741753913.223 [sci2_noyo_optim:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-03-12T04:31:53.223Z,1741753913.223 [sci2_noyo_optim:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-03-12T04:31:53.224Z,1741753913.224 [sci2_noyo_optim:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-03-12T04:31:53.224Z,1741753913.224 [sci2_noyo_optim:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-03-12T04:31:53.224Z,1741753913.224 [sci2_noyo_optim:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-03-12T04:31:53.224Z,1741753913.224 [sci2_noyo_optim:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-03-12T04:31:53.225Z,1741753913.225 [sci2_noyo_optim:NeedComms:A] Running Loop=1
2025-03-12T04:31:53.230Z,1741753913.230 [sci2_noyo_optim:NeedComms:A](INFO): last time_fix was:  1741753822.000000 second since 1970/01/01T00:00:00Z 
2025-03-12T04:31:53.230Z,1741753913.230 [sci2_noyo_optim:NeedComms:A] Stopped
2025-03-12T04:31:53.639Z,1741753913.639 [sci2_noyo_optim:NeedComms:C] Running Loop=1
2025-03-12T04:31:53.876Z,1741753913.876 [CTD_Seabird](ERROR): Pressure reading out of range: -10.100000 decibar
2025-03-12T04:31:53.877Z,1741753913.877 [CTD_Seabird](INFO): some bad data, not updating bins
2025-03-12T04:31:54.031Z,1741753914.031 [sci2_noyo_optim:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-03-12T04:31:54.896Z,1741753914.896 [CTD_Seabird](ERROR): Pressure reading out of range: -51.770000 decibar
2025-03-12T04:31:54.897Z,1741753914.897 [CTD_Seabird](INFO): some bad data, not updating bins
2025-03-12T04:31:55.624Z,1741753915.624 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,043154.00,A,3648.09952,N,12150.39553,W,0.467,280.23,120325,,,A*72
2025-03-12T04:31:55.627Z,1741753915.627 [NAL9602](INFO): GPS fix at 20250312T043154: (36.801659, -121.839926)
2025-03-12T04:31:55.642Z,1741753915.642 [sci2_noyo_optim:NeedComms:C] Stopped
2025-03-12T04:31:55.642Z,1741753915.642 [sci2_noyo_optim:NeedComms:D] Running Loop=1
2025-03-12T04:31:56.055Z,1741753916.055 [sci2_noyo_optim:NeedComms:D](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-03-12T04:32:04.978Z,1741753924.978 [DataOverHttps](INFO): Sending 73 bytes from file Logs/20250311T232940/Courier0090.lzma
2025-03-12T04:32:05.980Z,1741753925.980 [DataOverHttps](INFO): Moved sent file to Logs/20250311T232940/Courier0090.lzma.bak
2025-03-12T04:32:05.981Z,1741753925.981 [DataOverHttps](INFO): SBD MOMSN=24182304
2025-03-12T04:32:22.203Z,1741753942.203 [DataOverHttps](INFO): Sending 409 bytes from file Logs/20250311T232940/Express0091.lzma
2025-03-12T04:32:23.204Z,1741753943.204 [DataOverHttps](INFO): Moved sent file to Logs/20250311T232940/Express0091.lzma.bak
2025-03-12T04:32:23.204Z,1741753943.204 [DataOverHttps](INFO): SBD MOMSN=24182311
2025-03-12T04:32:24.330Z,1741753944.330 [sci2_noyo_optim:NeedComms:D] Stopped
2025-03-12T04:32:24.331Z,1741753944.331 [sci2_noyo_optim:NeedComms:E] Running Loop=1
2025-03-12T04:32:24.739Z,1741753944.739 [sci2_noyo_optim:NeedComms:E](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-03-12T04:32:26.350Z,1741753946.350 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,043225.00,A,3648.10025,N,12150.39826,W,0.272,273.71,120325,,,D*75
2025-03-12T04:32:26.353Z,1741753946.353 [NAL9602](INFO): GPS fix at 20250312T043225: (36.801671, -121.839971)
2025-03-12T04:32:26.402Z,1741753946.402 [sci2_noyo_optim:NeedComms:E] Stopped
2025-03-12T04:32:26.403Z,1741753946.403 [sci2_noyo_optim:NeedComms](INFO): Completed sci2_noyo_optim:NeedComms
2025-03-12T04:32:26.403Z,1741753946.403 [sci2_noyo_optim:NeedComms] Stopped
2025-03-12T04:32:26.403Z,1741753946.403 [sci2_noyo_optim:NeedComms](DEBUG): Aggregate::uninitialize sci2_noyo_optim:NeedComms
2025-03-12T04:32:26.404Z,1741753946.404 [sci2_noyo_optim:NeedComms:B.GoToSurface] Stopped
2025-03-12T04:32:26.404Z,1741753946.404 [sci2_noyo_optim:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-03-12T04:32:26.787Z,1741753946.787 [sci2_noyo_optim:SurfaceComms:B](INFO): Completed sci2_noyo_optim:SurfaceComms:B
2025-03-12T04:32:26.787Z,1741753946.787 [sci2_noyo_optim:SurfaceComms:B] Stopped
2025-03-12T04:32:26.787Z,1741753946.787 [sci2_noyo_optim:SurfaceComms:B](DEBUG): Aggregate::uninitialize sci2_noyo_optim:SurfaceComms:B
2025-03-12T04:32:26.787Z,1741753946.787 [sci2_noyo_optim:SurfaceComms:C] Running Loop=1
2025-03-12T04:32:27.187Z,1741753947.187 [sci2_noyo_optim:SurfaceComms:C] Stopped
2025-03-12T04:32:27.187Z,1741753947.187 [sci2_noyo_optim:SurfaceComms](INFO): Completed sci2_noyo_optim:SurfaceComms
2025-03-12T04:32:27.187Z,1741753947.187 [sci2_noyo_optim:SurfaceComms] Stopped
2025-03-12T04:32:27.187Z,1741753947.187 [sci2_noyo_optim:SurfaceComms](DEBUG): Aggregate::uninitialize sci2_noyo_optim:SurfaceComms
2025-03-12T04:32:27.567Z,1741753947.567 [sci2_noyo_optim:StartingMission](INFO): Completed sci2_noyo_optim:StartingMission
2025-03-12T04:32:27.567Z,1741753947.567 [sci2_noyo_optim:StartingMission] Stopped
2025-03-12T04:32:27.567Z,1741753947.567 [sci2_noyo_optim:StartingMission](DEBUG): Aggregate::uninitialize sci2_noyo_optim:StartingMission
2025-03-12T04:32:27.568Z,1741753947.568 [sci2_noyo_optim:Lap] Running Loop=1
2025-03-12T04:32:27.568Z,1741753947.568 [sci2_noyo_optim:Lap](DEBUG): Aggregate::initialize sci2_noyo_optim:Lap
2025-03-12T04:32:27.568Z,1741753947.568 [sci2_noyo_optim:Lap:Dive] Running Loop=1
2025-03-12T04:32:27.568Z,1741753947.568 [sci2_noyo_optim:Lap:Dive](DEBUG): Aggregate::initialize sci2_noyo_optim:Lap:Dive
2025-03-12T04:32:27.568Z,1741753947.568 [sci2_noyo_optim:Lap:Dive:A] Running Loop=1
2025-03-12T04:32:27.568Z,1741753947.568 [sci2_noyo_optim:Lap:Dive:A](DEBUG): Aggregate::initialize sci2_noyo_optim:Lap:Dive:A
2025-03-12T04:32:27.568Z,1741753947.568 [sci2_noyo_optim:Lap:DepthByLap] Running Loop=1
2025-03-12T04:32:27.568Z,1741753947.568 [sci2_noyo_optim:Lap:DepthByLap](DEBUG): Aggregate::initialize sci2_noyo_optim:Lap:DepthByLap
2025-03-12T04:32:27.569Z,1741753947.569 [sci2_noyo_optim:Lap:DepthByLap:A] Running Loop=1
2025-03-12T04:32:28.023Z,1741753948.023 [sci2_noyo_optim:Lap:DepthByLap:A] Stopped
2025-03-12T04:32:28.023Z,1741753948.023 [sci2_noyo_optim:Lap:DepthByLap:Wpt1] Running Loop=1
2025-03-12T04:32:28.023Z,1741753948.023 [sci2_noyo_optim:Lap:DepthByLap:Wpt1](DEBUG): Aggregate::initialize sci2_noyo_optim:Lap:DepthByLap:Wpt1
2025-03-12T04:32:28.023Z,1741753948.023 [sci2_noyo_optim:Lap:DepthByLap:Wpt1:A.Waypoint] Running Loop=1
2025-03-12T04:32:28.023Z,1741753948.023 [sci2_noyo_optim:Lap:DepthByLap:Wpt1:A.Waypoint](DEBUG): Initialize WaypointComponent.
2025-03-12T04:32:28.024Z,1741753948.024 [sci2_noyo_optim:Lap:DepthByLap:Wpt1:A.Waypoint](IMPORTANT): Navigating to waypoint: 36.797001,-121.847000
2025-03-12T04:32:28.024Z,1741753948.024 [sci2_noyo_optim:Lap:Dive] Running Loop=1
2025-03-12T04:32:28.024Z,1741753948.024 [sci2_noyo_optim:DiveCmd] Running Loop=1
2025-03-12T04:32:28.025Z,1741753948.025 [sci2_noyo_optim:DiveCmd](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd
2025-03-12T04:32:28.025Z,1741753948.025 [sci2_noyo_optim:DiveCmd:InitialDive] Running Loop=1
2025-03-12T04:32:28.025Z,1741753948.025 [sci2_noyo_optim:DiveCmd:InitialDive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:InitialDive
2025-03-12T04:32:28.025Z,1741753948.025 [sci2_noyo_optim:DiveCmd:InitialDive:dive] Running Loop=1
2025-03-12T04:32:28.026Z,1741753948.026 [sci2_noyo_optim:DiveCmd:InitialDive:dive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:InitialDive:dive
2025-03-12T04:32:28.026Z,1741753948.026 [sci2_noyo_optim:DiveCmd:InitialDive:dive:A] Running Loop=1
2025-03-12T04:32:28.026Z,1741753948.026 [sci2_noyo_optim:DiveCmd:InitialDive:dive:B] Running Loop=1
2025-03-12T04:32:28.026Z,1741753948.026 [sci2_noyo_optim:DiveCmd:InitialDive:dive:C.Mass] Running Loop=1
2025-03-12T04:32:28.034Z,1741753948.034 [sci2_noyo_optim:DiveCmd:InitialDive:dive:C.Mass](DEBUG): Initialize.
2025-03-12T04:32:28.035Z,1741753948.035 [sci2_noyo_optim:DiveCmd:InitialDive:dive:D] Running Loop=1
2025-03-12T04:32:28.035Z,1741753948.035 [sci2_noyo_optim:DiveCmd:SettleAtDepth] Running Loop=1
2025-03-12T04:32:28.035Z,1741753948.035 [sci2_noyo_optim:DiveCmd:SettleAtDepth](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:SettleAtDepth
2025-03-12T04:32:28.035Z,1741753948.035 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive] Running Loop=1
2025-03-12T04:32:28.035Z,1741753948.035 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:SettleAtDepth:dive
2025-03-12T04:32:28.035Z,1741753948.035 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:B.Pitch] Running Loop=1
2025-03-12T04:32:28.035Z,1741753948.035 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:B.Pitch](DEBUG): Initialize.
2025-03-12T04:32:28.036Z,1741753948.036 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:A] Running Loop=1
2025-03-12T04:32:28.036Z,1741753948.036 [sci2_noyo_optim:DiveCmd:MaintainDepth] Running Loop=1
2025-03-12T04:32:28.036Z,1741753948.036 [sci2_noyo_optim:DiveCmd:MaintainDepth](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepth
2025-03-12T04:32:28.036Z,1741753948.036 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive] Running Loop=1
2025-03-12T04:32:28.036Z,1741753948.036 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive
2025-03-12T04:32:28.036Z,1741753948.036 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive] Running Loop=1
2025-03-12T04:32:28.036Z,1741753948.036 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive
2025-03-12T04:32:28.036Z,1741753948.036 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass] Running Loop=1
2025-03-12T04:32:28.036Z,1741753948.036 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass](DEBUG): Initialize.
2025-03-12T04:32:28.036Z,1741753948.036 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed] Running Loop=1
2025-03-12T04:32:28.037Z,1741753948.037 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed](DEBUG): Initialize.
2025-03-12T04:32:28.037Z,1741753948.037 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:B.Pitch] Running Loop=1
2025-03-12T04:32:28.037Z,1741753948.037 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:B.Pitch](DEBUG): Initialize.
2025-03-12T04:32:28.037Z,1741753948.037 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow] Running Loop=1
2025-03-12T04:32:28.037Z,1741753948.037 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepthSlow
2025-03-12T04:32:28.037Z,1741753948.037 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:A.SetSpeed] Running Loop=1
2025-03-12T04:32:28.037Z,1741753948.037 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:A.SetSpeed](DEBUG): Initialize.
2025-03-12T04:32:28.037Z,1741753948.037 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:B] Running Loop=1
2025-03-12T04:32:28.037Z,1741753948.037 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:C.Buoyancy] Running Loop=1
2025-03-12T04:32:28.037Z,1741753948.037 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:C.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-03-12T04:32:28.038Z,1741753948.038 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:D.Pitch] Running Loop=1
2025-03-12T04:32:28.038Z,1741753948.038 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:D.Pitch](DEBUG): Initialize.
2025-03-12T04:32:28.043Z,1741753948.043 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow] Stopped
2025-03-12T04:32:28.043Z,1741753948.043 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepthSlow
2025-03-12T04:32:28.043Z,1741753948.043 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:A.SetSpeed] Stopped
2025-03-12T04:32:28.043Z,1741753948.043 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:A.SetSpeed](DEBUG): Uninitialize.
2025-03-12T04:32:28.043Z,1741753948.043 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:B] Stopped
2025-03-12T04:32:28.043Z,1741753948.043 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:C.Buoyancy] Stopped
2025-03-12T04:32:28.043Z,1741753948.043 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-03-12T04:32:28.043Z,1741753948.043 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:D.Pitch] Stopped
2025-03-12T04:32:28.043Z,1741753948.043 [sci2_noyo_optim:DiveCmd:MaintainDepth] Running Loop=1
2025-03-12T04:32:28.043Z,1741753948.043 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive] Running Loop=1
2025-03-12T04:32:28.044Z,1741753948.044 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:B.Pitch] Running Loop=1
2025-03-12T04:32:28.044Z,1741753948.044 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive] Running Loop=1
2025-03-12T04:32:28.044Z,1741753948.044 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed] Running Loop=1
2025-03-12T04:32:28.044Z,1741753948.044 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass] Running Loop=1
2025-03-12T04:32:28.045Z,1741753948.045 [sci2_noyo_optim:DiveCmd:SettleAtDepth] Stopped
2025-03-12T04:32:28.045Z,1741753948.045 [sci2_noyo_optim:DiveCmd:SettleAtDepth](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:SettleAtDepth
2025-03-12T04:32:28.045Z,1741753948.045 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive] Stopped
2025-03-12T04:32:28.045Z,1741753948.045 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:SettleAtDepth:dive
2025-03-12T04:32:28.045Z,1741753948.045 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:A] Stopped
2025-03-12T04:32:28.045Z,1741753948.045 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:B.Pitch] Stopped
2025-03-12T04:32:28.045Z,1741753948.045 [sci2_noyo_optim:DiveCmd:InitialDive] Running Loop=1
2025-03-12T04:32:28.046Z,1741753948.046 [sci2_noyo_optim:DiveCmd:InitialDive:dive:D](INFO): Waiting for  1.000000 min while pumping down to neutral.
2025-03-12T04:32:28.046Z,1741753948.046 [sci2_noyo_optim:DiveCmd:InitialDive:dive:D] Stopped
2025-03-12T04:32:28.050Z,1741753948.050 [sci2_noyo_optim:DiveCmd:InitialDive:dive:E.Wait] Running Loop=1
2025-03-12T04:32:28.050Z,1741753948.050 [sci2_noyo_optim:DiveCmd:InitialDive:dive:E.Wait](DEBUG): Initialize Wait Component.
2025-03-12T04:32:28.050Z,1741753948.050 [sci2_noyo_optim:DiveCmd:InitialDive:dive:C.Mass] Running Loop=1
2025-03-12T04:32:28.051Z,1741753948.051 [sci2_noyo_optim:DiveCmd:InitialDive:dive:B] Running Loop=1
2025-03-12T04:32:28.051Z,1741753948.051 [sci2_noyo_optim:DiveCmd:InitialDive:dive:A] Running Loop=1
2025-03-12T04:32:28.408Z,1741753948.408 [sci2_noyo_optim:Lap:DepthByLap:Wpt1:A.Waypoint](INFO): Navigating to waypoint: 36.797001,-121.847000
2025-03-12T04:32:48.870Z,1741753968.870 [BackseatComponent](IMPORTANT): ikshana: running backseat application.
2025-03-12T04:32:58.653Z,1741753978.653 [NAL9602](INFO): Not Powering down - fast GPS
2025-03-12T04:33:08.955Z,1741753988.955 [ThrusterHE](DEBUG): Uninitialize Thruster Servo.
2025-03-12T04:33:08.955Z,1741753988.955 [ThrusterHE](INFO): Powering down
2025-03-12T04:33:09.637Z,1741753989.637 [ThrusterHE](DEBUG): Initializing EZServoServo.
2025-03-12T04:33:09.755Z,1741753989.755 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2025-03-12T04:33:28.692Z,1741754008.692 [sci2_noyo_optim:DiveCmd:InitialDive:dive:E.Wait](INFO): Done Waiting.
2025-03-12T04:33:28.692Z,1741754008.692 [sci2_noyo_optim:DiveCmd:InitialDive:dive:E.Wait] Stopped
2025-03-12T04:33:28.692Z,1741754008.692 [sci2_noyo_optim:DiveCmd:InitialDive:dive:E.Wait](DEBUG): Uninitialize Wait Component.
2025-03-12T04:33:28.693Z,1741754008.693 [sci2_noyo_optim:DiveCmd:InitialDive:dive:F] Running Loop=1
2025-03-12T04:33:29.104Z,1741754009.104 [sci2_noyo_optim:DiveCmd:InitialDive:dive:F](INFO): Moving to  10.000000 m 
2025-03-12T04:33:29.104Z,1741754009.104 [sci2_noyo_optim:DiveCmd:InitialDive:dive:F] Stopped
2025-03-12T04:33:29.104Z,1741754009.104 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth] Running Loop=1
2025-03-12T04:33:29.104Z,1741754009.104 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth
2025-03-12T04:33:29.104Z,1741754009.104 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:A.SetSpeed] Running Loop=1
2025-03-12T04:33:29.104Z,1741754009.104 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:A.SetSpeed](DEBUG): Initialize.
2025-03-12T04:33:29.104Z,1741754009.104 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:B.Pitch] Running Loop=1
2025-03-12T04:33:29.104Z,1741754009.104 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:B.Pitch](DEBUG): Initialize.
2025-03-12T04:33:29.518Z,1741754009.518 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:A.SetSpeed] Running Loop=1
2025-03-12T04:33:48.790Z,1741754028.790 [ElevatorOffsetCalculator](INFO): New estimator for commanded vars: speed 0.70 m/s, pitch 30.00 deg, mass-position 6.85 mm (3 active estimators).
2025-03-12T04:34:11.429Z,1741754051.429 [ElevatorOffsetCalculator](INFO): Removing expired estimator for commanded vars: speed 1.00 m/s, pitch 20.00 deg, mass-position 9.81 mm.
2025-03-12T04:34:17.145Z,1741754057.145 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.047089
2025-03-12T04:35:13.947Z,1741754113.947 [Radio_Surface](INFO): Powering down
2025-03-12T04:35:16.407Z,1741754116.407 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T04:35:17.412Z,1741754117.412 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-03-12T04:35:54.109Z,1741754154.109 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:B.Pitch] Stopped
2025-03-12T04:35:54.109Z,1741754154.109 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth](INFO): Completed sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth
2025-03-12T04:35:54.110Z,1741754154.110 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth] Stopped
2025-03-12T04:35:54.110Z,1741754154.110 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth
2025-03-12T04:35:54.110Z,1741754154.110 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:A.SetSpeed] Stopped
2025-03-12T04:35:54.110Z,1741754154.110 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:A.SetSpeed](DEBUG): Uninitialize.
2025-03-12T04:35:54.110Z,1741754154.110 [sci2_noyo_optim:DiveCmd:InitialDive:dive:H] Running Loop=1
2025-03-12T04:35:54.350Z,1741754154.350 [sci2_noyo_optim:DiveCmd:InitialDive:dive:H] Stopped
2025-03-12T04:35:54.353Z,1741754154.353 [sci2_noyo_optim:DiveCmd:InitialDive:dive](INFO): Completed sci2_noyo_optim:DiveCmd:InitialDive:dive
2025-03-12T04:35:54.353Z,1741754154.353 [sci2_noyo_optim:DiveCmd:InitialDive:dive] Stopped
2025-03-12T04:35:54.354Z,1741754154.354 [sci2_noyo_optim:DiveCmd:InitialDive:dive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:InitialDive:dive
2025-03-12T04:35:54.381Z,1741754154.381 [sci2_noyo_optim:DiveCmd:InitialDive:dive:A] Stopped
2025-03-12T04:35:54.382Z,1741754154.382 [sci2_noyo_optim:DiveCmd:InitialDive:dive:B] Stopped
2025-03-12T04:35:54.386Z,1741754154.386 [sci2_noyo_optim:DiveCmd:InitialDive:dive:C.Mass] Stopped
2025-03-12T04:35:54.386Z,1741754154.386 [sci2_noyo_optim:DiveCmd:InitialDive:dive:C.Mass](DEBUG): Uninitialize.
2025-03-12T04:35:54.387Z,1741754154.387 [sci2_noyo_optim:DiveCmd:InitialDive](INFO): Completed sci2_noyo_optim:DiveCmd:InitialDive
2025-03-12T04:35:54.773Z,1741754154.773 [sci2_noyo_optim:DiveCmd:SettleAtDepth] Running Loop=1
2025-03-12T04:35:54.773Z,1741754154.773 [sci2_noyo_optim:DiveCmd:SettleAtDepth](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:SettleAtDepth
2025-03-12T04:35:54.773Z,1741754154.773 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive] Running Loop=1
2025-03-12T04:35:54.773Z,1741754154.773 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:SettleAtDepth:dive
2025-03-12T04:35:54.774Z,1741754154.774 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:B.Pitch] Running Loop=1
2025-03-12T04:35:54.774Z,1741754154.774 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:B.Pitch](DEBUG): Initialize.
2025-03-12T04:35:54.774Z,1741754154.774 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:A] Running Loop=1
2025-03-12T04:35:54.774Z,1741754154.774 [sci2_noyo_optim:DiveCmd:SettleAtDepth] Running Loop=1
2025-03-12T04:35:54.774Z,1741754154.774 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:B.Pitch] Running Loop=1
2025-03-12T04:35:54.775Z,1741754154.775 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:A](INFO): Reached  10.133719 m , settling for  3.000000 min 
2025-03-12T04:35:54.775Z,1741754154.775 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:A] Stopped
2025-03-12T04:35:54.776Z,1741754154.776 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:C.Wait] Running Loop=1
2025-03-12T04:35:54.776Z,1741754154.776 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:C.Wait](DEBUG): Initialize Wait Component.
2025-03-12T04:38:55.741Z,1741754335.741 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:C.Wait](INFO): Done Waiting.
2025-03-12T04:38:55.741Z,1741754335.741 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:C.Wait] Stopped
2025-03-12T04:38:55.741Z,1741754335.741 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:C.Wait](DEBUG): Uninitialize Wait Component.
2025-03-12T04:38:55.742Z,1741754335.742 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:D] Running Loop=1
2025-03-12T04:38:56.056Z,1741754336.056 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:D] Stopped
2025-03-12T04:38:56.056Z,1741754336.056 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive](INFO): Completed sci2_noyo_optim:DiveCmd:SettleAtDepth:dive
2025-03-12T04:38:56.056Z,1741754336.056 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive] Stopped
2025-03-12T04:38:56.056Z,1741754336.056 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:SettleAtDepth:dive
2025-03-12T04:38:56.056Z,1741754336.056 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:B.Pitch] Stopped
2025-03-12T04:38:56.057Z,1741754336.057 [sci2_noyo_optim:DiveCmd:SettleAtDepth](INFO): Completed sci2_noyo_optim:DiveCmd:SettleAtDepth
2025-03-12T04:40:03.576Z,1741754403.576 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow] Running Loop=1
2025-03-12T04:40:03.576Z,1741754403.576 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepthSlow
2025-03-12T04:40:03.576Z,1741754403.576 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:A.SetSpeed] Running Loop=1
2025-03-12T04:40:03.576Z,1741754403.576 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:A.SetSpeed](DEBUG): Initialize.
2025-03-12T04:40:03.576Z,1741754403.576 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:B] Running Loop=1
2025-03-12T04:40:03.576Z,1741754403.576 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:C.Buoyancy] Running Loop=1
2025-03-12T04:40:03.576Z,1741754403.576 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:C.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-03-12T04:40:03.577Z,1741754403.577 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:D.Pitch] Running Loop=1
2025-03-12T04:40:03.577Z,1741754403.577 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:D.Pitch](DEBUG): Initialize.
2025-03-12T04:40:03.577Z,1741754403.577 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow] Running Loop=1
2025-03-12T04:40:03.577Z,1741754403.577 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:D.Pitch] Running Loop=1
2025-03-12T04:40:03.577Z,1741754403.577 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:C.Buoyancy] Running Loop=1
2025-03-12T04:40:03.577Z,1741754403.577 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:B] Running Loop=1
2025-03-12T04:40:03.578Z,1741754403.578 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:A.SetSpeed] Running Loop=1
2025-03-12T04:40:03.578Z,1741754403.578 [sci2_noyo_optim:DiveCmd:MaintainDepth] Stopped
2025-03-12T04:40:03.578Z,1741754403.578 [sci2_noyo_optim:DiveCmd:MaintainDepth](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepth
2025-03-12T04:40:03.578Z,1741754403.578 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive] Stopped
2025-03-12T04:40:03.579Z,1741754403.579 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive
2025-03-12T04:40:03.579Z,1741754403.579 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive] Stopped
2025-03-12T04:40:03.579Z,1741754403.579 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive
2025-03-12T04:40:03.579Z,1741754403.579 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass] Stopped
2025-03-12T04:40:03.579Z,1741754403.579 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass](DEBUG): Uninitialize.
2025-03-12T04:40:03.579Z,1741754403.579 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed] Stopped
2025-03-12T04:40:03.579Z,1741754403.579 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed](DEBUG): Uninitialize.
2025-03-12T04:40:03.579Z,1741754403.579 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:B.Pitch] Stopped
2025-03-12T04:42:24.167Z,1741754544.167 [Waterlinked](ERROR): only read 4 of 5 data items. Device response::BI,    +0,    +0,    +0,    +0    +0,    +0,    +0,V
2025-03-12T04:42:45.581Z,1741754565.581 [Waterlinked](ERROR): only read 0 of 1 data item for BIT error. Device response::TS,24052713105378, 0.0, 0.0,1475.0,  0
2025-03-12T04:42:49.432Z,1741754569.432 [sci2_noyo_optim:BackseatDriver:A.BackseatDriver](INFO): Created data writer for _.data_dir_logging_rate with code: 2169
2025-03-12T04:43:05.773Z,1741754585.773 [Waterlinked](ERROR): only read 0 of 1 data item for altitude. Device response::BD,       +0.0 +
2025-03-12T04:43:28.826Z,1741754608.826 [Waterlinked](ERROR): DVL uart error: serial timeout
2025-03-12T04:43:28.826Z,1741754608.826 [Waterlinked] Communications Fault, FailCount= 1
2025-03-12T04:43:28.826Z,1741754608.826 [Waterlinked](ERROR): Communications Fault
2025-03-12T04:43:29.110Z,1741754609.110 [CBIT](ERROR): Communications Fault in component: Waterlinked
2025-03-12T04:43:29.382Z,1741754609.382 [Waterlinked](INFO): Powering down
2025-03-12T04:43:30.078Z,1741754610.078 [CBIT](INFO): Clearing failed state for component Waterlinked
2025-03-12T04:43:30.079Z,1741754610.079 [Waterlinked] No Fault, FailCount= 1
2025-03-12T04:52:50.451Z,1741755170.451 [Waterlinked](ERROR): only read 3 of 5 data items. Device response::BI,    +0,    +0,    +0,  :BS,    +0,    +0,    +0,V
2025-03-12T05:00:56.511Z,1741755656.511 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size.
2025-03-12T05:00:57.478Z,1741755657.478 [sci2_noyo_optim:Lap:DepthByLap:Wpt1:A.Waypoint](IMPORTANT): Reached waypoint: 36.797001,-121.847000
2025-03-12T05:00:57.482Z,1741755657.482 [sci2_noyo_optim:Lap:DepthByLap:Wpt1:A.Waypoint] Stopped
2025-03-12T05:00:57.482Z,1741755657.482 [sci2_noyo_optim:Lap:DepthByLap:Wpt1:A.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-03-12T05:00:57.482Z,1741755657.482 [sci2_noyo_optim:Lap:DepthByLap:Wpt1](INFO): Completed sci2_noyo_optim:Lap:DepthByLap:Wpt1
2025-03-12T05:00:57.483Z,1741755657.483 [sci2_noyo_optim:Lap:DepthByLap:Wpt1] Stopped
2025-03-12T05:00:57.483Z,1741755657.483 [sci2_noyo_optim:Lap:DepthByLap:Wpt1](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Lap:DepthByLap:Wpt1
2025-03-12T05:00:57.483Z,1741755657.483 [sci2_noyo_optim:Lap:DepthByLap:Wpt2] Running Loop=1
2025-03-12T05:00:57.483Z,1741755657.483 [sci2_noyo_optim:Lap:DepthByLap:Wpt2](DEBUG): Aggregate::initialize sci2_noyo_optim:Lap:DepthByLap:Wpt2
2025-03-12T05:00:57.483Z,1741755657.483 [sci2_noyo_optim:Lap:DepthByLap:Wpt2:A.Waypoint] Running Loop=1
2025-03-12T05:00:57.483Z,1741755657.483 [sci2_noyo_optim:Lap:DepthByLap:Wpt2:A.Waypoint](DEBUG): Initialize WaypointComponent.
2025-03-12T05:00:57.484Z,1741755657.484 [sci2_noyo_optim:Lap:DepthByLap:Wpt2:A.Waypoint](IMPORTANT): Navigating to waypoint: 36.797050,-121.877693
2025-03-12T05:00:57.694Z,1741755657.694 [sci2_noyo_optim:Lap:DepthByLap:Wpt2:A.Waypoint](INFO): Navigating to waypoint: 36.797050,-121.877693
2025-03-12T05:04:08.157Z,1741755848.157 [BPC1](ERROR): BPC1B: No match for serial number 1717 in BPC1B's battery stick inventory (sticks 32-62 in onboard configuration file).
2025-03-12T05:05:46.859Z,1741755946.859 [BPC1](INFO): Calculating totals. Valid battery stick count: 51. Valid reserve battery stick count: 5.
2025-03-12T05:05:46.868Z,1741755946.868 [BPC1](FAULT): Failed to receive data from 1 sticks prior to timeout. Will not retry this scan cycle. Missing stick IDs are: 21.
2025-03-12T05:09:50.273Z,1741756190.273 [Waterlinked](ERROR): only read 0 of 1 data item for BIT error. Device response::TS,24   +0,    +0,    +0,    +0,V
2025-03-12T05:17:10.427Z,1741756630.427 [BPC1](ERROR): BPC1B: No match for serial number 1717 in BPC1B's battery stick inventory (sticks 32-62 in onboard configuration file).
2025-03-12T05:17:12.936Z,1741756632.936 [Waterlinked](ERROR): only read 0 of 1 data item for BIT error. Device response::TS,24052713353994, 0.0, +0.0,   0.0,14+0,    +0,V
2025-03-12T05:32:26.416Z,1741757546.416 [sci2_noyo_optim:SurfaceComms] Running Loop=1
2025-03-12T05:32:26.417Z,1741757546.417 [sci2_noyo_optim:SurfaceComms](DEBUG): Aggregate::initialize sci2_noyo_optim:SurfaceComms
2025-03-12T05:32:26.417Z,1741757546.417 [sci2_noyo_optim:SurfaceComms:A] Running Loop=1
2025-03-12T05:32:26.418Z,1741757546.418 [sci2_noyo_optim:SurfaceComms:A] Stopped
2025-03-12T05:32:26.419Z,1741757546.419 [sci2_noyo_optim:SurfaceComms:B] Running Loop=1
2025-03-12T05:32:26.419Z,1741757546.419 [sci2_noyo_optim:SurfaceComms:B](DEBUG): Aggregate::initialize sci2_noyo_optim:SurfaceComms:B
2025-03-12T05:32:26.837Z,1741757546.837 [sci2_noyo_optim:Lap:Dive] Stopped
2025-03-12T05:32:26.837Z,1741757546.837 [sci2_noyo_optim:Lap:Dive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Lap:Dive
2025-03-12T05:32:26.837Z,1741757546.837 [sci2_noyo_optim:Lap:Dive:A] Stopped
2025-03-12T05:32:26.837Z,1741757546.837 [sci2_noyo_optim:Lap:Dive:A](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Lap:Dive:A
2025-03-12T05:32:26.838Z,1741757546.838 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow] Stopped
2025-03-12T05:32:26.839Z,1741757546.839 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepthSlow
2025-03-12T05:32:26.839Z,1741757546.839 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:A.SetSpeed] Stopped
2025-03-12T05:32:26.839Z,1741757546.839 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:A.SetSpeed](DEBUG): Uninitialize.
2025-03-12T05:32:26.839Z,1741757546.839 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:B] Stopped
2025-03-12T05:32:26.839Z,1741757546.839 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:C.Buoyancy] Stopped
2025-03-12T05:32:26.839Z,1741757546.839 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-03-12T05:32:26.839Z,1741757546.839 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:D.Pitch] Stopped
2025-03-12T05:32:26.842Z,1741757546.842 [sci2_noyo_optim:NeedComms] Running Loop=1
2025-03-12T05:32:26.842Z,1741757546.842 [sci2_noyo_optim:NeedComms](DEBUG): Aggregate::initialize sci2_noyo_optim:NeedComms
2025-03-12T05:32:26.842Z,1741757546.842 [sci2_noyo_optim:NeedComms:B.GoToSurface] Running Loop=1
2025-03-12T05:32:26.843Z,1741757546.843 [sci2_noyo_optim:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-03-12T05:32:26.843Z,1741757546.843 [sci2_noyo_optim:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-03-12T05:32:26.843Z,1741757546.843 [sci2_noyo_optim:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-03-12T05:32:26.844Z,1741757546.844 [sci2_noyo_optim:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-03-12T05:32:26.844Z,1741757546.844 [sci2_noyo_optim:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-03-12T05:32:26.844Z,1741757546.844 [sci2_noyo_optim:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-03-12T05:32:26.845Z,1741757546.845 [sci2_noyo_optim:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-03-12T05:32:26.845Z,1741757546.845 [sci2_noyo_optim:NeedComms:A] Running Loop=1
2025-03-12T05:32:26.863Z,1741757546.863 [sci2_noyo_optim:NeedComms:A](INFO): last time_fix was:  1741753945.000000 second since 1970/01/01T00:00:00Z 
2025-03-12T05:32:26.863Z,1741757546.863 [sci2_noyo_optim:NeedComms:A] Stopped
2025-03-12T05:32:45.125Z,1741757565.125 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size.
2025-03-12T05:32:55.481Z,1741757575.481 [sci2_noyo_optim:DiveCmd:MaintainDepth] Running Loop=1
2025-03-12T05:32:55.486Z,1741757575.486 [sci2_noyo_optim:DiveCmd:MaintainDepth](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepth
2025-03-12T05:32:55.487Z,1741757575.487 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive] Running Loop=1
2025-03-12T05:32:55.487Z,1741757575.487 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive
2025-03-12T05:32:55.487Z,1741757575.487 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive] Running Loop=1
2025-03-12T05:32:55.488Z,1741757575.488 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive
2025-03-12T05:32:55.488Z,1741757575.488 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass] Running Loop=1
2025-03-12T05:32:55.488Z,1741757575.488 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass](DEBUG): Initialize.
2025-03-12T05:32:55.489Z,1741757575.489 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed] Running Loop=1
2025-03-12T05:32:55.490Z,1741757575.490 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed](DEBUG): Initialize.
2025-03-12T05:32:55.495Z,1741757575.495 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:B.Pitch] Running Loop=1
2025-03-12T05:32:55.495Z,1741757575.495 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:B.Pitch](DEBUG): Initialize.
2025-03-12T05:34:56.215Z,1741757696.215 [sci2_noyo_optim:NeedComms:C] Running Loop=1
2025-03-12T05:34:56.670Z,1741757696.670 [Waterlinked](INFO): Powering down
2025-03-12T05:34:56.718Z,1741757696.718 [Radio_Surface](INFO): Powering up
2025-03-12T05:35:02.367Z,1741757702.367 [DataOverHttps](INFO): Radio surface powered ON.
2025-03-12T05:35:32.486Z,1741757732.486 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T05:36:07.627Z,1741757767.627 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T05:36:42.774Z,1741757802.774 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T05:37:17.919Z,1741757837.919 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T05:37:53.059Z,1741757873.059 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T05:38:04.066Z,1741757884.066 [NAL9602](IMPORTANT): SBD MO Status=0, MOMSN=18512, MT Status=1, MTMSN=1045
2025-03-12T05:38:04.066Z,1741757884.066 [NAL9602](INFO): Data available in MT queue
2025-03-12T05:38:04.559Z,1741757884.559 [NAL9602](INFO): Received command: stop
2025-03-12T05:38:04.603Z,1741757884.603 [CommandExec](IMPORTANT): got command stop
2025-03-12T05:38:04.603Z,1741757884.603 [CommandExec](IMPORTANT): Scheduling is paused
2025-03-12T05:38:04.603Z,1741757884.603 [Supervisor](INFO): Stop Mission called by CommandExec::commandStop
2025-03-12T05:38:04.897Z,1741757884.897 [MissionManager](INFO): MissionManager is completed.
2025-03-12T05:38:04.898Z,1741757884.898 [MissionManager](INFO): Uninitializing Mission sci2_noyo_optim
2025-03-12T05:38:04.898Z,1741757884.898 [sci2_noyo_optim] Stopped
2025-03-12T05:38:04.898Z,1741757884.898 [sci2_noyo_optim](DEBUG): Aggregate::uninitialize sci2_noyo_optim
2025-03-12T05:38:04.898Z,1741757884.898 [sci2_noyo_optim:Science] Stopped
2025-03-12T05:38:04.898Z,1741757884.898 [sci2_noyo_optim:Science](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science
2025-03-12T05:38:04.898Z,1741757884.898 [sci2_noyo_optim:Science:B] Stopped
2025-03-12T05:38:04.898Z,1741757884.898 [sci2_noyo_optim:Science:C] Stopped
2025-03-12T05:38:04.898Z,1741757884.898 [sci2_noyo_optim:Science:E] Stopped
2025-03-12T05:38:04.898Z,1741757884.898 [sci2_noyo_optim:Science:OceanCurrent] Stopped
2025-03-12T05:38:04.898Z,1741757884.898 [sci2_noyo_optim:Science:OceanCurrent](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:OceanCurrent
2025-03-12T05:38:04.898Z,1741757884.898 [sci2_noyo_optim:Science:OceanCurrent:A.] Stopped
2025-03-12T05:38:04.899Z,1741757884.899 [sci2_noyo_optim:StandardEnvelopes] Stopped
2025-03-12T05:38:04.899Z,1741757884.899 [sci2_noyo_optim:StandardEnvelopes](DEBUG): Aggregate::uninitialize sci2_noyo_optim:StandardEnvelopes
2025-03-12T05:38:04.899Z,1741757884.899 [sci2_noyo_optim:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-03-12T05:38:04.899Z,1741757884.899 [sci2_noyo_optim:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-03-12T05:38:04.899Z,1741757884.899 [sci2_noyo_optim:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-03-12T05:38:04.899Z,1741757884.899 [sci2_noyo_optim:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-03-12T05:38:04.899Z,1741757884.899 [sci2_noyo_optim:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-03-12T05:38:04.899Z,1741757884.899 [sci2_noyo_optim:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-03-12T05:38:04.899Z,1741757884.899 [sci2_noyo_optim:NeedComms] Stopped
2025-03-12T05:38:04.899Z,1741757884.899 [sci2_noyo_optim:NeedComms](DEBUG): Aggregate::uninitialize sci2_noyo_optim:NeedComms
2025-03-12T05:38:04.899Z,1741757884.899 [sci2_noyo_optim:NeedComms:B.GoToSurface] Stopped
2025-03-12T05:38:04.899Z,1741757884.899 [sci2_noyo_optim:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-03-12T05:38:04.900Z,1741757884.900 [sci2_noyo_optim:NeedComms:C] Stopped
2025-03-12T05:38:04.900Z,1741757884.900 [sci2_noyo_optim:BackseatDriver] Stopped
2025-03-12T05:38:04.900Z,1741757884.900 [sci2_noyo_optim:BackseatDriver](DEBUG): Aggregate::uninitialize sci2_noyo_optim:BackseatDriver
2025-03-12T05:38:04.900Z,1741757884.900 [sci2_noyo_optim:BackseatDriver:A.BackseatDriver] Stopped
2025-03-12T05:38:04.900Z,1741757884.900 [sci2_noyo_optim:J] Stopped
2025-03-12T05:38:04.900Z,1741757884.900 [sci2_noyo_optim:PowerOnly] Stopped
2025-03-12T05:38:04.900Z,1741757884.900 [sci2_noyo_optim:PowerOnly](DEBUG): Aggregate::uninitialize sci2_noyo_optim:PowerOnly
2025-03-12T05:38:04.900Z,1741757884.900 [sci2_noyo_optim:PowerOnly:B] Stopped
2025-03-12T05:38:04.900Z,1741757884.900 [sci2_noyo_optim:PowerOnly:E.Wait] Stopped
2025-03-12T05:38:04.900Z,1741757884.900 [sci2_noyo_optim:PowerOnly:E.Wait](DEBUG): Uninitialize Wait Component.
2025-03-12T05:38:04.900Z,1741757884.900 [sci2_noyo_optim:L] Stopped
2025-03-12T05:38:04.900Z,1741757884.900 [sci2_noyo_optim:M.Buoyancy] Stopped
2025-03-12T05:38:04.900Z,1741757884.900 [sci2_noyo_optim:M.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-03-12T05:38:04.901Z,1741757884.901 [sci2_noyo_optim:SurfaceComms] Stopped
2025-03-12T05:38:04.901Z,1741757884.901 [sci2_noyo_optim:SurfaceComms](DEBUG): Aggregate::uninitialize sci2_noyo_optim:SurfaceComms
2025-03-12T05:38:04.901Z,1741757884.901 [sci2_noyo_optim:SurfaceComms:B] Stopped
2025-03-12T05:38:04.901Z,1741757884.901 [sci2_noyo_optim:SurfaceComms:B](DEBUG): Aggregate::uninitialize sci2_noyo_optim:SurfaceComms:B
2025-03-12T05:38:04.901Z,1741757884.901 [sci2_noyo_optim:DiveCmd] Stopped
2025-03-12T05:38:04.901Z,1741757884.901 [sci2_noyo_optim:DiveCmd](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd
2025-03-12T05:38:04.901Z,1741757884.901 [sci2_noyo_optim:DiveCmd:InitialDive] Stopped
2025-03-12T05:38:04.901Z,1741757884.901 [sci2_noyo_optim:DiveCmd:InitialDive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:InitialDive
2025-03-12T05:38:04.901Z,1741757884.901 [sci2_noyo_optim:DiveCmd:SettleAtDepth] Stopped
2025-03-12T05:38:04.901Z,1741757884.901 [sci2_noyo_optim:DiveCmd:SettleAtDepth](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:SettleAtDepth
2025-03-12T05:38:04.901Z,1741757884.901 [sci2_noyo_optim:DiveCmd:MaintainDepth] Stopped
2025-03-12T05:38:04.902Z,1741757884.902 [sci2_noyo_optim:DiveCmd:MaintainDepth](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepth
2025-03-12T05:38:04.902Z,1741757884.902 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive] Stopped
2025-03-12T05:38:04.902Z,1741757884.902 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive
2025-03-12T05:38:04.922Z,1741757884.922 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive] Stopped
2025-03-12T05:38:04.922Z,1741757884.922 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive
2025-03-12T05:38:04.922Z,1741757884.922 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass] Stopped
2025-03-12T05:38:04.922Z,1741757884.922 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass](DEBUG): Uninitialize.
2025-03-12T05:38:04.922Z,1741757884.922 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed] Stopped
2025-03-12T05:38:04.922Z,1741757884.922 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed](DEBUG): Uninitialize.
2025-03-12T05:38:04.923Z,1741757884.923 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:B.Pitch] Stopped
2025-03-12T05:38:04.923Z,1741757884.923 [sci2_noyo_optim:Lap] Stopped
2025-03-12T05:38:04.923Z,1741757884.923 [sci2_noyo_optim:Lap](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Lap
2025-03-12T05:38:04.923Z,1741757884.923 [sci2_noyo_optim:Lap:DepthByLap] Stopped
2025-03-12T05:38:04.923Z,1741757884.923 [sci2_noyo_optim:Lap:DepthByLap](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Lap:DepthByLap
2025-03-12T05:38:04.923Z,1741757884.923 [sci2_noyo_optim:Lap:DepthByLap:Wpt2] Stopped
2025-03-12T05:38:04.923Z,1741757884.923 [sci2_noyo_optim:Lap:DepthByLap:Wpt2](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Lap:DepthByLap:Wpt2
2025-03-12T05:38:04.923Z,1741757884.923 [sci2_noyo_optim:Lap:DepthByLap:Wpt2:A.Waypoint] Stopped
2025-03-12T05:38:04.923Z,1741757884.923 [sci2_noyo_optim:Lap:DepthByLap:Wpt2:A.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-03-12T05:38:05.290Z,1741757885.290 [WetLabsBB2FL](INFO): Powering down
2025-03-12T05:38:05.354Z,1741757885.354 [MissionManager](IMPORTANT): Started mission Default
2025-03-12T05:38:05.354Z,1741757885.354 [Default] Running Loop=1
2025-03-12T05:38:05.354Z,1741757885.354 [Default](DEBUG): Aggregate::initialize Default
2025-03-12T05:38:05.354Z,1741757885.354 [Default:B.GoToSurface] Running Loop=1
2025-03-12T05:38:05.355Z,1741757885.355 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-03-12T05:38:05.355Z,1741757885.355 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-03-12T05:38:05.355Z,1741757885.355 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-03-12T05:38:05.355Z,1741757885.355 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-03-12T05:38:05.356Z,1741757885.356 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-03-12T05:38:05.356Z,1741757885.356 [Default:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-03-12T05:38:05.356Z,1741757885.356 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-03-12T05:38:05.357Z,1741757885.357 [Default:A.Wait] Running Loop=1
2025-03-12T05:38:05.357Z,1741757885.357 [Default:A.Wait](DEBUG): Initialize Wait Component.
2025-03-12T05:38:05.709Z,1741757885.709 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,053804.00,A,3647.98587,N,12151.37281,W,0.311,338.81,120325,,,A*77
2025-03-12T05:38:05.712Z,1741757885.712 [NAL9602](INFO): GPS fix at 20250312T053804: (36.799765, -121.856213)
2025-03-12T05:38:05.728Z,1741757885.728 [UniversalFixResidualReporter](INFO): Fix residual: 19.5 %DT, over the last 1729.2 m. Residual distance 337.4 m at bearing -171.9 degrees. Fix at (36.7998, -121.8562) with 1461.6 m made good.
2025-03-12T05:38:07.127Z,1741757887.127 [BackseatComponent](INFO): Sent LCM shutdown request.
2025-03-12T05:38:07.128Z,1741757887.128 [BackseatComponent](INFO): Shutdown requested. Waiting (18.00 sec to power down.).
2025-03-12T05:38:18.643Z,1741757898.643 [Default:A.Wait](INFO): Done Waiting.
2025-03-12T05:38:18.643Z,1741757898.643 [Default:A.Wait] Stopped
2025-03-12T05:38:18.643Z,1741757898.643 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2025-03-12T05:38:19.052Z,1741757899.052 [Default:CheckIn] Running Loop=1
2025-03-12T05:38:19.053Z,1741757899.053 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-03-12T05:38:19.053Z,1741757899.053 [Default:CheckIn:Read_GPS] Running Loop=1
2025-03-12T05:38:21.063Z,1741757901.063 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,053820.00,A,3647.98572,N,12151.37615,W,0.875,338.81,120325,,,A*7B
2025-03-12T05:38:21.065Z,1741757901.065 [NAL9602](INFO): GPS fix at 20250312T053820: (36.799762, -121.856269)
2025-03-12T05:38:21.119Z,1741757901.119 [Default:CheckIn:Read_GPS] Stopped
2025-03-12T05:38:21.119Z,1741757901.119 [Default:CheckIn:Read_Iridium] Running Loop=1
2025-03-12T05:38:25.291Z,1741757905.291 [BackseatComponent](INFO): Powering down and starting shutdown timer (18.00 sec).
2025-03-12T05:38:25.292Z,1741757905.292 [BackseatComponent](INFO): Unsubscribing from LCM channels.
2025-03-12T05:38:25.292Z,1741757905.292 [LcmUniversalReporter](INFO): Deactivating messaging.
2025-03-12T05:38:26.087Z,1741757906.087 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.011943
2025-03-12T05:38:33.626Z,1741757913.626 [DataOverHttps](INFO): Sending 95 bytes from file Logs/20250311T232940/Courier0093.lzma
2025-03-12T05:38:34.628Z,1741757914.628 [DataOverHttps](INFO): Moved sent file to Logs/20250311T232940/Courier0093.lzma.bak
2025-03-12T05:38:34.628Z,1741757914.628 [DataOverHttps](INFO): SBD MOMSN=24182531
2025-03-12T05:38:38.622Z,1741757918.622 [NAL9602](INFO): SBD MO Status=1, MOMSN=18513, MT Status=0, MTMSN=0
2025-03-12T05:38:38.666Z,1741757918.666 [NAL9602](INFO): Sent 95 bytes from file Logs/20250311T232940/Courier0093.lzma
2025-03-12T05:38:38.667Z,1741757918.667 [NAL9602](INFO): Packets left to send: 0
2025-03-12T05:39:02.256Z,1741757942.256 [DataOverHttps](INFO): Sending 733 bytes from file Logs/20250311T232940/Express0094.lzma
2025-03-12T05:39:03.256Z,1741757943.256 [DataOverHttps](INFO): Moved sent file to Logs/20250311T232940/Express0094.lzma.bak
2025-03-12T05:39:03.256Z,1741757943.256 [DataOverHttps](INFO): SBD MOMSN=24182538
2025-03-12T05:39:09.766Z,1741757949.766 [NAL9602](INFO): Not Powering down - fast GPS
2025-03-12T05:39:19.318Z,1741757959.318 [DataOverHttps](INFO): Sending 39 bytes from file Logs/20250311T232940/Courier0096.lzma
2025-03-12T05:39:20.320Z,1741757960.320 [DataOverHttps](INFO): Moved sent file to Logs/20250311T232940/Courier0096.lzma.bak
2025-03-12T05:39:20.321Z,1741757960.321 [DataOverHttps](INFO): SBD MOMSN=24182557
2025-03-12T05:39:35.604Z,1741757975.604 [PowerOnly](INFO): Powering down loadControl
2025-03-12T05:39:37.310Z,1741757977.310 [DataOverHttps](INFO): Sending 62 bytes from file Logs/20250311T232940/Express0097.lzma
2025-03-12T05:39:38.312Z,1741757978.312 [DataOverHttps](INFO): Moved sent file to Logs/20250311T232940/Express0097.lzma.bak
2025-03-12T05:39:38.313Z,1741757978.313 [DataOverHttps](INFO): SBD MOMSN=24182565
2025-03-12T05:39:39.641Z,1741757979.641 [Default:CheckIn:Read_Iridium] Stopped
2025-03-12T05:39:39.642Z,1741757979.642 [Default:CheckIn:C.Wait] Running Loop=1
2025-03-12T05:39:39.642Z,1741757979.642 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2025-03-12T05:44:40.232Z,1741758280.232 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2025-03-12T05:44:40.232Z,1741758280.232 [Default:CheckIn:C.Wait] Stopped
2025-03-12T05:44:40.233Z,1741758280.233 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2025-03-12T05:44:40.233Z,1741758280.233 [Default:CheckIn:D] Running Loop=1
2025-03-12T05:44:40.647Z,1741758280.647 [Default:CheckIn:D] Stopped
2025-03-12T05:44:40.647Z,1741758280.647 [Default:CheckIn:E] Running Loop=1
2025-03-12T05:44:41.058Z,1741758281.058 [Default:CheckIn:E](IMPORTANT): Default mission has been running for  6.588204 min 
2025-03-12T05:44:41.058Z,1741758281.058 [Default:CheckIn:E] Stopped
2025-03-12T05:44:41.059Z,1741758281.059 [Default:CheckIn](INFO): Completed Default:CheckIn
2025-03-12T05:44:41.059Z,1741758281.059 [Default:CheckIn] Stopped
2025-03-12T05:44:41.059Z,1741758281.059 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-03-12T05:44:41.059Z,1741758281.059 [Default:CheckIn](INFO): Running loop #2
2025-03-12T05:44:41.059Z,1741758281.059 [Default:CheckIn] Running Loop=2
2025-03-12T05:44:41.059Z,1741758281.059 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-03-12T05:44:41.059Z,1741758281.059 [Default:CheckIn:Read_GPS] Running Loop=1
2025-03-12T05:44:43.114Z,1741758283.114 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,054442.00,A,3647.99888,N,12151.42366,W,0.311,316.52,120325,,,A*75
2025-03-12T05:44:43.116Z,1741758283.116 [NAL9602](INFO): GPS fix at 20250312T054442: (36.799981, -121.857061)
2025-03-12T05:44:43.143Z,1741758283.143 [Default:CheckIn:Read_GPS] Stopped
2025-03-12T05:44:43.143Z,1741758283.143 [Default:CheckIn:Read_Iridium] Running Loop=1
2025-03-12T05:44:50.606Z,1741758290.606 [DataOverHttps](INFO): Sending 73 bytes from file Logs/20250311T232940/Courier0099.lzma
2025-03-12T05:44:51.608Z,1741758291.608 [DataOverHttps](INFO): Moved sent file to Logs/20250311T232940/Courier0099.lzma.bak
2025-03-12T05:44:51.608Z,1741758291.608 [DataOverHttps](INFO): SBD MOMSN=24182581
2025-03-12T05:44:57.997Z,1741758297.997 [NAL9602](INFO): SBD MO Status=0, MOMSN=18514, MT Status=0, MTMSN=0
2025-03-12T05:44:57.997Z,1741758297.997 [NAL9602](INFO): No messages in MT queue
2025-03-12T05:45:07.682Z,1741758307.682 [DataOverHttps](INFO): Sending 161 bytes from file Logs/20250311T232940/Express0100.lzma
2025-03-12T05:45:08.684Z,1741758308.684 [DataOverHttps](INFO): Moved sent file to Logs/20250311T232940/Express0100.lzma.bak
2025-03-12T05:45:08.684Z,1741758308.684 [DataOverHttps](INFO): SBD MOMSN=24182590
2025-03-12T05:45:10.153Z,1741758310.153 [Default:CheckIn:Read_Iridium] Stopped
2025-03-12T05:45:10.153Z,1741758310.153 [Default:CheckIn:C.Wait] Running Loop=1
2025-03-12T05:45:10.153Z,1741758310.153 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2025-03-12T05:45:28.699Z,1741758328.699 [NAL9602](INFO): Not Powering down - fast GPS
2025-03-12T05:46:49.111Z,1741758409.111 [BPC1](INFO): Calculating totals. Valid battery stick count: 49. Valid reserve battery stick count: 5.
2025-03-12T05:46:49.113Z,1741758409.113 [BPC1](FAULT): Failed to receive data from 1 sticks prior to timeout. Will not retry this scan cycle. Missing stick IDs are: 21.
2025-03-12T05:50:10.745Z,1741758610.745 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2025-03-12T05:50:10.745Z,1741758610.745 [Default:CheckIn:C.Wait] Stopped
2025-03-12T05:50:10.745Z,1741758610.745 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2025-03-12T05:50:10.745Z,1741758610.745 [Default:CheckIn:D] Running Loop=1
2025-03-12T05:50:11.151Z,1741758611.151 [Default:CheckIn:D] Stopped
2025-03-12T05:50:11.151Z,1741758611.151 [Default:CheckIn:E] Running Loop=1
2025-03-12T05:50:11.556Z,1741758611.556 [Default:CheckIn:E](IMPORTANT): Default mission has been running for  12.096602 min 
2025-03-12T05:50:11.556Z,1741758611.556 [Default:CheckIn:E] Stopped
2025-03-12T05:50:11.556Z,1741758611.556 [Default:CheckIn](INFO): Completed Default:CheckIn
2025-03-12T05:50:11.556Z,1741758611.556 [Default:CheckIn] Stopped
2025-03-12T05:50:11.556Z,1741758611.556 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-03-12T05:50:11.557Z,1741758611.557 [Default:CheckIn](INFO): Running loop #3
2025-03-12T05:50:11.557Z,1741758611.557 [Default:CheckIn] Running Loop=3
2025-03-12T05:50:11.557Z,1741758611.557 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-03-12T05:50:11.557Z,1741758611.557 [Default:CheckIn:Read_GPS] Running Loop=1
2025-03-12T05:50:13.569Z,1741758613.569 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,055012.00,A,3648.01181,N,12151.46621,W,0.719,284.61,120325,,,A*7F
2025-03-12T05:50:13.579Z,1741758613.579 [NAL9602](INFO): GPS fix at 20250312T055012: (36.800197, -121.857770)
2025-03-12T05:50:13.590Z,1741758613.590 [Default:CheckIn:Read_GPS] Stopped
2025-03-12T05:50:13.590Z,1741758613.590 [Default:CheckIn:Read_Iridium] Running Loop=1
2025-03-12T05:50:21.106Z,1741758621.106 [DataOverHttps](INFO): Sending 83 bytes from file Logs/20250311T232940/Courier0102.lzma
2025-03-12T05:50:22.108Z,1741758622.108 [DataOverHttps](INFO): Moved sent file to Logs/20250311T232940/Courier0102.lzma.bak
2025-03-12T05:50:22.109Z,1741758622.109 [DataOverHttps](INFO): SBD MOMSN=24182680
2025-03-12T05:50:30.534Z,1741758630.534 [NAL9602](INFO): SBD MO Status=0, MOMSN=18515, MT Status=0, MTMSN=0
2025-03-12T05:50:30.534Z,1741758630.534 [NAL9602](INFO): No messages in MT queue
2025-03-12T05:50:37.831Z,1741758637.831 [DataOverHttps](INFO): Sending 249 bytes from file Logs/20250311T232940/Express0103.lzma
2025-03-12T05:50:38.832Z,1741758638.832 [DataOverHttps](INFO): Moved sent file to Logs/20250311T232940/Express0103.lzma.bak
2025-03-12T05:50:38.833Z,1741758638.833 [DataOverHttps](INFO): SBD MOMSN=24182683
2025-03-12T05:50:40.238Z,1741758640.238 [Default:CheckIn:Read_Iridium] Stopped
2025-03-12T05:50:40.238Z,1741758640.238 [Default:CheckIn:C.Wait] Running Loop=1
2025-03-12T05:50:40.238Z,1741758640.238 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2025-03-12T05:51:01.236Z,1741758661.236 [NAL9602](INFO): Not Powering down - fast GPS
2025-03-12T05:52:33.956Z,1741758753.956 [DataOverHttps](IMPORTANT): SBD MTMSN=20250312T055232
2025-03-12T05:52:41.398Z,1741758761.398 [DataOverHttps](INFO): Received command: sched asap "load Science/sci2_noyo_optim.tl;set sci2_noyo_optim.MissionTimeout 12 h;set sci2_noyo_optim.NeedCommsTime 60 min;set sci2_noyo_optim.Repeat 12 count;set sci2_noyo_optim.Lat1 36.797 degree;set sci2_noyo_optim.Lon1 -121.847 degree" 31pn8 1 3
2025-03-12T05:52:41.404Z,1741758761.404 [CommandExec](IMPORTANT): got command schedule asap "load Science/sci2_noyo_optim.tl;set sci2_noyo_optim.MissionTimeout 12 h;set sci2_noyo_optim.NeedCommsTime 60 min;set sci2_noyo_optim.Repeat 12 count;set sci2_noyo_optim.Lat1 36.797 degree;set sci2_noyo_optim.Lon1 -121.847 degree" 31pn8 1 3.000000
2025-03-12T05:52:41.404Z,1741758761.404 [CommandExec](IMPORTANT): Scheduling command #1 of 3 with id=31pn8
2025-03-12T05:52:41.405Z,1741758761.405 [CommandExec](IMPORTANT): Scheduled #11 (#1 of 3 with id='31pn8'): "load Science/sci2_noyo_optim.tl;set sci2_noyo_optim.MissionTimeout 12 h;set sci2_noyo_optim.NeedCommsTime 60 min;set sci2_noyo_optim.Repeat 12 count;set sci2_noyo_optim.Lat1 36.797 degree;set sci2_noyo_optim.Lon1 -121.847 degree", ASAP
2025-03-12T05:52:42.401Z,1741758762.401 [DataOverHttps](IMPORTANT): SBD MTMSN=20250312T055241
2025-03-12T05:52:49.830Z,1741758769.830 [DataOverHttps](INFO): Received command: sched asap "set sci2_noyo_optim.Lat2 36.79705 degree;set sci2_noyo_optim.Lon2 -121.87769 degree;set sci2_noyo_optim.ApproachDepth 10 m;set sci2_noyo_optim.SlowSpeed 0.4 m/s;set sci2_noyo_optim.MinAltitude 10 m;set sci2_noyo_optim.MaxDepth 40 m" 31pn8 2 3
2025-03-12T05:52:49.840Z,1741758769.840 [CommandExec](IMPORTANT): got command schedule asap "set sci2_noyo_optim.Lat2 36.79705 degree;set sci2_noyo_optim.Lon2 -121.87769 degree;set sci2_noyo_optim.ApproachDepth 10 m;set sci2_noyo_optim.SlowSpeed 0.4 m/s;set sci2_noyo_optim.MinAltitude 10 m;set sci2_noyo_optim.MaxDepth 40 m" 31pn8 2 3.000000
2025-03-12T05:52:49.841Z,1741758769.841 [CommandExec](IMPORTANT): Scheduling command #2 of 3 with id=31pn8
2025-03-12T05:52:49.842Z,1741758769.842 [CommandExec](IMPORTANT): Scheduled #12 (#2 of 3 with id='31pn8'): "set sci2_noyo_optim.Lat2 36.79705 degree;set sci2_noyo_optim.Lon2 -121.87769 degree;set sci2_noyo_optim.ApproachDepth 10 m;set sci2_noyo_optim.SlowSpeed 0.4 m/s;set sci2_noyo_optim.MinAltitude 10 m;set sci2_noyo_optim.MaxDepth 40 m", ASAP
2025-03-12T05:52:50.832Z,1741758770.832 [DataOverHttps](IMPORTANT): SBD MTMSN=20250312T055249
2025-03-12T05:52:58.226Z,1741758778.226 [DataOverHttps](INFO): Received command: sched asap "set sci2_noyo_optim:PowerOnly.SampleLoad1 1 bool;run" 31pn8 3 3
2025-03-12T05:52:58.305Z,1741758778.305 [CommandExec](IMPORTANT): got command schedule asap "set sci2_noyo_optim:PowerOnly.SampleLoad1 1 bool;run" 31pn8 3 3.000000
2025-03-12T05:52:58.306Z,1741758778.306 [CommandExec](IMPORTANT): Scheduling command #3 of 3 with id=31pn8
2025-03-12T05:52:58.307Z,1741758778.307 [CommandExec](IMPORTANT): Scheduled #13 (#3 of 3 with id='31pn8'): "set sci2_noyo_optim:PowerOnly.SampleLoad1 1 bool;run", ASAP
2025-03-12T05:52:58.511Z,1741758778.511 [CommandExec](IMPORTANT): got command load ./Missions/Science/sci2_noyo_optim.tl
2025-03-12T05:52:58.512Z,1741758778.512 [MissionManager](INFO): Loading Mission from file: ./Missions/Science/sci2_noyo_optim.tl
2025-03-12T05:52:58.512Z,1741758778.512 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Science/sci2_noyo_optim.tl
2025-03-12T05:52:58.522Z,1741758778.522 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Science/sci2_noyo_optim.tl
2025-03-12T05:53:03.649Z,1741758783.649 [MissionManager](DEBUG): TethyslAPI: ./Missions/Science/sci2_noyo_optim.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Mission Id="sci2_noyo_optim">
    <DefineArg Name="MissionTimeout">
        <Units:hour />
        <Value>2</Value>
    </DefineArg>
    <DefineArg Name="NeedCommsTime">
        <Units:minute />
        <Value>60</Value>
    </DefineArg>
    <DefineArg Name="Depth1">
        <Units:meter />
        <Value>35</Value>
    </DefineArg>
    <DefineArg Name="Depth2">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Depth3">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Depth4">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Depth5">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Depth6">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Depth7">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Depth8">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="DepthPerLeg">
        <False />
    </DefineArg>
    <DefineArg Name="Repeat">
        <Units:count />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="Lat1">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lat2">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lat3">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lat4">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lat5">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lat6">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lat7">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lat8">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lon1">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lon2">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lon3">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lon4">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lon5">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lon6">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lon7">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lon8">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="FastSpeed">
        <Units:meter_per_second />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="ApproachDepth">
        <Units:meter />
        <Value>30</Value>
    </DefineArg>
    <DefineArg Name="ApproachSpeed">
        <Units:meter_per_second />
        <Value>0.7</Value>
    </DefineArg>
    <DefineArg Name="ApproachDepthRate">
        <Units:meter_per_second />
        <Value>0.05</Value>
    </DefineArg>
    <DefineArg Name="ApproachPitchLimit">
        <Units:degree />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="ApproachDepthTimeout">
        <Units:minute />
        <Value>15</Value>
    </DefineArg>
    <DefineArg Name="ApproachSettleTimePreDive">
        <Units:minute />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="ApproachSettleTimePostDive">
        <Units:minute />
        <Value>3</Value>
    </DefineArg>
    <DefineArg Name="kpDepth">
        <Units:radian_per_meter />
        <Value>0.07</Value>
    </DefineArg>
    <DefineArg Name="SlowSpeed">
        <Units:meter_per_second />
        <Value>0.25</Value>
    </DefineArg>
    <DefineArg Name="DepthDeviationSlow">
        <Units:meter />
        <Value>3</Value>
    </DefineArg>
    <DefineArg Name="BuoyancyNeutral">
        <Control:VerticalControl.buoyancyNeutral />
    </DefineArg>
    <DefineArg Name="MassDefault">
        <Control:VerticalControl.massDefault />
    </DefineArg>
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>2</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>50</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:kilometer />
        <Value>2</Value>
    </DefineArg>
    <DefineOutput Name="DiveMode">
        <Units:count />
        <Value>0</Value>
    </DefineOutput>
    <DefineOutput Name="DoingComms">
        <Units:count />
        <Value>0</Value>
    </DefineOutput>
    <DefineOutput Name="InitialDive">
        <Units:count />
        <Value>1</Value>
    </DefineOutput>
    <DefineOutput Name="SettleAtDepth">
        <Units:count />
        <Value>2</Value>
    </DefineOutput>
    <DefineOutput Name="MaintainDepth">
        <Units:count />
        <Value>3</Value>
    </DefineOutput>
    <DefineOutput Name="LegDepth">
        <Arg Name="Depth1" />
    </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="MissionTimeout" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="NeedComms:WaitForPitchUp" />
        <Units:minute />
        <Value>0</Value>
    </Assign>
    <Insert Filename="Insert/BackseatDriver.tl" />
    <Assign>
        <Parallel />
        <Arg Name="BackseatDriver:EnableBackseat" />
        <True />
    </Assign>
    <Insert Filename="Insert/PowerOnly.tl" />
    <Assign>
        <Parallel />
        <Arg Name="PowerOnly:SampleLoad1" />
        <True />
    </Assign>
    <Assign>
        <Sequence />
        <Sensor:MultiRay.lightModeCommand />
        <Units:count />
        <Value>2</Value>
    </Assign>
    <ReadData Strategy="MinError">
        <While>
            <Sensor:MultiRay.loadAtStartup />
        </While>
        <Sensor:MultiRay.lightModeLog />
    </ReadData>
    <Guidance:Buoyancy>
        <Parallel />
        <Setting>
            <Guidance:Buoyancy.position />
            <Arg Name="BuoyancyNeutral" />
        </Setting>
    </Guidance:Buoyancy>
    <Aggregate Id="SurfaceComms">
        <When>
            <Called />
            <Or>
                <Elapsed>
                    <Universal:time_fix />
                </Elapsed>
                <Gt>
                    <Arg Name="NeedCommsTime" />
                </Gt>
            </Or>
        </When>
        <Assign>
            <Sequence />
            <Arg Name="DiveMode" />
            <Arg Name="DoingComms" />
        </Assign>
        <Call RefId="NeedComms" />
        <Assign>
            <Sequence />
            <Arg Name="DiveMode" />
            <Arg Name="InitialDive" />
        </Assign>
    </Aggregate>
    <Aggregate Id="DiveCmd">
        <When>
            <Called />
        </When>
        <Aggregate Id="InitialDive">
            <While>
                <Arg Name="DiveMode" />
                <Eq>
                    <Arg Name="InitialDive" />
                </Eq>
            </While>
            <Aggregate Id="dive">
                <Sequence />
                <Assign>
                    <Parallel />
                    <Control:VerticalControl.pitchLimit />
                    <Arg Name="ApproachPitchLimit" />
                </Assign>
                <Assign>
                    <Parallel />
                    <Control:VerticalControl.kpDepth />
                    <Arg Name="kpDepth" />
                </Assign>
                <Guidance:Mass>
                    <Parallel />
                    <Setting>
                        <Guidance:Mass.position />
                        <Arg Name="MassDefault" />
                    </Setting>
                </Guidance:Mass>
                <Syslog Severity="Info">
                    Waiting for 
                    <Arg Name="ApproachSettleTimePreDive" />
                    <Units:minute />
                    while pumping down to neutral.
                </Syslog>
                <Guidance:Wait>
                    <Sequence />
                    <Setting>
                        <Guidance:Wait.duration />
                        <Arg Name="ApproachSettleTimePreDive" />
                    </Setting>
                </Guidance:Wait>
                <Syslog>
                    Moving to 
                    <Arg Name="ApproachDepth" />
                    <Units:meter />
                </Syslog>
                <Aggregate Id="ApproachDepth">
                    <Sequence />
                    <Guidance:SetSpeed>
                        <Parallel />
                        <Setting>
                            <Guidance:SetSpeed.speed />
                            <Arg Name="ApproachSpeed" />
                        </Setting>
                    </Guidance:SetSpeed>
                    <Guidance:Pitch>
                        <Sequence />
                        <Timeout Duration="ApproachDepthTimeout">
                            <Syslog Severity="Important">
                                Timed out while trying to reach target depth at current depth of 
                                <Universal:depth />
                                <Units:meter />
                            </Syslog>
                            <Guidance:Execute>
                                <Sequence />
                                <Setting>
                                    <Guidance:Execute.command />
                                    <String>stop</String>
                                </Setting>
                            </Guidance:Execute>
                        </Timeout>
                        <Setting>
                            <Guidance:Pitch.depth />
                            <Arg Name="ApproachDepth" />
                        </Setting>
                        <Setting>
                            <Guidance:Pitch.depthRate />
                            <Arg Name="ApproachDepthRate" />
                        </Setting>
                    </Guidance:Pitch>
                </Aggregate>
                <Assign>
                    <Sequence />
                    <Arg Name="DiveMode" />
                    <Arg Name="SettleAtDepth" />
                </Assign>
            </Aggregate>
        </Aggregate>
        <Aggregate Id="SettleAtDepth">
            <While>
                <Arg Name="DiveMode" />
                <Eq>
                    <Arg Name="SettleAtDepth" />
                </Eq>
            </While>
            <Aggregate Id="dive">
                <Sequence />
                <Syslog Severity="Info">
                    Reached 
                    <Universal:depth />
                    <Units:meter />
                    , settling for 
                    <Arg Name="ApproachSettleTimePostDive" />
                    <Units:minute />
                </Syslog>
                <Guidance:Pitch>
                    <Parallel />
                    <Setting>
                        <Guidance:Pitch.depth />
                        <Arg Name="LegDepth" />
                    </Setting>
                </Guidance:Pitch>
                <Guidance:Wait>
                    <Sequence />
                    <Setting>
                        <Guidance:Wait.duration />
                        <Arg Name="ApproachSettleTimePostDive" />
                    </Setting>
                </Guidance:Wait>
                <Assign>
                    <Sequence />
                    <Arg Name="DiveMode" />
                    <Arg Name="MaintainDepth" />
                </Assign>
            </Aggregate>
        </Aggregate>
        <Aggregate Id="MaintainDepth">
            <While>
                <Arg Name="DiveMode" />
                <Eq>
                    <Arg Name="MaintainDepth" />
                </Eq>
                <And>
                    <Universal:depth />
                    <Gt>
                        <Arg Name="LegDepth" />
                        <Add>
                            <Arg Name="DepthDeviationSlow" />
                        </Add>
                    </Gt>
                </And>
                <Or>
                    <Universal:depth />
                    <Lt>
                        <Arg Name="LegDepth" />
                        <Sub>
                            <Arg Name="DepthDeviationSlow" />
                        </Sub>
                    </Lt>
                </Or>
            </While>
            <Aggregate Id="dive">
                <Parallel />
                <Aggregate Id="ThrusterDive">
                    <While>
                        <Arg Name="FastSpeed" />
                        <Gt>
                            <Units:meter_per_second />
                            <Value>0.0</Value>
                        </Gt>
                    </While>
                    <Guidance:Mass>
                        <Parallel />
                        <Setting>
                            <Guidance:Mass.position />
                            <Arg Name="MassDefault" />
                        </Setting>
                    </Guidance:Mass>
                    <Guidance:SetSpeed>
                        <Parallel />
                        <Setting>
                            <Guidance:SetSpeed.speed />
                            <Arg Name="FastSpeed" />
                        </Setting>
                    </Guidance:SetSpeed>
                </Aggregate>
                <Guidance:Pitch>
                    <Parallel />
                    <Setting>
                        <Guidance:Pitch.depth />
                        <Arg Name="LegDepth" />
                    </Setting>
                </Guidance:Pitch>
            </Aggregate>
        </Aggregate>
        <Aggregate Id="MaintainDepthSlow">
            <While>
                <Not>
                    <IsNaN>
                        <Arg Name="SlowSpeed" />
                    </IsNaN>
                </Not>
                <And>
                    <Arg Name="DiveMode" />
                    <Eq>
                        <Arg Name="MaintainDepth" />
                    </Eq>
                </And>
                <And>
                    <Universal:depth />
                    <Le>
                        <Arg Name="LegDepth" />
                        <Add>
                            <Arg Name="DepthDeviationSlow" />
                        </Add>
                    </Le>
                </And>
                <And>
                    <Universal:depth />
                    <Ge>
                        <Arg Name="LegDepth" />
                        <Sub>
                            <Arg Name="DepthDeviationSlow" />
                        </Sub>
                    </Ge>
                </And>
            </While>
            <Guidance:SetSpeed>
                <Parallel />
                <Setting>
                    <Guidance:SetSpeed.speed />
                    <Arg Name="SlowSpeed" />
                </Setting>
            </Guidance:SetSpeed>
            <Assign>
                <Parallel />
                <Control:VerticalControl.depthDeadband />
                <Arg Name="DepthDeviationSlow" />
                <Add>
                    <Units:meter />
                    <Value>3</Value>
                </Add>
            </Assign>
            <Guidance:Buoyancy>
                <Parallel />
                <Setting>
                    <Guidance:Buoyancy.position />
                    <Units:cubic_centimeter />
                    <Value>NaN</Value>
                </Setting>
            </Guidance:Buoyancy>
            <Guidance:Pitch>
                <Parallel />
                <Setting>
                    <Guidance:Pitch.depth />
                    <Arg Name="LegDepth" />
                </Setting>
            </Guidance:Pitch>
        </Aggregate>
    </Aggregate>
    <Call RefId="SurfaceComms" Id="StartingMission" />
    <Aggregate Id="Lap">
        <Sequence Repeat="Repeat" />
        <Aggregate Id="Dive">
            <While>
                <Not>
                    <Arg Name="DiveMode" />
                    <Eq>
                        <Arg Name="DoingComms" />
                    </Eq>
                </Not>
            </While>
            <Call RefId="DiveCmd" />
        </Aggregate>
        <Aggregate Id="DepthByLap">
            <Sequence />
            <Break>
                <Arg Name="DepthPerLeg" />
            </Break>
            <Assign>
                <Sequence />
                <Arg Name="LegDepth" />
                <Arg Name="Depth1" />
            </Assign>
            <Aggregate Id="Wpt1">
                <Sequence />
                <Guidance:Waypoint>
                    <Sequence />
                    <Setting>
                        <Guidance:Waypoint.latitude />
                        <Arg Name="Lat1" />
                    </Setting>
                    <Setting>
                        <Guidance:Waypoint.longitude />
                        <Arg Name="Lon1" />
                    </Setting>
                </Guidance:Waypoint>
            </Aggregate>
            <Aggregate Id="Wpt2">
                <Sequence />
                <Guidance:Waypoint>
                    <Sequence />
                    <Setting>
                        <Guidance:Waypoint.latitude />
                        <Arg Name="Lat2" />
                    </Setting>
                    <Setting>
                        <Guidance:Waypoint.longitude />
                        <Arg Name="Lon2" />
                    </Setting>
                </Guidance:Waypoint>
            </Aggregate>
            <Aggregate Id="Wpt3">
                <Sequence />
                <Guidance:Waypoint>
                    <Sequence />
                    <Setting>
                        <Guidance:Waypoint.latitude />
                        <Arg Name="Lat3" />
                    </Setting>
                    <Setting>
                        <Guidance:Waypoint.longitude />
                        <Arg Name="Lon3" />
                    </Setting>
                </Guidance:Waypoint>
            </Aggregate>
            <Aggregate Id="Wpt4">
                <Sequence />
                <Guidance:Waypoint>
                    <Sequence />
                    <Setting>
                        <Guidance:Waypoint.latitude />
                        <Arg Name="Lat4" />
                    </Setting>
                    <Setting>
                        <Guidance:Waypoint.longitude />
                        <Arg Name="Lon4" />
                    </Setting>
                </Guidance:Waypoint>
            </Aggregate>
            <Aggregate Id="Wpt5">
                <Sequence />
                <Guidance:Waypoint>
                    <Sequence />
                    <Setting>
                        <Guidance:Waypoint.latitude />
                        <Arg Name="Lat5" />
                    </Setting>
                    <Setting>
                        <Guidance:Waypoint.longitude />
                        <Arg Name="Lon5" />
                    </Setting>
                </Guidance:Waypoint>
            </Aggregate>
            <Aggregate Id="Wpt6">
                <Sequence />
                <Guidance:Waypoint>
                    <Sequence />
                    <Setting>
                        <Guidance:Waypoint.latitude />
                        <Arg Name="Lat6" />
                    </Setting>
                    <Setting>
                        <Guidance:Waypoint.longitude />
                        <Arg Name="Lon6" />
                    </Setting>
                </Guidance:Waypoint>
            </Aggregate>
            <Aggregate Id="Wpt7">
                <Sequence />
                <Guidance:Waypoint>
                    <Sequence />
                    <Setting>
                        <Guidance:Waypoint.latitude />
                        <Arg Name="Lat7" />
                    </Setting>
                    <Setting>
                        <Guidance:Waypoint.longitude />
                        <Arg Name="Lon7" />
                    </Setting>
                </Guidance:Waypoint>
            </Aggregate>
            <Aggregate Id="Wpt8">
                <Sequence />
                <Guidance:Waypoint>
                    <Sequence />
                    <Setting>
                        <Guidance:Waypoint.latitude />
                        <Arg Name="Lat8" />
                    </Setting>
                    <Setting>
                        <Guidance:Waypoint.longitude />
                        <Arg Name="Lon8" />
                    </Setting>
                </Guidance:Waypoint>
            </Aggregate>
            <Aggregate Id="Leg2">
                <Sequence />
                <Break>
                    <IsNaN>
                        <Arg Name="Depth2" />
                    </IsNaN>
                </Break>
                <Syslog Severity="Important">
                    Transiting waypoints at depth 
                    <Arg Name="Depth2" />
                    <Units:meter />
                </Syslog>
                <Assign>
                    <Sequence />
                    <Arg Name="LegDepth" />
                    <Arg Name="Depth2" />
                </Assign>
                <Aggregate Id="Wpt1">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat1" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon1" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt2">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat2" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon2" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt3">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat3" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon3" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt4">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat4" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon4" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt5">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat5" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon5" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt6">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat6" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon6" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt7">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat7" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon7" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt8">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat8" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon8" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
            </Aggregate>
            <Aggregate Id="Leg3">
                <Sequence />
                <Break>
                    <IsNaN>
                        <Arg Name="Depth3" />
                    </IsNaN>
                </Break>
                <Syslog Severity="Important">
                    Transiting waypoints at depth 
                    <Arg Name="Depth3" />
                    <Units:meter />
                </Syslog>
                <Assign>
                    <Sequence />
                    <Arg Name="LegDepth" />
                    <Arg Name="Depth3" />
                </Assign>
                <Aggregate Id="Wpt1">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat1" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon1" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt2">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat2" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon2" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt3">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat3" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon3" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt4">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat4" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon4" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt5">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat5" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon5" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt6">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat6" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon6" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt7">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat7" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon7" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt8">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat8" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon8" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
            </Aggregate>
            <Aggregate Id="Leg4">
                <Sequence />
                <Break>
                    <IsNaN>
                        <Arg Name="Depth4" />
                    </IsNaN>
                </Break>
                <Syslog Severity="Important">
                    Transiting waypoints at depth 
                    <Arg Name="Depth4" />
                    <Units:meter />
                </Syslog>
                <Assign>
                    <Sequence />
                    <Arg Name="LegDepth" />
                    <Arg Name="Depth4" />
                </Assign>
                <Aggregate Id="Wpt1">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat1" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon1" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt2">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat2" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon2" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt3">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat3" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon3" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt4">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat4" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon4" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt5">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat5" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon5" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt6">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat6" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon6" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt7">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat7" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon7" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt8">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat8" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon8" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
            </Aggregate>
            <Aggregate Id="Leg5">
                <Sequence />
                <Break>
                    <IsNaN>
                        <Arg Name="Depth5" />
                    </IsNaN>
                </Break>
                <Syslog Severity="Important">
                    Transiting waypoints at depth 
                    <Arg Name="Depth5" />
                    <Units:meter />
                </Syslog>
                <Assign>
                    <Sequence />
                    <Arg Name="LegDepth" />
                    <Arg Name="Depth5" />
                </Assign>
                <Aggregate Id="Wpt1">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat1" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon1" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt2">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat2" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon2" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt3">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat3" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon3" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt4">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat4" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon4" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt5">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat5" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon5" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt6">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat6" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon6" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt7">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat7" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon7" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt8">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat8" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon8" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
            </Aggregate>
            <Aggregate Id="Leg6">
                <Sequence />
                <Break>
                    <IsNaN>
                        <Arg Name="Depth6" />
                    </IsNaN>
                </Break>
                <Syslog Severity="Important">
                    Transiting waypoints at depth 
                    <Arg Name="Depth6" />
                    <Units:meter />
                </Syslog>
                <Assign>
                    <Sequence />
                    <Arg Name="LegDepth" />
                    <Arg Name="Depth6" />
                </Assign>
                <Aggregate Id="Wpt1">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat1" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon1" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt2">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat2" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon2" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt3">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat3" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon3" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt4">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat4" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon4" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt5">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat5" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon5" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt6">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat6" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon6" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt7">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat7" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon7" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt8">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat8" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon8" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
            </Aggregate>
            <Aggregate Id="Leg7">
                <Sequence />
                <Break>
                    <IsNaN>
                        <Arg Name="Depth7" />
                    </IsNaN>
                </Break>
                <Syslog Severity="Important">
                    Transiting waypoints at depth 
                    <Arg Name="Depth7" />
                    <Units:meter />
                </Syslog>
                <Assign>
                    <Sequence />
                    <Arg Name="LegDepth" />
                    <Arg Name="Depth7" />
                </Assign>
                <Aggregate Id="Wpt1">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat1" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon1" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt2">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat2" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon2" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt3">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat3" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon3" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt4">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat4" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon4" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt5">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat5" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon5" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt6">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat6" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon6" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt7">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat7" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon7" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt8">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat8" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon8" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
            </Aggregate>
            <Aggregate Id="Leg8">
                <Sequence />
                <Break>
                    <IsNaN>
                        <Arg Name="Depth8" />
                    </IsNaN>
                </Break>
                <Syslog Severity="Important">
                    Transiting waypoints at depth 
                    <Arg Name="Depth8" />
                    <Units:meter />
                </Syslog>
                <Assign>
                    <Sequence />
                    <Arg Name="LegDepth" />
                    <Arg Name="Depth8" />
                </Assign>
                <Aggregate Id="Wpt1">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat1" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon1" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt2">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat2" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon2" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt3">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat3" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon3" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt4">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat4" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon4" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt5">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat5" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon5" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt6">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat6" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon6" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt7">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat7" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon7" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt8">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat8" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon8" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
            </Aggregate>
        </Aggregate>
        <Aggregate Id="DepthByLeg">
            <Sequence />
            <Break>
                <Not>
                    <Arg Name="DepthPerLeg" />
                </Not>
            </Break>
            <Aggregate Id="Leg1">
                <Sequence />
                <Assign>
                    <Sequence />
                    <Arg Name="LegDepth" />
                    <Arg Name="Depth1" />
                </Assign>
                <Guidance:Waypoint>
                    <Sequence />
                    <Setting>
                        <Guidance:Waypoint.latitude />
                        <Arg Name="Lat1" />
                    </Setting>
                    <Setting>
                        <Guidance:Waypoint.longitude />
                        <Arg Name="Lon1" />
                    </Setting>
                </Guidance:Waypoint>
            </Aggregate>
            <Aggregate Id="Leg2">
                <Sequence />
                <Break>
                    <IsNaN>
                        <Arg Name="Depth2" />
                    </IsNaN>
                </Break>
                <Syslog Severity="Info">
                    Transiting to next waypoint at depth 
                    <Arg Name="Depth2" />
                    <Units:meter />
                </Syslog>
                <Assign>
                    <Sequence />
                    <Arg Name="LegDepth" />
                    <Arg Name="Depth2" />
                </Assign>
                <Aggregate Id="Wpt2">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat2" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon2" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
            </Aggregate>
            <Aggregate Id="Leg3">
                <Sequence />
                <Break>
                    <IsNaN>
                        <Arg Name="Depth3" />
                    </IsNaN>
                </Break>
                <Syslog Severity="Info">
                    Transiting to next waypoint at depth 
                    <Arg Name="Depth3" />
                    <Units:meter />
                </Syslog>
                <Assign>
                    <Sequence />
                    <Arg Name="LegDepth" />
                    <Arg Name="Depth3" />
                </Assign>
                <Aggregate Id="Wpt3">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat3" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon3" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
            </Aggregate>
            <Aggregate Id="Leg4">
                <Sequence />
                <Break>
                    <IsNaN>
                        <Arg Name="Depth4" />
                    </IsNaN>
                </Break>
                <Syslog Severity="Info">
                    Transiting to next waypoint at depth 
                    <Arg Name="Depth4" />
                    <Units:meter />
                </Syslog>
                <Assign>
                    <Sequence />
                    <Arg Name="LegDepth" />
                    <Arg Name="Depth4" />
                </Assign>
                <Aggregate Id="Wpt4">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat4" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon4" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
            </Aggregate>
            <Aggregate Id="Leg5">
                <Sequence />
                <Break>
                    <IsNaN>
                        <Arg Name="Depth5" />
                    </IsNaN>
                </Break>
                <Syslog Severity="Info">
                    Transiting to next waypoint at depth 
                    <Arg Name="Depth5" />
                    <Units:meter />
                </Syslog>
                <Assign>
                    <Sequence />
                    <Arg Name="LegDepth" />
                    <Arg Name="Depth5" />
                </Assign>
                <Aggregate Id="Wpt5">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat5" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon5" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
            </Aggregate>
            <Aggregate Id="Leg6">
                <Sequence />
                <Break>
                    <IsNaN>
                        <Arg Name="Depth6" />
                    </IsNaN>
                </Break>
                <Syslog Severity="Info">
                    Transiting to next waypoint at depth 
                    <Arg Name="Depth6" />
                    <Units:meter />
                </Syslog>
                <Assign>
                    <Sequence />
                    <Arg Name="LegDepth" />
                    <Arg Name="Depth6" />
                </Assign>
                <Aggregate Id="Wpt6">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat6" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon6" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
            </Aggregate>
            <Aggregate Id="Leg7">
                <Sequence />
                <Break>
                    <IsNaN>
                        <Arg Name="Depth7" />
                    </IsNaN>
                </Break>
                <Syslog Severity="Info">
                    Transiting to next waypoint at depth 
                    <Arg Name="Depth7" />
                    <Units:meter />
                </Syslog>
                <Assign>
                    <Sequence />
                    <Arg Name="LegDepth" />
                    <Arg Name="Depth7" />
                </Assign>
                <Aggregate Id="Wpt7">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat7" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon7" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
            </Aggregate>
            <Aggregate Id="Leg8">
                <Sequence />
                <Break>
                    <IsNaN>
                        <Arg Name="Depth8" />
                    </IsNaN>
                </Break>
                <Syslog Severity="Info">
                    Transiting to next waypoint at depth 
                    <Arg Name="Depth8" />
                    <Units:meter />
                </Syslog>
                <Assign>
                    <Sequence />
                    <Arg Name="LegDepth" />
                    <Arg Name="Depth8" />
                </Assign>
                <Aggregate Id="Wpt8">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat8" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon8" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
            </Aggregate>
        </Aggregate>
    </Aggregate>
</Mission>

2025-03-12T05:53:03.747Z,1741758783.747 [MissionManager](INFO): DefineArg sci2_noyo_optim.MissionTimeout = 2.000000 h
2025-03-12T05:53:03.749Z,1741758783.749 [MissionManager](INFO): DefineArg sci2_noyo_optim.NeedCommsTime = 60.000000 min
2025-03-12T05:53:03.776Z,1741758783.776 [MissionManager](INFO): DefineArg sci2_noyo_optim.Depth1 = 35.000000 m
2025-03-12T05:53:03.779Z,1741758783.779 [MissionManager](INFO): DefineArg sci2_noyo_optim.Depth2 = nan m
2025-03-12T05:53:03.782Z,1741758783.782 [MissionManager](INFO): DefineArg sci2_noyo_optim.Depth3 = nan m
2025-03-12T05:53:03.784Z,1741758783.784 [MissionManager](INFO): DefineArg sci2_noyo_optim.Depth4 = nan m
2025-03-12T05:53:03.786Z,1741758783.786 [MissionManager](INFO): DefineArg sci2_noyo_optim.Depth5 = nan m
2025-03-12T05:53:03.788Z,1741758783.788 [MissionManager](INFO): DefineArg sci2_noyo_optim.Depth6 = nan m
2025-03-12T05:53:03.792Z,1741758783.792 [MissionManager](INFO): DefineArg sci2_noyo_optim.Depth7 = nan m
2025-03-12T05:53:03.828Z,1741758783.828 [MissionManager](INFO): DefineArg sci2_noyo_optim.Depth8 = nan m
2025-03-12T05:53:03.830Z,1741758783.830 [MissionManager](INFO): DefineArg sci2_noyo_optim.DepthPerLeg = 0 bool
2025-03-12T05:53:03.833Z,1741758783.833 [MissionManager](INFO): DefineArg sci2_noyo_optim.Repeat = 1.000000 count
2025-03-12T05:53:03.835Z,1741758783.835 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lat1 = nan arcdeg
2025-03-12T05:53:03.837Z,1741758783.837 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lat2 = nan arcdeg
2025-03-12T05:53:03.855Z,1741758783.855 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lat3 = nan arcdeg
2025-03-12T05:53:03.857Z,1741758783.857 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lat4 = nan arcdeg
2025-03-12T05:53:03.859Z,1741758783.859 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lat5 = nan arcdeg
2025-03-12T05:53:03.862Z,1741758783.862 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lat6 = nan arcdeg
2025-03-12T05:53:03.878Z,1741758783.878 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lat7 = nan arcdeg
2025-03-12T05:53:03.880Z,1741758783.880 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lat8 = nan arcdeg
2025-03-12T05:53:03.882Z,1741758783.882 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lon1 = nan arcdeg
2025-03-12T05:53:03.885Z,1741758783.885 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lon2 = nan arcdeg
2025-03-12T05:53:03.899Z,1741758783.899 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lon3 = nan arcdeg
2025-03-12T05:53:03.902Z,1741758783.902 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lon4 = nan arcdeg
2025-03-12T05:53:03.904Z,1741758783.904 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lon5 = nan arcdeg
2025-03-12T05:53:03.906Z,1741758783.906 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lon6 = nan arcdeg
2025-03-12T05:53:03.908Z,1741758783.908 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lon7 = nan arcdeg
2025-03-12T05:53:03.925Z,1741758783.925 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lon8 = nan arcdeg
2025-03-12T05:53:03.928Z,1741758783.928 [MissionManager](INFO): DefineArg sci2_noyo_optim.FastSpeed = 1.000000 m/s
2025-03-12T05:53:03.930Z,1741758783.930 [MissionManager](INFO): DefineArg sci2_noyo_optim.ApproachDepth = 30.000000 m
2025-03-12T05:53:03.932Z,1741758783.932 [MissionManager](INFO): DefineArg sci2_noyo_optim.ApproachSpeed = 0.700000 m/s
2025-03-12T05:53:03.950Z,1741758783.950 [MissionManager](INFO): DefineArg sci2_noyo_optim.ApproachDepthRate = 0.050000 m/s
2025-03-12T05:53:03.952Z,1741758783.952 [MissionManager](INFO): DefineArg sci2_noyo_optim.ApproachPitchLimit = 20.000000 arcdeg
2025-03-12T05:53:03.955Z,1741758783.955 [MissionManager](INFO): DefineArg sci2_noyo_optim.ApproachDepthTimeout = 15.000000 min
2025-03-12T05:53:03.957Z,1741758783.957 [MissionManager](INFO): DefineArg sci2_noyo_optim.ApproachSettleTimePreDive = 1.000000 min
2025-03-12T05:53:03.975Z,1741758783.975 [MissionManager](INFO): DefineArg sci2_noyo_optim.ApproachSettleTimePostDive = 3.000000 min
2025-03-12T05:53:03.977Z,1741758783.977 [MissionManager](INFO): DefineArg sci2_noyo_optim.kpDepth = 0.070000 rad/m
2025-03-12T05:53:03.979Z,1741758783.979 [MissionManager](INFO): DefineArg sci2_noyo_optim.SlowSpeed = 0.250000 m/s
2025-03-12T05:53:03.982Z,1741758783.982 [MissionManager](INFO): DefineArg sci2_noyo_optim.DepthDeviationSlow = 3.000000 m
2025-03-12T05:53:04.005Z,1741758784.005 [MissionManager](INFO): DefineArg sci2_noyo_optim.BuoyancyNeutral = 373.087250 cc
2025-03-12T05:53:04.007Z,1741758784.007 [MissionManager](INFO): DefineArg sci2_noyo_optim.MassDefault = 0.684636 cm
2025-03-12T05:53:04.010Z,1741758784.010 [MissionManager](INFO): DefineArg sci2_noyo_optim.MinAltitude = 2.000000 m
2025-03-12T05:53:04.012Z,1741758784.012 [MissionManager](INFO): DefineArg sci2_noyo_optim.MaxDepth = 50.000000 m
2025-03-12T05:53:04.035Z,1741758784.035 [MissionManager](INFO): DefineArg sci2_noyo_optim.MinOffshore = 2.000000 km
2025-03-12T05:53:04.037Z,1741758784.037 [MissionManager](INFO): DefineOutput sci2_noyo_optim.DiveMode = 0.000000 count
2025-03-12T05:53:04.044Z,1741758784.044 [MissionManager](INFO): DefineOutput sci2_noyo_optim.DoingComms = 0.000000 count
2025-03-12T05:53:04.053Z,1741758784.053 [MissionManager](INFO): DefineOutput sci2_noyo_optim.InitialDive = 1.000000 count
2025-03-12T05:53:04.092Z,1741758784.092 [MissionManager](INFO): DefineOutput sci2_noyo_optim.SettleAtDepth = 2.000000 count
2025-03-12T05:53:04.107Z,1741758784.107 [MissionManager](INFO): DefineOutput sci2_noyo_optim.MaintainDepth = 3.000000 count
2025-03-12T05:53:04.110Z,1741758784.110 [MissionManager](INFO): DefineOutput sci2_noyo_optim.LegDepth = 35.000000 m
2025-03-12T05:53:04.120Z,1741758784.120 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/Science.tl
2025-03-12T05:53:04.120Z,1741758784.120 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/Science.tl
2025-03-12T05:53:04.141Z,1741758784.141 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/Science.tl
2025-03-12T05:53:06.857Z,1741758786.857 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/Science.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="Science">
    <DefineArg Name="PeakDetectChlActive">
        <False />
    </DefineArg>
    <DefineArg Name="EdgeDetectChlActive">
        <False />
    </DefineArg>
    <DefineArg Name="TimeWindowPeakReport">
        <Units:minute />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="HighestChlPeakReportActive">
        <False />
    </DefineArg>
    <DefineArg Name="HighestSaltPeakReportActive">
        <False />
    </DefineArg>
    <DefineArg Name="HighestOilPeakReportActive">
        <False />
    </DefineArg>
    <DefineArg Name="PatchTracking">
        <False />
    </DefineArg>
    <DefineArg Name="FilterWidthHorizontal">
        <Units:count />
        <Value>3</Value>
    </DefineArg>
    <DefineArg Name="NumProfilesSlidingwindow">
        <Units:count />
        <Value>100</Value>
    </DefineArg>
    <DefineArg Name="OffPeakFractionHorizontal">
        <Units:percent />
        <Value>80</Value>
    </DefineArg>
    <DefineArg Name="PeakDetectNO3Active">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectOilActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectFDOMActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectSalinityActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreLMavgROIActive">
        <False />
    </DefineArg>
    <DefineArg Name="EdgeDetectPlanktivoreLMavgROIActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreHMavgROIActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreDiatomsActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreDinoflagellatesActive">
        <False />
    </DefineArg>
    <DefineArg Name="UpwardDerivativeOfTemperatureActive">
        <False />
    </DefineArg>
    <DefineArg Name="EnabledAanderaaO2">
        <Science:Aanderaa_O2.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledNeilBrown">
        <Science:CTD_NeilBrown.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledSeabird">
        <Science:CTD_Seabird.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledWetLabsBB2FL">
        <Science:WetLabsBB2FL.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledWetLabsSeaOWL_UV_A">
        <Science:WetLabsSeaOWL_UV_A.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledWetLabsUBAT">
        <Science:WetLabsUBAT.loadAtStartup />
    </DefineArg>
    <DefineArg Name="LowPassWindowLength">
        <Units:count />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="MedianFilterLen">
        <Units:count />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="ShallowBound">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="DeepBound">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="DepChangeThreshForAttitudeFlip">
        <Units:meter />
        <Value>2.0</Value>
    </DefineArg>
    <DefineArg Name="OffPeakFractionVertical">
        <Units:percent />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="ChlPeakThresh">
        <Units:microgram_per_liter />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="ChlThreshTriggerActive">
        <False />
    </DefineArg>
    <DefineArg Name="ChlLowerThresh">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="ChlUpperThresh">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="NumProfilesThresh">
        <Units:count />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="PlanktivoreLMavgROIPeakThresh">
        <Units:count_per_second />
        <Value>0</Value>
    </DefineArg>
    <DefineOutput Name="GoDown">
        <True />
    </DefineOutput>
    <DefineOutput Name="PeakChl">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChl">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChlDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChlTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChlLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChlLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3">
        <Units:micromole_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3Depth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3Latitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3Longitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOil">
        <Units:kilogram_per_cubic_meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOilDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOilLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOilLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOM">
        <Units:part_per_billion />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSalt">
        <Units:practical_salinity_unit />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROI">
        <Units:count_per_second />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROIDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROITemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROILatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROILongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROI">
        <Units:count_per_second />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROIDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROITemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROILatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROILongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROI">
        <Units:count_per_second />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROIDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROITemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROILatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROILongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatoms">
        <Units:count_per_milliliter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellates">
        <Units:count_per_milliliter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChl">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlDistance">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSalt">
        <Units:practical_salinity_unit />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltDistance">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOil">
        <Units:practical_salinity_unit />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilDistance">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="TriggeredOnChl">
        <False />
    </DefineOutput>
    <DefineOutput Name="ChlTriggering">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <Parallel />
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledAanderaaO2" />
        </While>
        <Universal:mass_concentration_of_oxygen_in_sea_water />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledNeilBrown" />
            <Or>
                <Arg Name="EnabledSeabird" />
            </Or>
        </While>
        <Universal:sea_water_temperature />
        <Universal:sea_water_salinity />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledSeabird" />
        </While>
        <Science:CTD_Seabird.sea_water_temperature />
        <Science:CTD_Seabird.sea_water_salinity />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledNeilBrown" />
            <Or>
                <Arg Name="EnabledSeabird" />
            </Or>
            <And>
                <Arg Name="UpwardDerivativeOfTemperatureActive" />
            </And>
        </While>
        <Universal:upward_derivative_of_sea_water_temperature />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledWetLabsBB2FL" />
            <Or>
                <Arg Name="PeakDetectChlActive" />
            </Or>
        </While>
        <Universal:mass_concentration_of_chlorophyll_in_sea_water />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledWetLabsUBAT" />
        </While>
        <Science:WetLabsUBAT.average_bioluminescence />
    </ReadData>
    <ReadData Id="Read_Oil" Strategy="MinError">
        <While>
            <Arg Name="EnabledWetLabsSeaOWL_UV_A" />
            <Or>
                <Arg Name="PeakDetectOilActive" />
            </Or>
        </While>
        <Universal:mass_concentration_of_petroleum_hydrocarbons_in_sea_water />
    </ReadData>
    <Aggregate Id="OceanCurrent">
        <Sequence />
        <Estimation:CurrentEstimator>
            <Parallel />
        </Estimation:CurrentEstimator>
    </Aggregate>
    <Aggregate Id="PeakDetectChl">
        <While>
            <Arg Name="PeakDetectChlActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:mass_concentration_of_chlorophyll_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakChl">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakChlDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakChlTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakChlLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakChlLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakChl" />
            <Arg Name="PeakChlDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="EdgeDetectChl">
        <While>
            <Arg Name="EdgeDetectChlActive" />
        </While>
        <Syslog Severity="Debug">EdgeDetectVsDepth</Syslog>
        <Trigger:EdgeDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:EdgeDetectVsDepth.detect />
                <Universal:mass_concentration_of_chlorophyll_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFraction />
                <Arg Name="OffPeakFractionVertical" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.peakThresh />
                <Arg Name="ChlPeakThresh" />
            </Setting>
            <OutputArg Name="GoDown">
                <Trigger:EdgeDetectVsDepth.goDown />
            </OutputArg>
            <OutputArg Name="PeakChl">
                <Trigger:EdgeDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakChlDepth">
                <Trigger:EdgeDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakChlTemperature">
                <Trigger:EdgeDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakChlLatitude">
                <Trigger:EdgeDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakChlLongitude">
                <Trigger:EdgeDetectVsDepth.peakLongitude />
            </OutputArg>
            <OutputArg Name="EdgeChl">
                <Trigger:EdgeDetectVsDepth.edgeDetect />
            </OutputArg>
            <OutputArg Name="EdgeChlDepth">
                <Trigger:EdgeDetectVsDepth.edgeDepth />
            </OutputArg>
            <OutputArg Name="EdgeChlTemperature">
                <Trigger:EdgeDetectVsDepth.edgeTemperature />
            </OutputArg>
            <OutputArg Name="EdgeChlLatitude">
                <Trigger:EdgeDetectVsDepth.edgeLatitude />
            </OutputArg>
            <OutputArg Name="EdgeChlLongitude">
                <Trigger:EdgeDetectVsDepth.edgeLongitude />
            </OutputArg>
        </Trigger:EdgeDetectVsDepth>
        <Syslog Severity="Info">
            GoDown, ChlPeakThresh, PeakChl, PeakChlDepth, EdgeChl, EdgeChlDepth = 
            <Arg Name="GoDown" />
            <Units:bool />
            , 
            <Arg Name="ChlPeakThresh" />
            <Units:microgram_per_liter />
            , 
            <Arg Name="PeakChl" />
            <Units:microgram_per_liter />
            , 
            <Arg Name="PeakChlDepth" />
            <Units:meter />
            , 
            <Arg Name="EdgeChl" />
            <Units:microgram_per_liter />
            , 
            <Arg Name="EdgeChlDepth" />
            <Units:meter />
        </Syslog>
        <SendData Service="Express">
            <Arg Name="PeakChl" />
            <Arg Name="PeakChlDepth" />
            <Arg Name="EdgeChl" />
            <Arg Name="EdgeChlDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="HighestChlPeakReport">
        <While>
            <Arg Name="HighestChlPeakReportActive" />
        </While>
        <Trigger:PeakDetectHorizontal>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectHorizontal.detectFrom />
                <Arg Name="PeakChl" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.depthFrom />
                <Arg Name="PeakChlDepth" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.latitudeFrom />
                <Arg Name="PeakChlLatitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.longitudeFrom />
                <Arg Name="PeakChlLongitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.patchTracking />
                <Arg Name="PatchTracking" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.filterWidth />
                <Arg Name="FilterWidthHorizontal" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.numProfilesSlidingwindow />
                <Arg Name="NumProfilesSlidingwindow" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.offPeakFraction />
                <Arg Name="OffPeakFractionHorizontal" />
            </Setting>
            <OutputArg Name="PatchChl">
                <Trigger:PeakDetectHorizontal.peakDetect />
            </OutputArg>
            <OutputArg Name="PatchChlDepth">
                <Trigger:PeakDetectHorizontal.peakDepth />
            </OutputArg>
            <OutputArg Name="PatchChlLatitude">
                <Trigger:PeakDetectHorizontal.peakLatitude />
            </OutputArg>
            <OutputArg Name="PatchChlLongitude">
                <Trigger:PeakDetectHorizontal.peakLongitude />
            </OutputArg>
            <OutputArg Name="PatchChlDistance">
                <Trigger:PeakDetectHorizontal.peakDistance />
            </OutputArg>
        </Trigger:PeakDetectHorizontal>
    </Aggregate>
    <Aggregate Id="PeakDetectNO3">
        <While>
            <Arg Name="PeakDetectNO3Active" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:mole_concentration_of_nitrate_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <OutputArg Name="PeakNO3">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakNO3Depth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakNO3Latitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakNO3Longitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakNO3" />
            <Arg Name="PeakNO3Depth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectOil">
        <While>
            <Arg Name="PeakDetectOilActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:mass_concentration_of_petroleum_hydrocarbons_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <OutputArg Name="PeakOil">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakOilDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakOilLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakOilLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakOil" />
            <Arg Name="PeakOilDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="HighestOilPeakReport">
        <While>
            <Arg Name="HighestOilPeakReportActive" />
        </While>
        <Trigger:PeakDetectHorizontal>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectHorizontal.detectFrom />
                <Arg Name="PeakOil" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.depthFrom />
                <Arg Name="PeakOilDepth" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.latitudeFrom />
                <Arg Name="PeakOilLatitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.longitudeFrom />
                <Arg Name="PeakOilLongitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.patchTracking />
                <Arg Name="PatchTracking" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.filterWidth />
                <Arg Name="FilterWidthHorizontal" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.numProfilesSlidingwindow />
                <Arg Name="NumProfilesSlidingwindow" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.offPeakFraction />
                <Arg Name="OffPeakFractionHorizontal" />
            </Setting>
            <OutputArg Name="PatchOil">
                <Trigger:PeakDetectHorizontal.peakDetect />
            </OutputArg>
            <OutputArg Name="PatchOilDepth">
                <Trigger:PeakDetectHorizontal.peakDepth />
            </OutputArg>
            <OutputArg Name="PatchOilLatitude">
                <Trigger:PeakDetectHorizontal.peakLatitude />
            </OutputArg>
            <OutputArg Name="PatchOilLongitude">
                <Trigger:PeakDetectHorizontal.peakLongitude />
            </OutputArg>
            <OutputArg Name="PatchOilDistance">
                <Trigger:PeakDetectHorizontal.peakDistance />
            </OutputArg>
        </Trigger:PeakDetectHorizontal>
    </Aggregate>
    <Aggregate Id="PeakDetectFDOM">
        <While>
            <Arg Name="PeakDetectFDOMActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:concentration_of_colored_dissolved_organic_matter_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <OutputArg Name="PeakFDOM">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakFDOMDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakFDOMTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakFDOMLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakFDOMLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakFDOM" />
            <Arg Name="PeakFDOMDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectSalinity">
        <While>
            <Arg Name="PeakDetectSalinityActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:sea_water_salinity />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakSalt">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakSaltDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakSaltTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakSaltLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakSaltLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakSalt" />
            <Arg Name="PeakSaltDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="HighestSaltPeakReport">
        <While>
            <Arg Name="HighestSaltPeakReportActive" />
        </While>
        <Trigger:PeakDetectHorizontal>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectHorizontal.detectFrom />
                <Arg Name="PeakSalt" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.depthFrom />
                <Arg Name="PeakSaltDepth" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.latitudeFrom />
                <Arg Name="PeakSaltLatitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.longitudeFrom />
                <Arg Name="PeakSaltLongitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.patchTracking />
                <Arg Name="PatchTracking" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.filterWidth />
                <Arg Name="FilterWidthHorizontal" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.numProfilesSlidingwindow />
                <Arg Name="NumProfilesSlidingwindow" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.offPeakFraction />
                <Arg Name="OffPeakFractionHorizontal" />
            </Setting>
            <OutputArg Name="PatchSalt">
                <Trigger:PeakDetectHorizontal.peakDetect />
            </OutputArg>
            <OutputArg Name="PatchSaltDepth">
                <Trigger:PeakDetectHorizontal.peakDepth />
            </OutputArg>
            <OutputArg Name="PatchSaltLatitude">
                <Trigger:PeakDetectHorizontal.peakLatitude />
            </OutputArg>
            <OutputArg Name="PatchSaltLongitude">
                <Trigger:PeakDetectHorizontal.peakLongitude />
            </OutputArg>
            <OutputArg Name="PatchSaltDistance">
                <Trigger:PeakDetectHorizontal.peakDistance />
            </OutputArg>
        </Trigger:PeakDetectHorizontal>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreLMavgROI">
        <While>
            <Arg Name="PeakDetectPlanktivoreLMavgROIActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_LM_AvgRois</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreLMavgROI">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROIDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROITemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROILatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROILongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreLMavgROI" />
            <Arg Name="PeakPlanktivoreLMavgROIDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="EdgeDetectPlanktivoreLMavgROI">
        <While>
            <Arg Name="EdgeDetectPlanktivoreLMavgROIActive" />
        </While>
        <Syslog Severity="Debug">EdgeDetectVsDepth</Syslog>
        <Trigger:EdgeDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:EdgeDetectVsDepth.detect />
                <String>_.planktivore_LM_AvgRois</String>
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFraction />
                <Arg Name="OffPeakFractionVertical" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.peakThresh />
                <Arg Name="PlanktivoreLMavgROIPeakThresh" />
            </Setting>
            <OutputArg Name="GoDown">
                <Trigger:EdgeDetectVsDepth.goDown />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROI">
                <Trigger:EdgeDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROIDepth">
                <Trigger:EdgeDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROITemperature">
                <Trigger:EdgeDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROILatitude">
                <Trigger:EdgeDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROILongitude">
                <Trigger:EdgeDetectVsDepth.peakLongitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROI">
                <Trigger:EdgeDetectVsDepth.edgeDetect />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROIDepth">
                <Trigger:EdgeDetectVsDepth.edgeDepth />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROITemperature">
                <Trigger:EdgeDetectVsDepth.edgeTemperature />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROILatitude">
                <Trigger:EdgeDetectVsDepth.edgeLatitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROILongitude">
                <Trigger:EdgeDetectVsDepth.edgeLongitude />
            </OutputArg>
        </Trigger:EdgeDetectVsDepth>
        <Syslog Severity="Important">
            GoDown, PlanktivoreLMavgROIPeakThresh, PeakPlanktivoreLMavgROI, PeakPlanktivoreLMavgROIDepth, EdgePlanktivoreLMavgROI, EdgePlanktivoreLMavgROIDepth = 
            <Arg Name="GoDown" />
            <Units:bool />
            , 
            <Arg Name="PlanktivoreLMavgROIPeakThresh" />
            <Units:microgram_per_liter />
            , 
            <Arg Name="PeakPlanktivoreLMavgROI" />
            <Units:microgram_per_liter />
            , 
            <Arg Name="PeakPlanktivoreLMavgROIDepth" />
            <Units:meter />
            , 
            <Arg Name="EdgePlanktivoreLMavgROI" />
            <Units:microgram_per_liter />
            , 
            <Arg Name="EdgePlanktivoreLMavgROIDepth" />
            <Units:meter />
        </Syslog>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreLMavgROI" />
            <Arg Name="PeakPlanktivoreLMavgROIDepth" />
            <Arg Name="EdgePlanktivoreLMavgROI" />
            <Arg Name="EdgePlanktivoreLMavgROIDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreHMavgROI">
        <While>
            <Arg Name="PeakDetectPlanktivoreHMavgROIActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_HM_AvgRois</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreHMavgROI">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROIDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROITemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROILatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROILongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreHMavgROI" />
            <Arg Name="PeakPlanktivoreHMavgROIDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreDiatoms">
        <While>
            <Arg Name="PeakDetectPlanktivoreDiatomsActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_diatoms</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreDiatoms">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreDiatoms" />
            <Arg Name="PeakPlanktivoreDiatomsDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreDinoflagellates">
        <While>
            <Arg Name="PeakDetectPlanktivoreDinoflagellatesActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_dinoflagellates</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreDinoflagellates">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreDinoflagellates" />
            <Arg Name="PeakPlanktivoreDinoflagellatesDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="ChlThreshTrigger">
        <While>
            <Arg Name="ChlThreshTriggerActive" />
        </While>
        <Trigger:ValueDetect>
            <Sequence />
            <Setting>
                <Trigger:ValueDetect.detect />
                <Arg Name="PeakChl" />
            </Setting>
            <Setting>
                <Trigger:ValueDetect.lowerThreshold />
                <Arg Name="ChlLowerThresh" />
            </Setting>
            <Setting>
                <Trigger:ValueDetect.upperThreshold />
                <Arg Name="ChlUpperThresh" />
            </Setting>
            <Setting>
                <Trigger:ValueDetect.numProfilesThreshold />
                <Arg Name="NumProfilesThresh" />
            </Setting>
            <OutputArg Name="ChlTriggering">
                <Trigger:ValueDetect.outputValue />
            </OutputArg>
        </Trigger:ValueDetect>
        <Assign>
            <Sequence />
            <Arg Name="TriggeredOnChl" />
            <True />
        </Assign>
        <Syslog Severity="Important">
            Triggered. PeakChl values on 
            <Arg Name="NumProfilesThresh" />
            <Units:count />
             consecutive yo-yo profiles fall in [
            <Arg Name="ChlLowerThresh" />
            <Units:microgram_per_liter />
            <Arg Name="ChlUpperThresh" />
            <Units:microgram_per_liter />
            ] (NaN bound is ignored).
        </Syslog>
    </Aggregate>
</Aggregate>

2025-03-12T05:53:06.912Z,1741758786.912 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.PeakDetectChlActive = 0 bool
2025-03-12T05:53:06.916Z,1741758786.916 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.EdgeDetectChlActive = 0 bool
2025-03-12T05:53:06.946Z,1741758786.946 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.TimeWindowPeakReport = nan min
2025-03-12T05:53:06.948Z,1741758786.948 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.HighestChlPeakReportActive = 0 bool
2025-03-12T05:53:06.954Z,1741758786.954 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.HighestSaltPeakReportActive = 0 bool
2025-03-12T05:53:06.956Z,1741758786.956 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.HighestOilPeakReportActive = 0 bool
2025-03-12T05:53:06.958Z,1741758786.958 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.PatchTracking = 0 bool
2025-03-12T05:53:06.961Z,1741758786.961 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.FilterWidthHorizontal = 3.000000 count
2025-03-12T05:53:06.968Z,1741758786.968 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.NumProfilesSlidingwindow = 100.000000 count
2025-03-12T05:53:06.990Z,1741758786.990 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.OffPeakFractionHorizontal = 80.000000 %
2025-03-12T05:53:06.992Z,1741758786.992 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.PeakDetectNO3Active = 0 bool
2025-03-12T05:53:07.007Z,1741758787.007 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.PeakDetectOilActive = 0 bool
2025-03-12T05:53:07.009Z,1741758787.009 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.PeakDetectFDOMActive = 0 bool
2025-03-12T05:53:07.015Z,1741758787.015 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.PeakDetectSalinityActive = 0 bool
2025-03-12T05:53:07.017Z,1741758787.017 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.PeakDetectPlanktivoreLMavgROIActive = 0 bool
2025-03-12T05:53:07.028Z,1741758787.028 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.EdgeDetectPlanktivoreLMavgROIActive = 0 bool
2025-03-12T05:53:07.030Z,1741758787.030 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.PeakDetectPlanktivoreHMavgROIActive = 0 bool
2025-03-12T05:53:07.041Z,1741758787.041 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.PeakDetectPlanktivoreDiatomsActive = 0 bool
2025-03-12T05:53:07.047Z,1741758787.047 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.PeakDetectPlanktivoreDinoflagellatesActive = 0 bool
2025-03-12T05:53:07.049Z,1741758787.049 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2025-03-12T05:53:07.064Z,1741758787.064 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.EnabledAanderaaO2 = 0 bool
2025-03-12T05:53:07.071Z,1741758787.071 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.EnabledNeilBrown = 0 bool
2025-03-12T05:53:07.073Z,1741758787.073 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.EnabledSeabird = 1 bool
2025-03-12T05:53:07.085Z,1741758787.085 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.EnabledWetLabsBB2FL = 1 bool
2025-03-12T05:53:07.092Z,1741758787.092 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.EnabledWetLabsSeaOWL_UV_A = 0 bool
2025-03-12T05:53:07.098Z,1741758787.098 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.EnabledWetLabsUBAT = 0 bool
2025-03-12T05:53:07.112Z,1741758787.112 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.LowPassWindowLength = 20.000000 count
2025-03-12T05:53:07.119Z,1741758787.119 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.MedianFilterLen = 5.000000 count
2025-03-12T05:53:07.121Z,1741758787.121 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.ShallowBound = nan m
2025-03-12T05:53:07.132Z,1741758787.132 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.DeepBound = nan m
2025-03-12T05:53:07.139Z,1741758787.139 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.DepChangeThreshForAttitudeFlip = 2.000000 m
2025-03-12T05:53:07.141Z,1741758787.141 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.OffPeakFractionVertical = nan %
2025-03-12T05:53:07.144Z,1741758787.144 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.ChlPeakThresh = 0.000000 ug/l
2025-03-12T05:53:07.146Z,1741758787.146 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.ChlThreshTriggerActive = 0 bool
2025-03-12T05:53:07.160Z,1741758787.160 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.ChlLowerThresh = nan ug/l
2025-03-12T05:53:07.167Z,1741758787.167 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.ChlUpperThresh = nan ug/l
2025-03-12T05:53:07.169Z,1741758787.169 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.NumProfilesThresh = 5.000000 count
2025-03-12T05:53:07.172Z,1741758787.172 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.PlanktivoreLMavgROIPeakThresh = 0.000000 count/s
2025-03-12T05:53:07.186Z,1741758787.186 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.GoDown = 1 bool
2025-03-12T05:53:07.189Z,1741758787.189 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakChl = nan ug/l
2025-03-12T05:53:07.207Z,1741758787.207 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakChlDepth = nan m
2025-03-12T05:53:07.210Z,1741758787.210 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakChlTemperature = nan degC
2025-03-12T05:53:07.217Z,1741758787.217 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakChlLatitude = nan arcdeg
2025-03-12T05:53:07.220Z,1741758787.220 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakChlLongitude = nan arcdeg
2025-03-12T05:53:07.234Z,1741758787.234 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.EdgeChl = nan ug/l
2025-03-12T05:53:07.237Z,1741758787.237 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.EdgeChlDepth = nan m
2025-03-12T05:53:07.245Z,1741758787.245 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.EdgeChlTemperature = nan degC
2025-03-12T05:53:07.262Z,1741758787.262 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.EdgeChlLatitude = nan arcdeg
2025-03-12T05:53:07.265Z,1741758787.265 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.EdgeChlLongitude = nan arcdeg
2025-03-12T05:53:07.272Z,1741758787.272 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakNO3 = nan umol/l
2025-03-12T05:53:07.274Z,1741758787.274 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakNO3Depth = nan m
2025-03-12T05:53:07.276Z,1741758787.276 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakNO3Latitude = nan arcdeg
2025-03-12T05:53:07.279Z,1741758787.279 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakNO3Longitude = nan arcdeg
2025-03-12T05:53:07.281Z,1741758787.281 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakOil = nan kg/m3
2025-03-12T05:53:07.323Z,1741758787.323 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakOilDepth = nan m
2025-03-12T05:53:07.326Z,1741758787.326 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakOilLatitude = nan arcdeg
2025-03-12T05:53:07.328Z,1741758787.328 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakOilLongitude = nan arcdeg
2025-03-12T05:53:07.347Z,1741758787.347 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakFDOM = nan ppb
2025-03-12T05:53:07.349Z,1741758787.349 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakFDOMDepth = nan m
2025-03-12T05:53:07.352Z,1741758787.352 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakFDOMTemperature = nan degC
2025-03-12T05:53:07.370Z,1741758787.370 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakFDOMLatitude = nan arcdeg
2025-03-12T05:53:07.373Z,1741758787.373 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakFDOMLongitude = nan arcdeg
2025-03-12T05:53:07.375Z,1741758787.375 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakSalt = nan psu
2025-03-12T05:53:07.377Z,1741758787.377 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakSaltDepth = nan m
2025-03-12T05:53:07.393Z,1741758787.393 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakSaltTemperature = nan degC
2025-03-12T05:53:07.396Z,1741758787.396 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakSaltLatitude = nan arcdeg
2025-03-12T05:53:07.423Z,1741758787.423 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakSaltLongitude = nan arcdeg
2025-03-12T05:53:07.425Z,1741758787.425 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreLMavgROI = nan count/s
2025-03-12T05:53:07.427Z,1741758787.427 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreLMavgROIDepth = nan m
2025-03-12T05:53:07.430Z,1741758787.430 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreLMavgROITemperature = nan degC
2025-03-12T05:53:07.442Z,1741758787.443 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreLMavgROILatitude = nan arcdeg
2025-03-12T05:53:07.445Z,1741758787.445 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreLMavgROILongitude = nan arcdeg
2025-03-12T05:53:07.447Z,1741758787.447 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.EdgePlanktivoreLMavgROI = nan count/s
2025-03-12T05:53:07.450Z,1741758787.450 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.EdgePlanktivoreLMavgROIDepth = nan m
2025-03-12T05:53:07.473Z,1741758787.473 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.EdgePlanktivoreLMavgROITemperature = nan degC
2025-03-12T05:53:07.475Z,1741758787.475 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.EdgePlanktivoreLMavgROILatitude = nan arcdeg
2025-03-12T05:53:07.478Z,1741758787.478 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.EdgePlanktivoreLMavgROILongitude = nan arcdeg
2025-03-12T05:53:07.480Z,1741758787.480 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreHMavgROI = nan count/s
2025-03-12T05:53:07.494Z,1741758787.494 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreHMavgROIDepth = nan m
2025-03-12T05:53:07.497Z,1741758787.497 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreHMavgROITemperature = nan degC
2025-03-12T05:53:07.499Z,1741758787.499 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreHMavgROILatitude = nan arcdeg
2025-03-12T05:53:07.502Z,1741758787.502 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreHMavgROILongitude = nan arcdeg
2025-03-12T05:53:07.504Z,1741758787.504 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreDiatoms = nan count/ml
2025-03-12T05:53:07.532Z,1741758787.532 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreDiatomsDepth = nan m
2025-03-12T05:53:07.535Z,1741758787.535 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreDiatomsTemperature = nan degC
2025-03-12T05:53:07.537Z,1741758787.537 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreDiatomsLatitude = nan arcdeg
2025-03-12T05:53:07.540Z,1741758787.540 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreDiatomsLongitude = nan arcdeg
2025-03-12T05:53:07.552Z,1741758787.552 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreDinoflagellates = nan count/ml
2025-03-12T05:53:07.554Z,1741758787.554 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreDinoflagellatesDepth = nan m
2025-03-12T05:53:07.557Z,1741758787.557 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreDinoflagellatesTemperature = nan degC
2025-03-12T05:53:07.559Z,1741758787.559 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreDinoflagellatesLatitude = nan arcdeg
2025-03-12T05:53:07.562Z,1741758787.562 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreDinoflagellatesLongitude = nan arcdeg
2025-03-12T05:53:07.578Z,1741758787.578 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchChl = nan ug/l
2025-03-12T05:53:07.580Z,1741758787.580 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchChlDepth = nan m
2025-03-12T05:53:07.583Z,1741758787.583 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchChlLatitude = nan arcdeg
2025-03-12T05:53:07.585Z,1741758787.585 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchChlLongitude = nan arcdeg
2025-03-12T05:53:07.603Z,1741758787.603 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchChlDistance = nan m
2025-03-12T05:53:07.605Z,1741758787.605 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchSalt = nan psu
2025-03-12T05:53:07.607Z,1741758787.607 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchSaltDepth = nan m
2025-03-12T05:53:07.610Z,1741758787.610 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchSaltLatitude = nan arcdeg
2025-03-12T05:53:07.625Z,1741758787.625 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchSaltLongitude = nan arcdeg
2025-03-12T05:53:07.631Z,1741758787.631 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchSaltDistance = nan m
2025-03-12T05:53:07.634Z,1741758787.634 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchOil = nan psu
2025-03-12T05:53:07.639Z,1741758787.639 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchOilDepth = nan m
2025-03-12T05:53:07.660Z,1741758787.660 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchOilLatitude = nan arcdeg
2025-03-12T05:53:07.663Z,1741758787.663 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchOilLongitude = nan arcdeg
2025-03-12T05:53:07.665Z,1741758787.665 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchOilDistance = nan m
2025-03-12T05:53:07.667Z,1741758787.667 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.TriggeredOnChl = 0 bool
2025-03-12T05:53:07.670Z,1741758787.670 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.ChlTriggering = nan ug/l
2025-03-12T05:53:07.752Z,1741758787.752 [sci2_noyo_optim:Science:PeakDetectChl:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-03-12T05:53:07.797Z,1741758787.797 [sci2_noyo_optim:Science:EdgeDetectChl:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-03-12T05:53:07.852Z,1741758787.852 [sci2_noyo_optim:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-03-12T05:53:07.885Z,1741758787.885 [sci2_noyo_optim:Science:PeakDetectNO3:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-03-12T05:53:07.917Z,1741758787.917 [sci2_noyo_optim:Science:PeakDetectOil:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-03-12T05:53:07.944Z,1741758787.944 [sci2_noyo_optim:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-03-12T05:53:07.970Z,1741758787.970 [sci2_noyo_optim:Science:PeakDetectFDOM:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-03-12T05:53:08.007Z,1741758788.007 [sci2_noyo_optim:Science:PeakDetectSalinity:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-03-12T05:53:08.041Z,1741758788.041 [sci2_noyo_optim:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-03-12T05:53:08.083Z,1741758788.083 [sci2_noyo_optim:Science:PeakDetectPlanktivoreLMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-03-12T05:53:08.129Z,1741758788.129 [sci2_noyo_optim:Science:EdgeDetectPlanktivoreLMavgROI:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-03-12T05:53:08.193Z,1741758788.193 [sci2_noyo_optim:Science:PeakDetectPlanktivoreHMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-03-12T05:53:08.218Z,1741758788.218 [sci2_noyo_optim:Science:PeakDetectPlanktivoreDiatoms:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-03-12T05:53:08.248Z,1741758788.248 [sci2_noyo_optim:Science:PeakDetectPlanktivoreDinoflagellates:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-03-12T05:53:08.260Z,1741758788.260 [sci2_noyo_optim:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Construct ValueDetect.
2025-03-12T05:53:08.267Z,1741758788.267 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-03-12T05:53:08.267Z,1741758788.267 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-03-12T05:53:08.268Z,1741758788.268 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-03-12T05:53:08.349Z,1741758788.349 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/StandardEnvelopes.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="StandardEnvelopes">
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="MaxDepthIgnore">
        <Units:meter />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>200</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:meter />
        <Value>2000</Value>
    </DefineArg>
    <Parallel />
    <Guidance:AltitudeEnvelope>
        <Parallel />
        <Setting>
            <Guidance:AltitudeEnvelope.minAltitude />
            <Arg Name="MinAltitude" />
        </Setting>
        <Setting>
            <Guidance:AltitudeEnvelope.maxDepthIgnore />
            <Arg Name="MaxDepthIgnore" />
        </Setting>
    </Guidance:AltitudeEnvelope>
    <Guidance:DepthEnvelope>
        <Parallel />
        <Setting>
            <Guidance:DepthEnvelope.maxDepth />
            <Arg Name="MaxDepth" />
        </Setting>
    </Guidance:DepthEnvelope>
    <Guidance:OffshoreEnvelope>
        <Parallel />
        <Setting>
            <Guidance:OffshoreEnvelope.minOffshore />
            <Arg Name="MinOffshore" />
        </Setting>
    </Guidance:OffshoreEnvelope>
</Aggregate>

2025-03-12T05:53:08.353Z,1741758788.353 [MissionManager](INFO): DefineArg sci2_noyo_optim:StandardEnvelopes.MinAltitude = 5.000000 m
2025-03-12T05:53:08.356Z,1741758788.356 [MissionManager](INFO): DefineArg sci2_noyo_optim:StandardEnvelopes.MaxDepthIgnore = 0.000000 m
2025-03-12T05:53:08.358Z,1741758788.358 [MissionManager](INFO): DefineArg sci2_noyo_optim:StandardEnvelopes.MaxDepth = 200.000000 m
2025-03-12T05:53:08.360Z,1741758788.360 [MissionManager](INFO): DefineArg sci2_noyo_optim:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-03-12T05:53:08.361Z,1741758788.361 [sci2_noyo_optim:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-03-12T05:53:08.368Z,1741758788.368 [sci2_noyo_optim:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-03-12T05:53:08.374Z,1741758788.374 [sci2_noyo_optim:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-03-12T05:53:08.411Z,1741758788.411 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl
2025-03-12T05:53:08.412Z,1741758788.412 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl
2025-03-12T05:53:08.413Z,1741758788.413 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl
2025-03-12T05:53:08.704Z,1741758788.704 [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>

2025-03-12T05:53:08.709Z,1741758788.709 [MissionManager](INFO): DefineArg sci2_noyo_optim:NeedComms.DiveInterval = 1.000000 h
2025-03-12T05:53:08.712Z,1741758788.712 [MissionManager](INFO): DefineArg sci2_noyo_optim:NeedComms.WaitForPitchUp = 10.000000 min
2025-03-12T05:53:08.714Z,1741758788.714 [MissionManager](INFO): DefineArg sci2_noyo_optim:NeedComms.SurfacePitch = 20.000000 arcdeg
2025-03-12T05:53:08.716Z,1741758788.716 [MissionManager](INFO): DefineArg sci2_noyo_optim:NeedComms.SurfaceDepthRate = nan m/s
2025-03-12T05:53:08.719Z,1741758788.719 [MissionManager](INFO): DefineArg sci2_noyo_optim:NeedComms.SurfaceSpeed = 1.000000 m/s
2025-03-12T05:53:08.721Z,1741758788.721 [MissionManager](INFO): DefineArg sci2_noyo_optim:NeedComms.SurfacingTimeout = 1000.000000 s
2025-03-12T05:53:08.723Z,1741758788.723 [MissionManager](INFO): DefineArg sci2_noyo_optim:NeedComms.GPSTimeout = 7.000000 min
2025-03-12T05:53:08.726Z,1741758788.726 [MissionManager](INFO): DefineArg sci2_noyo_optim:NeedComms.CommsTimeout = 30.000000 min
2025-03-12T05:53:08.732Z,1741758788.732 [sci2_noyo_optim:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2025-03-12T05:53:08.822Z,1741758788.822 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2025-03-12T05:53:08.823Z,1741758788.823 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2025-03-12T05:53:08.824Z,1741758788.824 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2025-03-12T05:53:08.859Z,1741758788.859 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/BackseatDriver.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="BackseatDriver">
    <DefineArg Name="EnableBackseat">
        <False />
    </DefineArg>
    <Parallel />
    <Guidance:BackseatDriver>
        <Sequence />
        <Setting>
            <Guidance:BackseatDriver.powerBackseat />
            <Arg Name="EnableBackseat" />
        </Setting>
    </Guidance:BackseatDriver>
</Aggregate>

2025-03-12T05:53:08.862Z,1741758788.862 [MissionManager](INFO): DefineArg sci2_noyo_optim:BackseatDriver.EnableBackseat = 0 bool
2025-03-12T05:53:08.864Z,1741758788.864 [sci2_noyo_optim:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2025-03-12T05:53:08.868Z,1741758788.868 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2025-03-12T05:53:08.868Z,1741758788.868 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2025-03-12T05:53:08.869Z,1741758788.869 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2025-03-12T05:53:09.054Z,1741758789.054 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/PowerOnly.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="PowerOnly">
    <DefineArg Name="SampleAll">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad1">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad2">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad3">
        <False />
    </DefineArg>
    <DefineArg Name="EnabledPowerOnly">
        <Sensor:PowerOnly.loadAtStartup />
    </DefineArg>
    <Parallel />
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleAll" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.samplePowerOnly />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad1" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad1 />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad2" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad2 />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad3" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad3 />
    </ReadData>
    <Guidance:Wait>
        <Sequence />
        <Setting>
            <Guidance:Wait.duration />
            <Units:hour />
            <Value>99999</Value>
        </Setting>
    </Guidance:Wait>
</Aggregate>

2025-03-12T05:53:09.063Z,1741758789.063 [MissionManager](INFO): DefineArg sci2_noyo_optim:PowerOnly.SampleAll = 0 bool
2025-03-12T05:53:09.065Z,1741758789.065 [MissionManager](INFO): DefineArg sci2_noyo_optim:PowerOnly.SampleLoad1 = 0 bool
2025-03-12T05:53:09.067Z,1741758789.067 [MissionManager](INFO): DefineArg sci2_noyo_optim:PowerOnly.SampleLoad2 = 0 bool
2025-03-12T05:53:09.069Z,1741758789.069 [MissionManager](INFO): DefineArg sci2_noyo_optim:PowerOnly.SampleLoad3 = 0 bool
2025-03-12T05:53:09.072Z,1741758789.072 [MissionManager](INFO): DefineArg sci2_noyo_optim:PowerOnly.EnabledPowerOnly = 1 bool
2025-03-12T05:53:09.079Z,1741758789.079 [sci2_noyo_optim:PowerOnly:E.Wait](DEBUG): Construct Wait.
2025-03-12T05:53:09.087Z,1741758789.087 [sci2_noyo_optim:O.Buoyancy](DEBUG): Construct Buoyancy.
2025-03-12T05:53:09.100Z,1741758789.100 [sci2_noyo_optim:DiveCmd:InitialDive:dive:C.Mass](DEBUG): Construct.
2025-03-12T05:53:09.104Z,1741758789.104 [sci2_noyo_optim:DiveCmd:InitialDive:dive:E.Wait](DEBUG): Construct Wait.
2025-03-12T05:53:09.127Z,1741758789.127 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:A.SetSpeed](DEBUG): Construct.
2025-03-12T05:53:09.130Z,1741758789.130 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:B.Pitch](DEBUG): Construct.
2025-03-12T05:53:09.144Z,1741758789.144 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:B.Pitch:A_Timeout:B.Execute](DEBUG): Construct Execute.
2025-03-12T05:53:09.160Z,1741758789.160 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:B.Pitch](DEBUG): Construct.
2025-03-12T05:53:09.169Z,1741758789.169 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:C.Wait](DEBUG): Construct Wait.
2025-03-12T05:53:09.182Z,1741758789.182 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass](DEBUG): Construct.
2025-03-12T05:53:09.192Z,1741758789.192 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed](DEBUG): Construct.
2025-03-12T05:53:09.199Z,1741758789.199 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:B.Pitch](DEBUG): Construct.
2025-03-12T05:53:09.211Z,1741758789.211 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:A.SetSpeed](DEBUG): Construct.
2025-03-12T05:53:09.216Z,1741758789.216 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:C.Buoyancy](DEBUG): Construct Buoyancy.
2025-03-12T05:53:09.218Z,1741758789.218 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:D.Pitch](DEBUG): Construct.
2025-03-12T05:53:09.231Z,1741758789.231 [sci2_noyo_optim:Lap:DepthByLap:Wpt1:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T05:53:09.241Z,1741758789.241 [sci2_noyo_optim:Lap:DepthByLap:Wpt2:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T05:53:09.247Z,1741758789.247 [sci2_noyo_optim:Lap:DepthByLap:Wpt3:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T05:53:09.252Z,1741758789.252 [sci2_noyo_optim:Lap:DepthByLap:Wpt4:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T05:53:09.258Z,1741758789.258 [sci2_noyo_optim:Lap:DepthByLap:Wpt5:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T05:53:09.277Z,1741758789.277 [sci2_noyo_optim:Lap:DepthByLap:Wpt6:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T05:53:09.282Z,1741758789.282 [sci2_noyo_optim:Lap:DepthByLap:Wpt7:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T05:53:09.288Z,1741758789.288 [sci2_noyo_optim:Lap:DepthByLap:Wpt8:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T05:53:09.297Z,1741758789.297 [sci2_noyo_optim:Lap:DepthByLap:Leg2:Wpt1:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T05:53:09.303Z,1741758789.303 [sci2_noyo_optim:Lap:DepthByLap:Leg2:Wpt2:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T05:53:09.358Z,1741758789.358 [sci2_noyo_optim:Lap:DepthByLap:Leg2:Wpt3:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T05:53:09.435Z,1741758789.435 [sci2_noyo_optim:Lap:DepthByLap:Leg2:Wpt4:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T05:53:09.445Z,1741758789.445 [sci2_noyo_optim:Lap:DepthByLap:Leg2:Wpt5:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T05:53:09.454Z,1741758789.454 [sci2_noyo_optim:Lap:DepthByLap:Leg2:Wpt6:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T05:53:09.460Z,1741758789.460 [sci2_noyo_optim:Lap:DepthByLap:Leg2:Wpt7:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T05:53:09.465Z,1741758789.465 [sci2_noyo_optim:Lap:DepthByLap:Leg2:Wpt8:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T05:53:09.479Z,1741758789.479 [sci2_noyo_optim:Lap:DepthByLap:Leg3:Wpt1:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T05:53:09.485Z,1741758789.485 [sci2_noyo_optim:Lap:DepthByLap:Leg3:Wpt2:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T05:53:09.491Z,1741758789.491 [sci2_noyo_optim:Lap:DepthByLap:Leg3:Wpt3:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T05:53:09.496Z,1741758789.496 [sci2_noyo_optim:Lap:DepthByLap:Leg3:Wpt4:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T05:53:09.502Z,1741758789.502 [sci2_noyo_optim:Lap:DepthByLap:Leg3:Wpt5:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T05:53:09.507Z,1741758789.507 [sci2_noyo_optim:Lap:DepthByLap:Leg3:Wpt6:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T05:53:09.513Z,1741758789.513 [sci2_noyo_optim:Lap:DepthByLap:Leg3:Wpt7:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T05:53:09.519Z,1741758789.519 [sci2_noyo_optim:Lap:DepthByLap:Leg3:Wpt8:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T05:53:09.539Z,1741758789.539 [sci2_noyo_optim:Lap:DepthByLap:Leg4:Wpt1:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T05:53:09.545Z,1741758789.545 [sci2_noyo_optim:Lap:DepthByLap:Leg4:Wpt2:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T05:53:09.550Z,1741758789.550 [sci2_noyo_optim:Lap:DepthByLap:Leg4:Wpt3:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T05:53:09.556Z,1741758789.556 [sci2_noyo_optim:Lap:DepthByLap:Leg4:Wpt4:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T05:53:09.563Z,1741758789.563 [sci2_noyo_optim:Lap:DepthByLap:Leg4:Wpt5:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T05:53:09.568Z,1741758789.568 [sci2_noyo_optim:Lap:DepthByLap:Leg4:Wpt6:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T05:53:09.574Z,1741758789.574 [sci2_noyo_optim:Lap:DepthByLap:Leg4:Wpt7:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T05:53:09.592Z,1741758789.592 [sci2_noyo_optim:Lap:DepthByLap:Leg4:Wpt8:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T05:53:09.601Z,1741758789.601 [sci2_noyo_optim:Lap:DepthByLap:Leg5:Wpt1:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T05:53:09.607Z,1741758789.607 [sci2_noyo_optim:Lap:DepthByLap:Leg5:Wpt2:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T05:53:09.612Z,1741758789.612 [sci2_noyo_optim:Lap:DepthByLap:Leg5:Wpt3:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T05:53:09.618Z,1741758789.618 [sci2_noyo_optim:Lap:DepthByLap:Leg5:Wpt4:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T05:53:09.624Z,1741758789.624 [sci2_noyo_optim:Lap:DepthByLap:Leg5:Wpt5:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T05:53:09.643Z,1741758789.643 [sci2_noyo_optim:Lap:DepthByLap:Leg5:Wpt6:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T05:53:09.649Z,1741758789.649 [sci2_noyo_optim:Lap:DepthByLap:Leg5:Wpt7:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T05:53:09.655Z,1741758789.655 [sci2_noyo_optim:Lap:DepthByLap:Leg5:Wpt8:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T05:53:09.664Z,1741758789.664 [sci2_noyo_optim:Lap:DepthByLap:Leg6:Wpt1:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T05:53:09.669Z,1741758789.669 [sci2_noyo_optim:Lap:DepthByLap:Leg6:Wpt2:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T05:53:09.675Z,1741758789.675 [sci2_noyo_optim:Lap:DepthByLap:Leg6:Wpt3:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T05:53:09.680Z,1741758789.680 [sci2_noyo_optim:Lap:DepthByLap:Leg6:Wpt4:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T05:53:09.696Z,1741758789.696 [sci2_noyo_optim:Lap:DepthByLap:Leg6:Wpt5:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T05:53:09.701Z,1741758789.701 [sci2_noyo_optim:Lap:DepthByLap:Leg6:Wpt6:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T05:53:09.707Z,1741758789.707 [sci2_noyo_optim:Lap:DepthByLap:Leg6:Wpt7:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T05:53:09.769Z,1741758789.769 [sci2_noyo_optim:Lap:DepthByLap:Leg6:Wpt8:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T05:53:09.788Z,1741758789.788 [sci2_noyo_optim:Lap:DepthByLap:Leg7:Wpt1:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T05:53:09.794Z,1741758789.794 [sci2_noyo_optim:Lap:DepthByLap:Leg7:Wpt2:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T05:53:09.799Z,1741758789.799 [sci2_noyo_optim:Lap:DepthByLap:Leg7:Wpt3:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T05:53:09.822Z,1741758789.822 [sci2_noyo_optim:Lap:DepthByLap:Leg7:Wpt4:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T05:53:09.827Z,1741758789.827 [sci2_noyo_optim:Lap:DepthByLap:Leg7:Wpt5:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T05:53:09.833Z,1741758789.833 [sci2_noyo_optim:Lap:DepthByLap:Leg7:Wpt6:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T05:53:09.840Z,1741758789.840 [sci2_noyo_optim:Lap:DepthByLap:Leg7:Wpt7:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T05:53:09.845Z,1741758789.845 [sci2_noyo_optim:Lap:DepthByLap:Leg7:Wpt8:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T05:53:09.862Z,1741758789.862 [sci2_noyo_optim:Lap:DepthByLap:Leg8:Wpt1:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T05:53:09.868Z,1741758789.868 [sci2_noyo_optim:Lap:DepthByLap:Leg8:Wpt2:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T05:53:09.873Z,1741758789.873 [sci2_noyo_optim:Lap:DepthByLap:Leg8:Wpt3:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T05:53:09.879Z,1741758789.879 [sci2_noyo_optim:Lap:DepthByLap:Leg8:Wpt4:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T05:53:09.884Z,1741758789.884 [sci2_noyo_optim:Lap:DepthByLap:Leg8:Wpt5:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T05:53:09.889Z,1741758789.889 [sci2_noyo_optim:Lap:DepthByLap:Leg8:Wpt6:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T05:53:09.895Z,1741758789.895 [sci2_noyo_optim:Lap:DepthByLap:Leg8:Wpt7:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T05:53:09.900Z,1741758789.900 [sci2_noyo_optim:Lap:DepthByLap:Leg8:Wpt8:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T05:53:09.919Z,1741758789.919 [sci2_noyo_optim:Lap:DepthByLeg:Leg1:B.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T05:53:09.927Z,1741758789.927 [sci2_noyo_optim:Lap:DepthByLeg:Leg2:Wpt2:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T05:53:09.936Z,1741758789.936 [sci2_noyo_optim:Lap:DepthByLeg:Leg3:Wpt3:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T05:53:09.944Z,1741758789.944 [sci2_noyo_optim:Lap:DepthByLeg:Leg4:Wpt4:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T05:53:09.953Z,1741758789.953 [sci2_noyo_optim:Lap:DepthByLeg:Leg5:Wpt5:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T05:53:09.969Z,1741758789.969 [sci2_noyo_optim:Lap:DepthByLeg:Leg6:Wpt6:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T05:53:09.978Z,1741758789.978 [sci2_noyo_optim:Lap:DepthByLeg:Leg7:Wpt7:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T05:53:09.987Z,1741758789.987 [sci2_noyo_optim:Lap:DepthByLeg:Leg8:Wpt8:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T05:53:10.091Z,1741758790.091 [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 sci2_noyo_optim {
  """
  Vehicle transits to the specified waypoints at the commanded depth
  (flat-and-level, no yoyos) with science, Optim camera, and multiray
  lights on.
  """

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

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

    Depth1 = 35 meter
      """
      Depth of flat and level flight during the mission for the first transit leg or lap.
      """

    Depth[2..8] = NaN meter
      """
      Depth of flat and level flight during the mission for subsequent transit legs or laps.
      Skipped if NaN.
      """

    DepthPerLeg = false
      """
      Indicates whether additional depths correspond to laps (cycle through all waypoints at
      each depth, default) or legs (use depth for transit leg ending at corresponding waypoint,
      each lap repeats all depths and waypoints).
      """

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

    Lat[1..8] = NaN degree
      """
      Latitude of waypoint {$}. If nan, waypoint is skipped.
      """

    Lon[1..8] = NaN degree
      """
      Longitude of waypoint {$}. If nan, waypoint is skipped.
      """

    FastSpeed = 1 meter_per_second
      """
      Speed while transiting to waypoint.
      """

    ApproachDepth = 30 meter
      """
      Depth for initial descent form the surface.
      """

    ApproachSpeed = 0.7 meter_per_second
      """
      Speed while descending to target depth.
      """

    ApproachDepthRate = 0.05 meter_per_second
      """
      Descent depth rate (Positive depth rate means going down).
      """

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

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

    ApproachSettleTimePreDive = 1 minute
      """
      Time duration for the vehicle to pump down the VBS *BEFORE* leaving the
      surface.
      """

    ApproachSettleTimePostDive = 3 minute
      """
      Time duration for the vehicle to settle *AFTER* reaching the target
      depth.
      """

    kpDepth = 0.07 radian_per_meter
      """
      Dive loop proportional gain (applied only while the vehicle is
      descending to target depth).
      """

    SlowSpeed = 0.25 meter_per_second
      """
      Set this to something other than Nan if slow speed filming with a
      wide depth deadband is desired.
      """

    DepthDeviationSlow = 3 meter
      """
      Allowable +/- deviation from depth during slow flight. Needs a SlowSpeed
      to be set.
      """

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

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

    MinAltitude = 2 meter
      """
      Minimum height above the sea floor for the entire mission.
      """

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

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

  output {
    DiveMode = 0 count
      """
      Mission variable (don't change). The mission sets this variable to
      switch between dive modes. Initialized to DoingComms.
      """

    DoingComms = 0 count
      """
      Mission variable (don't change). The mission will run in this to mode
      when doing surface comms.
      """

    InitialDive = 1 count
      """
      Mission variable (don't change). The mission will run in this mode after
      surface comms are done to dive the vehicle to the approach depth.
      """

    SettleAtDepth = 2 count
      """
      Mission variable (don't change). The mission will run in this mode to
      settle the vehicle at the target depth.
      """

    MaintainDepth = 3 count
      """
      Mission variable (don't change). The mission will run in this mode to
      maintain the vehicle at the target depth.
      """

    LegDepth = Depth1
      """
      Mission variable to track the current depth for the current leg.
      """
  }

  # Mission timeout

  timeout duration=MissionTimeout

  # Science!

  insert Insert/Science.tl {
    """
    Run the science sensors.
    """
  }

  # 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 = MissionTimeout

  assign in sequence NeedComms:WaitForPitchUp = 0 minute

  insert Insert/BackseatDriver.tl
  assign in parallel BackseatDriver:EnableBackseat = true

  insert Insert/PowerOnly.tl
  assign in parallel PowerOnly:SampleLoad1 = true

  assign in sequence Sensor:MultiRay.lightModeCommand = 2 count
  readData strategy="MinError" {
    while ( Sensor:MultiRay.loadAtStartup )

    Sensor:MultiRay.lightModeLog
  }

  behavior Guidance:Buoyancy {
    run in parallel

    set position = BuoyancyNeutral
  }

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

    assign in sequence DiveMode = DoingComms

    call refId="NeedComms"

    assign in sequence DiveMode = InitialDive
  }

  aggregate DiveCmd {
    """
    Called when the vehicle should be underwater. Arbitrates between 4
    dive modes: 1) descend from the surface to initial depth. 2) settle
    at target depth using the VB. 3) cruise at target depth and go slow
    while within depth deviation bounds if a slow speed is set.
    """

    run when ( called )

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

      run while ( DiveMode == InitialDive )

      aggregate dive {
        run in sequence

        assign in parallel Control:VerticalControl.pitchLimit = ApproachPitchLimit

        assign in parallel Control:VerticalControl.kpDepth = kpDepth

        behavior Guidance:Mass {
          run in parallel

          set position = MassDefault
        }

        # behavior Guidance:Buoyancy {
        #   run in parallel

        #   set position = BuoyancyNeutral
        # }

        syslog info "Waiting for "
             + ApproachSettleTimePreDive~minute + "while pumping down to neutral."

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

          run in sequence

          set duration = ApproachSettleTimePreDive
        }

        syslog "Moving to " + ApproachDepth~meter

        aggregate ApproachDepth {
          run in sequence

          behavior Guidance:SetSpeed {
            run in parallel

            set speed = ApproachSpeed
          }

          behavior Guidance:Pitch {
            run in sequence

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

              behavior Guidance:Execute {
                run in sequence

                set command = "stop"
              }
            }

            set depth = ApproachDepth
            set depthRate = ApproachDepthRate
          }
        }

        assign in sequence DiveMode = SettleAtDepth
      }
    }

    aggregate SettleAtDepth {
      """
      Take a few more moments here to make sure the vehicle is settled
      at the target depth.
      """

      run while ( DiveMode == SettleAtDepth )

      aggregate dive {
        run in sequence

        syslog info "Reached " + Universal:depth~meter + ", settling for "
             + ApproachSettleTimePostDive~minute

        behavior Guidance:Pitch {
          run in parallel

          set depth = LegDepth
        }

        behavior Guidance:Wait {
          run in sequence

          set duration = ApproachSettleTimePostDive
        }

        assign in sequence DiveMode = MaintainDepth
      }
    }

    aggregate MaintainDepth {
      """
      Cruise at the target depth.
      """

      run while (
        DiveMode == MaintainDepth
        and ( Universal:depth > ( LegDepth + DepthDeviationSlow ) )
        or ( Universal:depth < ( LegDepth - DepthDeviationSlow ) )
      )

      aggregate dive {
        run in parallel

        aggregate ThrusterDive {
          run while ( FastSpeed > 0.0 meter_per_second )

          behavior Guidance:Mass {
            run in parallel

            set position = MassDefault
          }

          # behavior Guidance:Buoyancy {
          #   run in parallel

          #   set position = BuoyancyNeutral
          # }

          behavior Guidance:SetSpeed {
            run in parallel

            set speed = FastSpeed
          }
        }

        behavior Guidance:Pitch {
          run in parallel

          set depth = LegDepth
        }
      }
    }

    aggregate MaintainDepthSlow {
      """
      Cruise slow at the target depth.
      """

      run while (
        ( not isNaN ( SlowSpeed ) )
        and ( DiveMode == MaintainDepth )
        and ( Universal:depth <= ( LegDepth + DepthDeviationSlow ) )
        and ( Universal:depth >= ( LegDepth - DepthDeviationSlow ) )
      )

      behavior Guidance:SetSpeed {
        run in parallel

        set speed = SlowSpeed
      }

      # Let's make sure the vertical control depth deadband doesn't interfere with our mission
      # level version of the deadband. And we'll add an extra 3m so we don't trigger any
      # faults inside vertical control when attempting to regain the commanded depth.
      assign in parallel Control:VerticalControl.depthDeadband = ( DepthDeviationSlow + 3 m )

      behavior Guidance:Buoyancy {
        run in parallel

        set position = NaN cc
      }

      behavior Guidance:Pitch {
        run in parallel

        set depth = LegDepth
      }
    }
  }

  # Start mission sequence

  call id="StartingMission" refId="SurfaceComms"

  aggregate Lap {
    run in sequence repeat=Repeat

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

      call refId="DiveCmd"
    }

    # Default behavior: Depths correspond to laps
    # Run through all waypoints at each depth
    aggregate DepthByLap {
      run in sequence

      break if ( DepthPerLeg )

      assign in sequence LegDepth = Depth1

      aggregate Wpt1 {
        run in sequence

        behavior Guidance:Waypoint {
          run in sequence

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

      macro $i = 2..8 {
        aggregate Wpt$i {
          run in sequence

          behavior Guidance:Waypoint {
            run in sequence

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

      macro $j = 2..8 {
        aggregate Leg$j {
          run in sequence

          break if ( isNaN ( Depth[$j] ) )

          syslog important "Transiting waypoints at depth " + Depth[$j]~meter
          assign in sequence LegDepth = Depth[$j]

          macro $i = 1..8 {
            aggregate Wpt$i {
              run in sequence

              behavior Guidance:Waypoint {
                run in sequence

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

    # Non-default behavior: depth by leg
    # Transit to waypoint at corresponding depth, repeat per lap
    # (e.g. Transit to waypoint 1 at depth 1, waypoint 2 at depth 2, and so on)
    aggregate DepthByLeg {
      run in sequence

      break if ( not DepthPerLeg )

      aggregate Leg1 {
        run in sequence

        assign in sequence LegDepth = Depth1

        behavior Guidance:Waypoint {
          run in sequence

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

      macro $i = 2..8 {
        aggregate Leg$i {
          run in sequence

          break if ( isNaN ( Depth[$i] ) )

          syslog info "Transiting to next waypoint at depth " + Depth[$i]~meter
          assign in sequence LegDepth = Depth[$i]

          aggregate Wpt$i {
            run in sequence

            behavior Guidance:Waypoint {
              run in sequence

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


2025-03-12T05:53:10.091Z,1741758790.091 [CommandExec](IMPORTANT): Loaded ./Missions/Science/sci2_noyo_optim.tl id=sci2_noyo_optim
2025-03-12T05:53:40.405Z,1741758820.405 [CommandExec](IMPORTANT): got command set sci2_noyo_optim.MissionTimeout 12 hour
2025-03-12T05:53:40.406Z,1741758820.406 [CommandExec](IMPORTANT): got command set sci2_noyo_optim.NeedCommsTime 60 minute
2025-03-12T05:53:40.407Z,1741758820.407 [CommandExec](IMPORTANT): got command set sci2_noyo_optim.Repeat 12 count
2025-03-12T05:53:40.408Z,1741758820.408 [CommandExec](IMPORTANT): got command set sci2_noyo_optim.Lat1 36.797 degree
2025-03-12T05:53:40.409Z,1741758820.409 [CommandExec](IMPORTANT): got command set sci2_noyo_optim.Lon1 -121.847 degree
2025-03-12T05:54:24.304Z,1741758864.304 [CommandExec](IMPORTANT): got command set sci2_noyo_optim.Lat2 36.79705 degree
2025-03-12T05:54:24.305Z,1741758864.305 [CommandExec](IMPORTANT): got command set sci2_noyo_optim.Lon2 -121.87769 degree
2025-03-12T05:54:24.306Z,1741758864.306 [CommandExec](IMPORTANT): got command set sci2_noyo_optim.ApproachDepth 10 meter
2025-03-12T05:54:24.307Z,1741758864.307 [CommandExec](IMPORTANT): got command set sci2_noyo_optim.SlowSpeed 0.4 meter_per_second
2025-03-12T05:54:24.308Z,1741758864.308 [CommandExec](IMPORTANT): got command set sci2_noyo_optim.MinAltitude 10 meter
2025-03-12T05:54:24.309Z,1741758864.309 [CommandExec](IMPORTANT): got command set sci2_noyo_optim.MaxDepth 40 meter
2025-03-12T05:54:32.511Z,1741758872.511 [CommandExec](IMPORTANT): got command set sci2_noyo_optim:PowerOnly.SampleLoad1 1 bool
2025-03-12T05:54:32.511Z,1741758872.511 [CommandExec](IMPORTANT): got command run
2025-03-12T05:54:32.518Z,1741758872.518 [CommandExec](IMPORTANT): Running 
2025-03-12T05:54:32.722Z,1741758872.722 [Default] Stopped
2025-03-12T05:54:32.722Z,1741758872.722 [Default](DEBUG): Aggregate::uninitialize Default
2025-03-12T05:54:32.723Z,1741758872.723 [Default:B.GoToSurface] Stopped
2025-03-12T05:54:32.723Z,1741758872.723 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-03-12T05:54:32.723Z,1741758872.723 [Default:CheckIn] Stopped
2025-03-12T05:54:32.723Z,1741758872.723 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-03-12T05:54:32.723Z,1741758872.723 [Default:CheckIn:C.Wait] Stopped
2025-03-12T05:54:32.723Z,1741758872.723 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2025-03-12T05:54:32.723Z,1741758872.723 [MissionManager](IMPORTANT): Started mission sci2_noyo_optim
2025-03-12T05:54:32.723Z,1741758872.723 [sci2_noyo_optim] Running Loop=1
2025-03-12T05:54:32.723Z,1741758872.723 [sci2_noyo_optim](DEBUG): Aggregate::initialize sci2_noyo_optim
2025-03-12T05:54:32.724Z,1741758872.724 [sci2_noyo_optim:Science] Running Loop=1
2025-03-12T05:54:32.724Z,1741758872.724 [sci2_noyo_optim:Science](DEBUG): Aggregate::initialize sci2_noyo_optim:Science
2025-03-12T05:54:32.724Z,1741758872.724 [sci2_noyo_optim:Science:A] Running Loop=1
2025-03-12T05:54:32.724Z,1741758872.724 [sci2_noyo_optim:Science:B] Running Loop=1
2025-03-12T05:54:32.724Z,1741758872.724 [sci2_noyo_optim:Science:C] Running Loop=1
2025-03-12T05:54:32.724Z,1741758872.724 [sci2_noyo_optim:Science:D] Running Loop=1
2025-03-12T05:54:32.724Z,1741758872.724 [sci2_noyo_optim:Science:E] Running Loop=1
2025-03-12T05:54:32.724Z,1741758872.724 [sci2_noyo_optim:Science:F] Running Loop=1
2025-03-12T05:54:32.724Z,1741758872.724 [sci2_noyo_optim:Science:Read_Oil] Running Loop=1
2025-03-12T05:54:32.724Z,1741758872.724 [sci2_noyo_optim:Science:PeakDetectChl] Running Loop=1
2025-03-12T05:54:32.724Z,1741758872.724 [sci2_noyo_optim:Science:PeakDetectChl](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:PeakDetectChl
2025-03-12T05:54:32.725Z,1741758872.725 [sci2_noyo_optim:Science:PeakDetectChl:A] Running Loop=1
2025-03-12T05:54:32.725Z,1741758872.725 [sci2_noyo_optim:Science:EdgeDetectChl] Running Loop=1
2025-03-12T05:54:32.725Z,1741758872.725 [sci2_noyo_optim:Science:EdgeDetectChl](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:EdgeDetectChl
2025-03-12T05:54:32.725Z,1741758872.725 [sci2_noyo_optim:Science:EdgeDetectChl:A] Running Loop=1
2025-03-12T05:54:32.725Z,1741758872.725 [sci2_noyo_optim:Science:HighestChlPeakReport] Running Loop=1
2025-03-12T05:54:32.725Z,1741758872.725 [sci2_noyo_optim:Science:HighestChlPeakReport](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:HighestChlPeakReport
2025-03-12T05:54:32.725Z,1741758872.725 [sci2_noyo_optim:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-03-12T05:54:32.725Z,1741758872.725 [sci2_noyo_optim:Science:HighestChlPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-03-12T05:54:32.726Z,1741758872.726 [sci2_noyo_optim:Science:PeakDetectNO3] Running Loop=1
2025-03-12T05:54:32.726Z,1741758872.726 [sci2_noyo_optim:Science:PeakDetectNO3](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:PeakDetectNO3
2025-03-12T05:54:32.742Z,1741758872.742 [sci2_noyo_optim:Science:PeakDetectNO3:A] Running Loop=1
2025-03-12T05:54:32.742Z,1741758872.742 [sci2_noyo_optim:Science:PeakDetectOil] Running Loop=1
2025-03-12T05:54:32.742Z,1741758872.742 [sci2_noyo_optim:Science:PeakDetectOil](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:PeakDetectOil
2025-03-12T05:54:32.742Z,1741758872.742 [sci2_noyo_optim:Science:PeakDetectOil:A] Running Loop=1
2025-03-12T05:54:32.742Z,1741758872.742 [sci2_noyo_optim:Science:HighestOilPeakReport] Running Loop=1
2025-03-12T05:54:32.743Z,1741758872.743 [sci2_noyo_optim:Science:HighestOilPeakReport](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:HighestOilPeakReport
2025-03-12T05:54:32.743Z,1741758872.743 [sci2_noyo_optim:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-03-12T05:54:32.743Z,1741758872.743 [sci2_noyo_optim:Science:HighestOilPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-03-12T05:54:32.743Z,1741758872.743 [sci2_noyo_optim:Science:PeakDetectFDOM] Running Loop=1
2025-03-12T05:54:32.743Z,1741758872.743 [sci2_noyo_optim:Science:PeakDetectFDOM](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:PeakDetectFDOM
2025-03-12T05:54:32.744Z,1741758872.744 [sci2_noyo_optim:Science:PeakDetectFDOM:A] Running Loop=1
2025-03-12T05:54:32.744Z,1741758872.744 [sci2_noyo_optim:Science:PeakDetectSalinity] Running Loop=1
2025-03-12T05:54:32.744Z,1741758872.744 [sci2_noyo_optim:Science:PeakDetectSalinity](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:PeakDetectSalinity
2025-03-12T05:54:32.744Z,1741758872.744 [sci2_noyo_optim:Science:PeakDetectSalinity:A] Running Loop=1
2025-03-12T05:54:32.744Z,1741758872.744 [sci2_noyo_optim:Science:HighestSaltPeakReport] Running Loop=1
2025-03-12T05:54:32.744Z,1741758872.744 [sci2_noyo_optim:Science:HighestSaltPeakReport](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:HighestSaltPeakReport
2025-03-12T05:54:32.744Z,1741758872.744 [sci2_noyo_optim:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-03-12T05:54:32.744Z,1741758872.744 [sci2_noyo_optim:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-03-12T05:54:32.745Z,1741758872.745 [sci2_noyo_optim:Science:PeakDetectPlanktivoreLMavgROI] Running Loop=1
2025-03-12T05:54:32.745Z,1741758872.745 [sci2_noyo_optim:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:PeakDetectPlanktivoreLMavgROI
2025-03-12T05:54:32.745Z,1741758872.745 [sci2_noyo_optim:Science:PeakDetectPlanktivoreLMavgROI:A] Running Loop=1
2025-03-12T05:54:32.745Z,1741758872.745 [sci2_noyo_optim:Science:EdgeDetectPlanktivoreLMavgROI] Running Loop=1
2025-03-12T05:54:32.745Z,1741758872.745 [sci2_noyo_optim:Science:EdgeDetectPlanktivoreLMavgROI](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:EdgeDetectPlanktivoreLMavgROI
2025-03-12T05:54:32.745Z,1741758872.745 [sci2_noyo_optim:Science:EdgeDetectPlanktivoreLMavgROI:A] Running Loop=1
2025-03-12T05:54:32.745Z,1741758872.745 [sci2_noyo_optim:Science:PeakDetectPlanktivoreHMavgROI] Running Loop=1
2025-03-12T05:54:32.745Z,1741758872.745 [sci2_noyo_optim:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:PeakDetectPlanktivoreHMavgROI
2025-03-12T05:54:32.745Z,1741758872.745 [sci2_noyo_optim:Science:PeakDetectPlanktivoreHMavgROI:A] Running Loop=1
2025-03-12T05:54:32.746Z,1741758872.746 [sci2_noyo_optim:Science:PeakDetectPlanktivoreDiatoms] Running Loop=1
2025-03-12T05:54:32.746Z,1741758872.746 [sci2_noyo_optim:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:PeakDetectPlanktivoreDiatoms
2025-03-12T05:54:32.750Z,1741758872.750 [sci2_noyo_optim:Science:PeakDetectPlanktivoreDiatoms:A] Running Loop=1
2025-03-12T05:54:32.750Z,1741758872.750 [sci2_noyo_optim:Science:PeakDetectPlanktivoreDinoflagellates] Running Loop=1
2025-03-12T05:54:32.751Z,1741758872.751 [sci2_noyo_optim:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:PeakDetectPlanktivoreDinoflagellates
2025-03-12T05:54:32.751Z,1741758872.751 [sci2_noyo_optim:Science:PeakDetectPlanktivoreDinoflagellates:A] Running Loop=1
2025-03-12T05:54:32.751Z,1741758872.751 [sci2_noyo_optim:Science:ChlThreshTrigger] Running Loop=1
2025-03-12T05:54:32.751Z,1741758872.751 [sci2_noyo_optim:Science:ChlThreshTrigger](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:ChlThreshTrigger
2025-03-12T05:54:32.751Z,1741758872.751 [sci2_noyo_optim:Science:ChlThreshTrigger:A.ValueDetect] Running Loop=1
2025-03-12T05:54:32.751Z,1741758872.751 [sci2_noyo_optim:Science:ChlThreshTrigger:A.ValueDetect](INFO): Initialize.
2025-03-12T05:54:32.751Z,1741758872.751 [sci2_noyo_optim:Science:OceanCurrent] Running Loop=1
2025-03-12T05:54:32.752Z,1741758872.752 [sci2_noyo_optim:Science:OceanCurrent](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:OceanCurrent
2025-03-12T05:54:32.752Z,1741758872.752 [sci2_noyo_optim:Science:OceanCurrent:A.] Running Loop=1
2025-03-12T05:54:32.752Z,1741758872.752 [sci2_noyo_optim:Science:OceanCurrent:A.](INFO): Initializing CurrentEstimator.
2025-03-12T05:54:32.752Z,1741758872.752 [sci2_noyo_optim:StandardEnvelopes] Running Loop=1
2025-03-12T05:54:32.752Z,1741758872.752 [sci2_noyo_optim:StandardEnvelopes](DEBUG): Aggregate::initialize sci2_noyo_optim:StandardEnvelopes
2025-03-12T05:54:32.752Z,1741758872.752 [sci2_noyo_optim:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-03-12T05:54:32.752Z,1741758872.752 [sci2_noyo_optim:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-03-12T05:54:32.752Z,1741758872.752 [sci2_noyo_optim:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-03-12T05:54:32.752Z,1741758872.752 [sci2_noyo_optim:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-03-12T05:54:32.753Z,1741758872.753 [sci2_noyo_optim:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-03-12T05:54:32.753Z,1741758872.753 [sci2_noyo_optim:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-03-12T05:54:32.753Z,1741758872.753 [sci2_noyo_optim:BackseatDriver] Running Loop=1
2025-03-12T05:54:32.753Z,1741758872.753 [sci2_noyo_optim:BackseatDriver](DEBUG): Aggregate::initialize sci2_noyo_optim:BackseatDriver
2025-03-12T05:54:32.753Z,1741758872.753 [sci2_noyo_optim:BackseatDriver:A.BackseatDriver] Running Loop=1
2025-03-12T05:54:32.753Z,1741758872.753 [sci2_noyo_optim:J] Running Loop=1
2025-03-12T05:54:32.753Z,1741758872.753 [sci2_noyo_optim:PowerOnly] Running Loop=1
2025-03-12T05:54:32.753Z,1741758872.753 [sci2_noyo_optim:PowerOnly](DEBUG): Aggregate::initialize sci2_noyo_optim:PowerOnly
2025-03-12T05:54:32.753Z,1741758872.753 [sci2_noyo_optim:PowerOnly:A] Running Loop=1
2025-03-12T05:54:32.753Z,1741758872.753 [sci2_noyo_optim:PowerOnly:B] Running Loop=1
2025-03-12T05:54:32.753Z,1741758872.753 [sci2_noyo_optim:PowerOnly:C] Running Loop=1
2025-03-12T05:54:32.753Z,1741758872.753 [sci2_noyo_optim:PowerOnly:D] Running Loop=1
2025-03-12T05:54:32.754Z,1741758872.754 [sci2_noyo_optim:PowerOnly:E.Wait] Running Loop=1
2025-03-12T05:54:32.754Z,1741758872.754 [sci2_noyo_optim:PowerOnly:E.Wait](DEBUG): Initialize Wait Component.
2025-03-12T05:54:32.754Z,1741758872.754 [sci2_noyo_optim:L] Running Loop=1
2025-03-12T05:54:32.758Z,1741758872.758 [sci2_noyo_optim:N] Running Loop=1
2025-03-12T05:54:32.758Z,1741758872.758 [sci2_noyo_optim:O.Buoyancy] Running Loop=1
2025-03-12T05:54:32.758Z,1741758872.758 [sci2_noyo_optim:O.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-03-12T05:54:32.758Z,1741758872.758 [sci2_noyo_optim:C] Running Loop=1
2025-03-12T05:54:32.760Z,1741758872.760 [sci2_noyo_optim:O.Buoyancy] Running Loop=1
2025-03-12T05:54:32.760Z,1741758872.760 [sci2_noyo_optim:N] Running Loop=1
2025-03-12T05:54:32.761Z,1741758872.761 [sci2_noyo_optim:N](DEBUG): Initialize ReadDataComponent to sense MultiRay.lightModeLog
2025-03-12T05:54:32.761Z,1741758872.761 [sci2_noyo_optim:L] Running Loop=1
2025-03-12T05:54:32.761Z,1741758872.761 [sci2_noyo_optim:PowerOnly] Running Loop=1
2025-03-12T05:54:32.761Z,1741758872.761 [sci2_noyo_optim:PowerOnly:D] Stopped
2025-03-12T05:54:32.762Z,1741758872.762 [sci2_noyo_optim:PowerOnly:C] Stopped
2025-03-12T05:54:32.762Z,1741758872.762 [sci2_noyo_optim:PowerOnly:B] Running Loop=1
2025-03-12T05:54:32.763Z,1741758872.763 [sci2_noyo_optim:PowerOnly:B](DEBUG): Initialize ReadDataComponent to sense PowerOnly.sampleLoad1
2025-03-12T05:54:32.763Z,1741758872.763 [sci2_noyo_optim:PowerOnly:A] Stopped
2025-03-12T05:54:32.763Z,1741758872.763 [sci2_noyo_optim:J] Running Loop=1
2025-03-12T05:54:32.763Z,1741758872.763 [sci2_noyo_optim:BackseatDriver] Running Loop=1
2025-03-12T05:54:32.763Z,1741758872.763 [sci2_noyo_optim:BackseatDriver:A.BackseatDriver](INFO): Initializing backseat
2025-03-12T05:54:32.813Z,1741758872.813 [sci2_noyo_optim:C] Stopped
2025-03-12T05:54:32.813Z,1741758872.813 [sci2_noyo_optim:D] Running Loop=1
2025-03-12T05:54:32.813Z,1741758872.813 [sci2_noyo_optim:StandardEnvelopes] Running Loop=1
2025-03-12T05:54:32.813Z,1741758872.813 [sci2_noyo_optim:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-03-12T05:54:32.814Z,1741758872.814 [sci2_noyo_optim:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-03-12T05:54:32.814Z,1741758872.814 [sci2_noyo_optim:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-03-12T05:54:32.814Z,1741758872.814 [sci2_noyo_optim:Science] Running Loop=1
2025-03-12T05:54:32.816Z,1741758872.816 [sci2_noyo_optim:Science:ChlThreshTrigger] Stopped
2025-03-12T05:54:32.816Z,1741758872.816 [sci2_noyo_optim:Science:ChlThreshTrigger](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:ChlThreshTrigger
2025-03-12T05:54:32.816Z,1741758872.816 [sci2_noyo_optim:Science:ChlThreshTrigger:A.ValueDetect] Stopped
2025-03-12T05:54:32.816Z,1741758872.816 [sci2_noyo_optim:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Uninitialize.
2025-03-12T05:54:32.816Z,1741758872.816 [sci2_noyo_optim:Science:PeakDetectPlanktivoreDinoflagellates] Stopped
2025-03-12T05:54:32.816Z,1741758872.816 [sci2_noyo_optim:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:PeakDetectPlanktivoreDinoflagellates
2025-03-12T05:54:32.816Z,1741758872.816 [sci2_noyo_optim:Science:PeakDetectPlanktivoreDinoflagellates:A] Stopped
2025-03-12T05:54:32.816Z,1741758872.816 [sci2_noyo_optim:Science:PeakDetectPlanktivoreDiatoms] Stopped
2025-03-12T05:54:32.817Z,1741758872.817 [sci2_noyo_optim:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:PeakDetectPlanktivoreDiatoms
2025-03-12T05:54:32.817Z,1741758872.817 [sci2_noyo_optim:Science:PeakDetectPlanktivoreDiatoms:A] Stopped
2025-03-12T05:54:32.817Z,1741758872.817 [sci2_noyo_optim:Science:PeakDetectPlanktivoreHMavgROI] Stopped
2025-03-12T05:54:32.817Z,1741758872.817 [sci2_noyo_optim:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:PeakDetectPlanktivoreHMavgROI
2025-03-12T05:54:32.817Z,1741758872.817 [sci2_noyo_optim:Science:PeakDetectPlanktivoreHMavgROI:A] Stopped
2025-03-12T05:54:32.817Z,1741758872.817 [sci2_noyo_optim:Science:EdgeDetectPlanktivoreLMavgROI] Stopped
2025-03-12T05:54:32.817Z,1741758872.817 [sci2_noyo_optim:Science:EdgeDetectPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:EdgeDetectPlanktivoreLMavgROI
2025-03-12T05:54:32.817Z,1741758872.817 [sci2_noyo_optim:Science:EdgeDetectPlanktivoreLMavgROI:A] Stopped
2025-03-12T05:54:32.817Z,1741758872.817 [sci2_noyo_optim:Science:PeakDetectPlanktivoreLMavgROI] Stopped
2025-03-12T05:54:32.817Z,1741758872.817 [sci2_noyo_optim:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:PeakDetectPlanktivoreLMavgROI
2025-03-12T05:54:32.817Z,1741758872.817 [sci2_noyo_optim:Science:PeakDetectPlanktivoreLMavgROI:A] Stopped
2025-03-12T05:54:32.817Z,1741758872.817 [sci2_noyo_optim:Science:HighestSaltPeakReport] Stopped
2025-03-12T05:54:32.818Z,1741758872.818 [sci2_noyo_optim:Science:HighestSaltPeakReport](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:HighestSaltPeakReport
2025-03-12T05:54:32.818Z,1741758872.818 [sci2_noyo_optim:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Stopped
2025-03-12T05:54:32.818Z,1741758872.818 [sci2_noyo_optim:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-03-12T05:54:32.818Z,1741758872.818 [sci2_noyo_optim:Science:PeakDetectSalinity] Stopped
2025-03-12T05:54:32.822Z,1741758872.822 [sci2_noyo_optim:Science:PeakDetectSalinity](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:PeakDetectSalinity
2025-03-12T05:54:32.822Z,1741758872.822 [sci2_noyo_optim:Science:PeakDetectSalinity:A] Stopped
2025-03-12T05:54:32.822Z,1741758872.822 [sci2_noyo_optim:Science:PeakDetectFDOM] Stopped
2025-03-12T05:54:32.822Z,1741758872.822 [sci2_noyo_optim:Science:PeakDetectFDOM](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:PeakDetectFDOM
2025-03-12T05:54:32.822Z,1741758872.822 [sci2_noyo_optim:Science:PeakDetectFDOM:A] Stopped
2025-03-12T05:54:32.822Z,1741758872.822 [sci2_noyo_optim:Science:HighestOilPeakReport] Stopped
2025-03-12T05:54:32.823Z,1741758872.823 [sci2_noyo_optim:Science:HighestOilPeakReport](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:HighestOilPeakReport
2025-03-12T05:54:32.823Z,1741758872.823 [sci2_noyo_optim:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Stopped
2025-03-12T05:54:32.823Z,1741758872.823 [sci2_noyo_optim:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-03-12T05:54:32.823Z,1741758872.823 [sci2_noyo_optim:Science:PeakDetectOil] Stopped
2025-03-12T05:54:32.823Z,1741758872.823 [sci2_noyo_optim:Science:PeakDetectOil](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:PeakDetectOil
2025-03-12T05:54:32.823Z,1741758872.823 [sci2_noyo_optim:Science:PeakDetectOil:A] Stopped
2025-03-12T05:54:32.823Z,1741758872.823 [sci2_noyo_optim:Science:PeakDetectNO3] Stopped
2025-03-12T05:54:32.823Z,1741758872.823 [sci2_noyo_optim:Science:PeakDetectNO3](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:PeakDetectNO3
2025-03-12T05:54:32.823Z,1741758872.823 [sci2_noyo_optim:Science:PeakDetectNO3:A] Stopped
2025-03-12T05:54:32.823Z,1741758872.823 [sci2_noyo_optim:Science:HighestChlPeakReport] Stopped
2025-03-12T05:54:32.823Z,1741758872.823 [sci2_noyo_optim:Science:HighestChlPeakReport](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:HighestChlPeakReport
2025-03-12T05:54:32.823Z,1741758872.823 [sci2_noyo_optim:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Stopped
2025-03-12T05:54:32.824Z,1741758872.824 [sci2_noyo_optim:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-03-12T05:54:32.824Z,1741758872.824 [sci2_noyo_optim:Science:EdgeDetectChl] Stopped
2025-03-12T05:54:32.824Z,1741758872.824 [sci2_noyo_optim:Science:EdgeDetectChl](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:EdgeDetectChl
2025-03-12T05:54:32.824Z,1741758872.824 [sci2_noyo_optim:Science:EdgeDetectChl:A] Stopped
2025-03-12T05:54:32.824Z,1741758872.824 [sci2_noyo_optim:Science:PeakDetectChl] Stopped
2025-03-12T05:54:32.824Z,1741758872.824 [sci2_noyo_optim:Science:PeakDetectChl](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:PeakDetectChl
2025-03-12T05:54:32.824Z,1741758872.824 [sci2_noyo_optim:Science:PeakDetectChl:A] Stopped
2025-03-12T05:54:32.824Z,1741758872.824 [sci2_noyo_optim:Science:OceanCurrent:A.] Running Loop=1
2025-03-12T05:54:32.824Z,1741758872.824 [sci2_noyo_optim:Science:Read_Oil] Stopped
2025-03-12T05:54:32.824Z,1741758872.824 [sci2_noyo_optim:Science:F] Stopped
2025-03-12T05:54:32.824Z,1741758872.824 [sci2_noyo_optim:Science:E] Running Loop=1
2025-03-12T05:54:32.825Z,1741758872.825 [sci2_noyo_optim:Science:E](DEBUG): Initialize ReadDataComponent to sense mass_concentration_of_chlorophyll_in_sea_water
2025-03-12T05:54:32.825Z,1741758872.825 [sci2_noyo_optim:Science:D] Stopped
2025-03-12T05:54:32.825Z,1741758872.825 [sci2_noyo_optim:Science:C] Running Loop=1
2025-03-12T05:54:32.825Z,1741758872.825 [sci2_noyo_optim:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_temperature
2025-03-12T05:54:32.827Z,1741758872.827 [sci2_noyo_optim:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_salinity
2025-03-12T05:54:32.827Z,1741758872.827 [sci2_noyo_optim:Science:B] Running Loop=1
2025-03-12T05:54:32.828Z,1741758872.828 [sci2_noyo_optim:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_temperature
2025-03-12T05:54:32.828Z,1741758872.828 [sci2_noyo_optim:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_salinity
2025-03-12T05:54:32.828Z,1741758872.828 [sci2_noyo_optim:Science:A] Stopped
2025-03-12T05:54:32.926Z,1741758872.926 [BackseatComponent](INFO): Powering up
2025-03-12T05:54:32.927Z,1741758872.927 [BackseatComponent](INFO): Subscribing to LCM channels.
2025-03-12T05:54:33.052Z,1741758873.052 [WetLabsBB2FL](INFO): Powering up
2025-03-12T05:54:33.112Z,1741758873.112 [PowerOnly](INFO): Powering up loadControl
2025-03-12T05:54:33.166Z,1741758873.166 [sci2_noyo_optim:D] Stopped
2025-03-12T05:54:33.167Z,1741758873.167 [sci2_noyo_optim:E] Running Loop=1
2025-03-12T05:54:33.530Z,1741758873.530 [sci2_noyo_optim:E] Stopped
2025-03-12T05:54:33.530Z,1741758873.530 [sci2_noyo_optim:G] Running Loop=1
2025-03-12T05:54:33.946Z,1741758873.946 [sci2_noyo_optim:G] Stopped
2025-03-12T05:54:33.946Z,1741758873.946 [sci2_noyo_optim:H] Running Loop=1
2025-03-12T05:54:34.342Z,1741758874.342 [sci2_noyo_optim:H] Stopped
2025-03-12T05:54:34.342Z,1741758874.342 [sci2_noyo_optim:M] Running Loop=1
2025-03-12T05:54:34.753Z,1741758874.753 [sci2_noyo_optim:M] Stopped
2025-03-12T05:54:34.753Z,1741758874.753 [sci2_noyo_optim:StartingMission] Running Loop=1
2025-03-12T05:54:34.753Z,1741758874.753 [sci2_noyo_optim:StartingMission](DEBUG): Aggregate::initialize sci2_noyo_optim:StartingMission
2025-03-12T05:54:35.177Z,1741758875.177 [sci2_noyo_optim:SurfaceComms] Running Loop=1
2025-03-12T05:54:35.177Z,1741758875.177 [sci2_noyo_optim:SurfaceComms](DEBUG): Aggregate::initialize sci2_noyo_optim:SurfaceComms
2025-03-12T05:54:35.177Z,1741758875.177 [sci2_noyo_optim:SurfaceComms:A] Running Loop=1
2025-03-12T05:54:35.179Z,1741758875.179 [sci2_noyo_optim:SurfaceComms:A] Stopped
2025-03-12T05:54:35.179Z,1741758875.179 [sci2_noyo_optim:SurfaceComms:B] Running Loop=1
2025-03-12T05:54:35.179Z,1741758875.179 [sci2_noyo_optim:SurfaceComms:B](DEBUG): Aggregate::initialize sci2_noyo_optim:SurfaceComms:B
2025-03-12T05:54:35.586Z,1741758875.586 [sci2_noyo_optim:NeedComms] Running Loop=1
2025-03-12T05:54:35.586Z,1741758875.586 [sci2_noyo_optim:NeedComms](DEBUG): Aggregate::initialize sci2_noyo_optim:NeedComms
2025-03-12T05:54:35.586Z,1741758875.586 [sci2_noyo_optim:NeedComms:B.GoToSurface] Running Loop=1
2025-03-12T05:54:35.587Z,1741758875.587 [sci2_noyo_optim:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-03-12T05:54:35.587Z,1741758875.587 [sci2_noyo_optim:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-03-12T05:54:35.587Z,1741758875.587 [sci2_noyo_optim:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-03-12T05:54:35.588Z,1741758875.588 [sci2_noyo_optim:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-03-12T05:54:35.588Z,1741758875.588 [sci2_noyo_optim:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-03-12T05:54:35.588Z,1741758875.588 [sci2_noyo_optim:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-03-12T05:54:35.589Z,1741758875.589 [sci2_noyo_optim:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-03-12T05:54:35.589Z,1741758875.589 [sci2_noyo_optim:NeedComms:A] Running Loop=1
2025-03-12T05:54:35.591Z,1741758875.591 [sci2_noyo_optim:NeedComms:A](INFO): last time_fix was:  1741758612.000000 second since 1970/01/01T00:00:00Z 
2025-03-12T05:54:35.591Z,1741758875.591 [sci2_noyo_optim:NeedComms:A] Stopped
2025-03-12T05:54:35.624Z,1741758875.624 [CTD_Seabird](ERROR): Pressure reading out of range: -10.100000 decibar
2025-03-12T05:54:35.625Z,1741758875.625 [CTD_Seabird](INFO): some bad data, not updating bins
2025-03-12T05:54:35.987Z,1741758875.987 [sci2_noyo_optim:NeedComms:C] Running Loop=1
2025-03-12T05:54:36.371Z,1741758876.371 [sci2_noyo_optim:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-03-12T05:54:37.163Z,1741758877.163 [MultiRay](IMPORTANT): MultiRay white lights ON
2025-03-12T05:54:37.966Z,1741758877.966 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,055437.00,A,3648.02396,N,12151.50143,W,0.894,280.99,120325,,,A*76
2025-03-12T05:54:37.968Z,1741758877.968 [NAL9602](INFO): GPS fix at 20250312T055437: (36.800399, -121.858357)
2025-03-12T05:54:37.982Z,1741758877.982 [sci2_noyo_optim:NeedComms:C] Stopped
2025-03-12T05:54:37.982Z,1741758877.982 [sci2_noyo_optim:NeedComms:D] Running Loop=1
2025-03-12T05:54:38.407Z,1741758878.407 [sci2_noyo_optim:NeedComms:D](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-03-12T05:54:45.794Z,1741758885.794 [DataOverHttps](INFO): Sending 74 bytes from file Logs/20250311T232940/Courier0105.lzma
2025-03-12T05:54:46.796Z,1741758886.796 [DataOverHttps](INFO): Moved sent file to Logs/20250311T232940/Courier0105.lzma.bak
2025-03-12T05:54:46.797Z,1741758886.797 [DataOverHttps](INFO): SBD MOMSN=24182698
2025-03-12T05:55:03.142Z,1741758903.142 [DataOverHttps](INFO): Sending 39 bytes from file Logs/20250311T232940/Courier0108.lzma
2025-03-12T05:55:04.144Z,1741758904.144 [DataOverHttps](INFO): Moved sent file to Logs/20250311T232940/Courier0108.lzma.bak
2025-03-12T05:55:04.145Z,1741758904.145 [DataOverHttps](INFO): SBD MOMSN=24182701
2025-03-12T05:55:20.352Z,1741758920.352 [DataOverHttps](INFO): Sending 765 bytes from file Logs/20250311T232940/Express0106.lzma
2025-03-12T05:55:21.353Z,1741758921.353 [DataOverHttps](INFO): Moved sent file to Logs/20250311T232940/Express0106.lzma.bak
2025-03-12T05:55:21.353Z,1741758921.353 [DataOverHttps](INFO): SBD MOMSN=24182703
2025-03-12T05:55:31.632Z,1741758931.632 [BackseatComponent](IMPORTANT): ikshana: running backseat application.
2025-03-12T05:55:37.562Z,1741758937.562 [DataOverHttps](INFO): Sending 62 bytes from file Logs/20250311T232940/Express0109.lzma
2025-03-12T05:55:38.766Z,1741758938.766 [DataOverHttps](INFO): Moved sent file to Logs/20250311T232940/Express0109.lzma.bak
2025-03-12T05:55:38.766Z,1741758938.766 [DataOverHttps](INFO): SBD MOMSN=24182735
2025-03-12T05:55:39.838Z,1741758939.838 [sci2_noyo_optim:NeedComms:D] Stopped
2025-03-12T05:55:39.839Z,1741758939.839 [sci2_noyo_optim:NeedComms:E] Running Loop=1
2025-03-12T05:55:40.251Z,1741758940.251 [sci2_noyo_optim:NeedComms:E](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-03-12T05:59:40.666Z,1741759180.666 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2025-03-12T05:59:46.354Z,1741759186.354 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,055945.00,A,3648.03440,N,12151.53711,W,0.661,278.92,120325,,,A*79
2025-03-12T05:59:46.356Z,1741759186.356 [NAL9602](INFO): GPS fix at 20250312T055945: (36.800573, -121.858952)
2025-03-12T05:59:46.407Z,1741759186.407 [sci2_noyo_optim:NeedComms:E] Stopped
2025-03-12T05:59:46.409Z,1741759186.409 [sci2_noyo_optim:NeedComms](INFO): Completed sci2_noyo_optim:NeedComms
2025-03-12T05:59:46.409Z,1741759186.409 [sci2_noyo_optim:NeedComms] Stopped
2025-03-12T05:59:46.409Z,1741759186.409 [sci2_noyo_optim:NeedComms](DEBUG): Aggregate::uninitialize sci2_noyo_optim:NeedComms
2025-03-12T05:59:46.409Z,1741759186.409 [sci2_noyo_optim:NeedComms:B.GoToSurface] Stopped
2025-03-12T05:59:46.409Z,1741759186.409 [sci2_noyo_optim:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-03-12T05:59:46.767Z,1741759186.767 [sci2_noyo_optim:SurfaceComms:B](INFO): Completed sci2_noyo_optim:SurfaceComms:B
2025-03-12T05:59:46.767Z,1741759186.767 [sci2_noyo_optim:SurfaceComms:B] Stopped
2025-03-12T05:59:46.767Z,1741759186.767 [sci2_noyo_optim:SurfaceComms:B](DEBUG): Aggregate::uninitialize sci2_noyo_optim:SurfaceComms:B
2025-03-12T05:59:46.767Z,1741759186.767 [sci2_noyo_optim:SurfaceComms:C] Running Loop=1
2025-03-12T05:59:47.138Z,1741759187.138 [sci2_noyo_optim:SurfaceComms:C] Stopped
2025-03-12T05:59:47.138Z,1741759187.138 [sci2_noyo_optim:SurfaceComms](INFO): Completed sci2_noyo_optim:SurfaceComms
2025-03-12T05:59:47.149Z,1741759187.149 [sci2_noyo_optim:SurfaceComms] Stopped
2025-03-12T05:59:47.149Z,1741759187.149 [sci2_noyo_optim:SurfaceComms](DEBUG): Aggregate::uninitialize sci2_noyo_optim:SurfaceComms
2025-03-12T05:59:47.556Z,1741759187.556 [sci2_noyo_optim:StartingMission](INFO): Completed sci2_noyo_optim:StartingMission
2025-03-12T05:59:47.556Z,1741759187.556 [sci2_noyo_optim:StartingMission] Stopped
2025-03-12T05:59:47.556Z,1741759187.556 [sci2_noyo_optim:StartingMission](DEBUG): Aggregate::uninitialize sci2_noyo_optim:StartingMission
2025-03-12T05:59:47.556Z,1741759187.556 [sci2_noyo_optim:Lap] Running Loop=1
2025-03-12T05:59:47.556Z,1741759187.556 [sci2_noyo_optim:Lap](DEBUG): Aggregate::initialize sci2_noyo_optim:Lap
2025-03-12T05:59:47.556Z,1741759187.556 [sci2_noyo_optim:Lap:Dive] Running Loop=1
2025-03-12T05:59:47.556Z,1741759187.556 [sci2_noyo_optim:Lap:Dive](DEBUG): Aggregate::initialize sci2_noyo_optim:Lap:Dive
2025-03-12T05:59:47.556Z,1741759187.556 [sci2_noyo_optim:Lap:Dive:A] Running Loop=1
2025-03-12T05:59:47.557Z,1741759187.557 [sci2_noyo_optim:Lap:Dive:A](DEBUG): Aggregate::initialize sci2_noyo_optim:Lap:Dive:A
2025-03-12T05:59:47.557Z,1741759187.557 [sci2_noyo_optim:Lap:DepthByLap] Running Loop=1
2025-03-12T05:59:47.557Z,1741759187.557 [sci2_noyo_optim:Lap:DepthByLap](DEBUG): Aggregate::initialize sci2_noyo_optim:Lap:DepthByLap
2025-03-12T05:59:47.557Z,1741759187.557 [sci2_noyo_optim:Lap:DepthByLap:A] Running Loop=1
2025-03-12T05:59:47.986Z,1741759187.986 [sci2_noyo_optim:Lap:DepthByLap:A] Stopped
2025-03-12T05:59:47.986Z,1741759187.986 [sci2_noyo_optim:Lap:DepthByLap:Wpt1] Running Loop=1
2025-03-12T05:59:47.990Z,1741759187.990 [sci2_noyo_optim:Lap:DepthByLap:Wpt1](DEBUG): Aggregate::initialize sci2_noyo_optim:Lap:DepthByLap:Wpt1
2025-03-12T05:59:47.990Z,1741759187.990 [sci2_noyo_optim:Lap:DepthByLap:Wpt1:A.Waypoint] Running Loop=1
2025-03-12T05:59:47.990Z,1741759187.990 [sci2_noyo_optim:Lap:DepthByLap:Wpt1:A.Waypoint](DEBUG): Initialize WaypointComponent.
2025-03-12T05:59:47.991Z,1741759187.991 [sci2_noyo_optim:Lap:DepthByLap:Wpt1:A.Waypoint](IMPORTANT): Navigating to waypoint: 36.797001,-121.847000
2025-03-12T05:59:47.991Z,1741759187.991 [sci2_noyo_optim:Lap:Dive] Running Loop=1
2025-03-12T05:59:47.991Z,1741759187.991 [sci2_noyo_optim:DiveCmd] Running Loop=1
2025-03-12T05:59:47.992Z,1741759187.992 [sci2_noyo_optim:DiveCmd](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd
2025-03-12T05:59:47.992Z,1741759187.992 [sci2_noyo_optim:DiveCmd:InitialDive] Running Loop=1
2025-03-12T05:59:47.992Z,1741759187.992 [sci2_noyo_optim:DiveCmd:InitialDive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:InitialDive
2025-03-12T05:59:47.992Z,1741759187.992 [sci2_noyo_optim:DiveCmd:InitialDive:dive] Running Loop=1
2025-03-12T05:59:47.992Z,1741759187.992 [sci2_noyo_optim:DiveCmd:InitialDive:dive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:InitialDive:dive
2025-03-12T05:59:47.992Z,1741759187.992 [sci2_noyo_optim:DiveCmd:InitialDive:dive:A] Running Loop=1
2025-03-12T05:59:47.992Z,1741759187.992 [sci2_noyo_optim:DiveCmd:InitialDive:dive:B] Running Loop=1
2025-03-12T05:59:47.992Z,1741759187.992 [sci2_noyo_optim:DiveCmd:InitialDive:dive:C.Mass] Running Loop=1
2025-03-12T05:59:47.992Z,1741759187.992 [sci2_noyo_optim:DiveCmd:InitialDive:dive:C.Mass](DEBUG): Initialize.
2025-03-12T05:59:47.993Z,1741759187.993 [sci2_noyo_optim:DiveCmd:InitialDive:dive:D] Running Loop=1
2025-03-12T05:59:47.993Z,1741759187.993 [sci2_noyo_optim:DiveCmd:SettleAtDepth] Running Loop=1
2025-03-12T05:59:47.993Z,1741759187.993 [sci2_noyo_optim:DiveCmd:SettleAtDepth](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:SettleAtDepth
2025-03-12T05:59:47.993Z,1741759187.993 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive] Running Loop=1
2025-03-12T05:59:47.993Z,1741759187.993 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:SettleAtDepth:dive
2025-03-12T05:59:47.993Z,1741759187.993 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:B.Pitch] Running Loop=1
2025-03-12T05:59:47.993Z,1741759187.993 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:B.Pitch](DEBUG): Initialize.
2025-03-12T05:59:47.993Z,1741759187.993 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:A] Running Loop=1
2025-03-12T05:59:47.993Z,1741759187.993 [sci2_noyo_optim:DiveCmd:MaintainDepth] Running Loop=1
2025-03-12T05:59:47.993Z,1741759187.993 [sci2_noyo_optim:DiveCmd:MaintainDepth](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepth
2025-03-12T05:59:47.994Z,1741759187.994 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive] Running Loop=1
2025-03-12T05:59:47.994Z,1741759187.994 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive
2025-03-12T05:59:47.994Z,1741759187.994 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive] Running Loop=1
2025-03-12T05:59:47.995Z,1741759187.995 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive
2025-03-12T05:59:47.995Z,1741759187.995 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass] Running Loop=1
2025-03-12T05:59:47.995Z,1741759187.995 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass](DEBUG): Initialize.
2025-03-12T05:59:47.995Z,1741759187.995 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed] Running Loop=1
2025-03-12T05:59:47.995Z,1741759187.995 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed](DEBUG): Initialize.
2025-03-12T05:59:47.995Z,1741759187.995 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:B.Pitch] Running Loop=1
2025-03-12T05:59:47.995Z,1741759187.995 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:B.Pitch](DEBUG): Initialize.
2025-03-12T05:59:47.995Z,1741759187.995 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow] Running Loop=1
2025-03-12T05:59:47.995Z,1741759187.995 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepthSlow
2025-03-12T05:59:47.996Z,1741759187.996 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:A.SetSpeed] Running Loop=1
2025-03-12T05:59:47.996Z,1741759187.996 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:A.SetSpeed](DEBUG): Initialize.
2025-03-12T05:59:47.996Z,1741759187.996 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:B] Running Loop=1
2025-03-12T05:59:47.996Z,1741759187.996 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:C.Buoyancy] Running Loop=1
2025-03-12T05:59:47.996Z,1741759187.996 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:C.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-03-12T05:59:47.996Z,1741759187.996 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:D.Pitch] Running Loop=1
2025-03-12T05:59:47.996Z,1741759187.996 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:D.Pitch](DEBUG): Initialize.
2025-03-12T05:59:47.997Z,1741759187.997 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow] Stopped
2025-03-12T05:59:47.997Z,1741759187.997 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepthSlow
2025-03-12T05:59:47.997Z,1741759187.997 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:A.SetSpeed] Stopped
2025-03-12T05:59:47.997Z,1741759187.997 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:A.SetSpeed](DEBUG): Uninitialize.
2025-03-12T05:59:47.997Z,1741759187.997 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:B] Stopped
2025-03-12T05:59:47.997Z,1741759187.997 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:C.Buoyancy] Stopped
2025-03-12T05:59:47.997Z,1741759187.997 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-03-12T05:59:47.998Z,1741759187.998 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:D.Pitch] Stopped
2025-03-12T05:59:47.998Z,1741759187.998 [sci2_noyo_optim:DiveCmd:MaintainDepth] Running Loop=1
2025-03-12T05:59:47.998Z,1741759187.998 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive] Running Loop=1
2025-03-12T05:59:48.014Z,1741759188.014 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:B.Pitch] Running Loop=1
2025-03-12T05:59:48.015Z,1741759188.015 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive] Running Loop=1
2025-03-12T05:59:48.015Z,1741759188.015 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed] Running Loop=1
2025-03-12T05:59:48.015Z,1741759188.015 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass] Running Loop=1
2025-03-12T05:59:48.015Z,1741759188.015 [sci2_noyo_optim:DiveCmd:SettleAtDepth] Stopped
2025-03-12T05:59:48.015Z,1741759188.015 [sci2_noyo_optim:DiveCmd:SettleAtDepth](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:SettleAtDepth
2025-03-12T05:59:48.015Z,1741759188.015 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive] Stopped
2025-03-12T05:59:48.015Z,1741759188.015 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:SettleAtDepth:dive
2025-03-12T05:59:48.016Z,1741759188.016 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:A] Stopped
2025-03-12T05:59:48.016Z,1741759188.016 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:B.Pitch] Stopped
2025-03-12T05:59:48.016Z,1741759188.016 [sci2_noyo_optim:DiveCmd:InitialDive] Running Loop=1
2025-03-12T05:59:48.016Z,1741759188.016 [sci2_noyo_optim:DiveCmd:InitialDive:dive:D](INFO): Waiting for  1.000000 min while pumping down to neutral.
2025-03-12T05:59:48.016Z,1741759188.016 [sci2_noyo_optim:DiveCmd:InitialDive:dive:D] Stopped
2025-03-12T05:59:48.016Z,1741759188.016 [sci2_noyo_optim:DiveCmd:InitialDive:dive:E.Wait] Running Loop=1
2025-03-12T05:59:48.016Z,1741759188.016 [sci2_noyo_optim:DiveCmd:InitialDive:dive:E.Wait](DEBUG): Initialize Wait Component.
2025-03-12T05:59:48.017Z,1741759188.017 [sci2_noyo_optim:DiveCmd:InitialDive:dive:C.Mass] Running Loop=1
2025-03-12T05:59:48.017Z,1741759188.017 [sci2_noyo_optim:DiveCmd:InitialDive:dive:B] Running Loop=1
2025-03-12T05:59:48.017Z,1741759188.017 [sci2_noyo_optim:DiveCmd:InitialDive:dive:A] Running Loop=1
2025-03-12T05:59:48.365Z,1741759188.365 [sci2_noyo_optim:Lap:DepthByLap:Wpt1:A.Waypoint](INFO): Navigating to waypoint: 36.797001,-121.847000
2025-03-12T06:00:18.705Z,1741759218.705 [NAL9602](INFO): Not Powering down - fast GPS
2025-03-12T06:00:34.462Z,1741759234.462 [ElevatorOffsetCalculator](INFO): New estimator for commanded vars: speed 1.00 m/s, pitch 20.00 deg, mass-position 6.85 mm (3 active estimators).
2025-03-12T06:00:48.610Z,1741759248.610 [sci2_noyo_optim:DiveCmd:InitialDive:dive:E.Wait](INFO): Done Waiting.
2025-03-12T06:00:48.610Z,1741759248.610 [sci2_noyo_optim:DiveCmd:InitialDive:dive:E.Wait] Stopped
2025-03-12T06:00:48.610Z,1741759248.610 [sci2_noyo_optim:DiveCmd:InitialDive:dive:E.Wait](DEBUG): Uninitialize Wait Component.
2025-03-12T06:00:48.610Z,1741759248.610 [sci2_noyo_optim:DiveCmd:InitialDive:dive:F] Running Loop=1
2025-03-12T06:00:49.024Z,1741759249.024 [sci2_noyo_optim:DiveCmd:InitialDive:dive:F](INFO): Moving to  10.000000 m 
2025-03-12T06:00:49.024Z,1741759249.024 [sci2_noyo_optim:DiveCmd:InitialDive:dive:F] Stopped
2025-03-12T06:00:49.024Z,1741759249.024 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth] Running Loop=1
2025-03-12T06:00:49.024Z,1741759249.024 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth
2025-03-12T06:00:49.024Z,1741759249.024 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:A.SetSpeed] Running Loop=1
2025-03-12T06:00:49.024Z,1741759249.024 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:A.SetSpeed](DEBUG): Initialize.
2025-03-12T06:00:49.025Z,1741759249.025 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:B.Pitch] Running Loop=1
2025-03-12T06:00:49.025Z,1741759249.025 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:B.Pitch](DEBUG): Initialize.
2025-03-12T06:00:49.436Z,1741759249.436 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:A.SetSpeed] Running Loop=1
2025-03-12T06:01:02.723Z,1741759262.723 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.295387
2025-03-12T06:01:34.813Z,1741759294.813 [Radio_Surface](INFO): Powering down
2025-03-12T06:01:34.858Z,1741759294.858 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-03-12T06:03:24.960Z,1741759404.960 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:B.Pitch] Stopped
2025-03-12T06:03:24.960Z,1741759404.960 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth](INFO): Completed sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth
2025-03-12T06:03:24.960Z,1741759404.960 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth] Stopped
2025-03-12T06:03:24.960Z,1741759404.960 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth
2025-03-12T06:03:24.961Z,1741759404.961 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:A.SetSpeed] Stopped
2025-03-12T06:03:24.961Z,1741759404.961 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:A.SetSpeed](DEBUG): Uninitialize.
2025-03-12T06:03:24.961Z,1741759404.961 [sci2_noyo_optim:DiveCmd:InitialDive:dive:H] Running Loop=1
2025-03-12T06:03:25.285Z,1741759405.285 [sci2_noyo_optim:DiveCmd:InitialDive:dive:H] Stopped
2025-03-12T06:03:25.286Z,1741759405.286 [sci2_noyo_optim:DiveCmd:InitialDive:dive](INFO): Completed sci2_noyo_optim:DiveCmd:InitialDive:dive
2025-03-12T06:03:25.286Z,1741759405.286 [sci2_noyo_optim:DiveCmd:InitialDive:dive] Stopped
2025-03-12T06:03:25.286Z,1741759405.286 [sci2_noyo_optim:DiveCmd:InitialDive:dive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:InitialDive:dive
2025-03-12T06:03:25.286Z,1741759405.286 [sci2_noyo_optim:DiveCmd:InitialDive:dive:A] Stopped
2025-03-12T06:03:25.287Z,1741759405.287 [sci2_noyo_optim:DiveCmd:InitialDive:dive:B] Stopped
2025-03-12T06:03:25.287Z,1741759405.287 [sci2_noyo_optim:DiveCmd:InitialDive:dive:C.Mass] Stopped
2025-03-12T06:03:25.287Z,1741759405.287 [sci2_noyo_optim:DiveCmd:InitialDive:dive:C.Mass](DEBUG): Uninitialize.
2025-03-12T06:03:25.287Z,1741759405.287 [sci2_noyo_optim:DiveCmd:InitialDive](INFO): Completed sci2_noyo_optim:DiveCmd:InitialDive
2025-03-12T06:03:25.699Z,1741759405.699 [sci2_noyo_optim:DiveCmd:SettleAtDepth] Running Loop=1
2025-03-12T06:03:25.699Z,1741759405.699 [sci2_noyo_optim:DiveCmd:SettleAtDepth](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:SettleAtDepth
2025-03-12T06:03:25.699Z,1741759405.699 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive] Running Loop=1
2025-03-12T06:03:25.699Z,1741759405.699 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:SettleAtDepth:dive
2025-03-12T06:03:25.699Z,1741759405.699 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:B.Pitch] Running Loop=1
2025-03-12T06:03:25.700Z,1741759405.700 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:B.Pitch](DEBUG): Initialize.
2025-03-12T06:03:25.700Z,1741759405.700 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:A] Running Loop=1
2025-03-12T06:03:25.700Z,1741759405.700 [sci2_noyo_optim:DiveCmd:SettleAtDepth] Running Loop=1
2025-03-12T06:03:25.700Z,1741759405.700 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:B.Pitch] Running Loop=1
2025-03-12T06:03:25.701Z,1741759405.701 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:A](INFO): Reached  10.058680 m , settling for  3.000000 min 
2025-03-12T06:03:25.701Z,1741759405.701 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:A] Stopped
2025-03-12T06:03:25.701Z,1741759405.701 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:C.Wait] Running Loop=1
2025-03-12T06:03:25.701Z,1741759405.701 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:C.Wait](DEBUG): Initialize Wait Component.
2025-03-12T06:05:32.143Z,1741759532.143 [sci2_noyo_optim:BackseatDriver:A.BackseatDriver](INFO): Created data writer for _.data_dir_logging_rate with code: 2169
2025-03-12T06:06:26.523Z,1741759586.523 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:C.Wait](INFO): Done Waiting.
2025-03-12T06:06:26.523Z,1741759586.523 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:C.Wait] Stopped
2025-03-12T06:06:26.523Z,1741759586.523 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:C.Wait](DEBUG): Uninitialize Wait Component.
2025-03-12T06:06:26.523Z,1741759586.523 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:D] Running Loop=1
2025-03-12T06:06:26.936Z,1741759586.936 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:D] Stopped
2025-03-12T06:06:26.937Z,1741759586.937 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive](INFO): Completed sci2_noyo_optim:DiveCmd:SettleAtDepth:dive
2025-03-12T06:06:26.937Z,1741759586.937 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive] Stopped
2025-03-12T06:06:26.937Z,1741759586.937 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:SettleAtDepth:dive
2025-03-12T06:06:26.937Z,1741759586.937 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:B.Pitch] Stopped
2025-03-12T06:06:26.937Z,1741759586.937 [sci2_noyo_optim:DiveCmd:SettleAtDepth](INFO): Completed sci2_noyo_optim:DiveCmd:SettleAtDepth
2025-03-12T06:07:33.885Z,1741759653.885 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow] Running Loop=1
2025-03-12T06:07:33.885Z,1741759653.885 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepthSlow
2025-03-12T06:07:33.885Z,1741759653.885 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:A.SetSpeed] Running Loop=1
2025-03-12T06:07:33.885Z,1741759653.885 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:A.SetSpeed](DEBUG): Initialize.
2025-03-12T06:07:33.885Z,1741759653.885 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:B] Running Loop=1
2025-03-12T06:07:33.885Z,1741759653.885 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:C.Buoyancy] Running Loop=1
2025-03-12T06:07:33.885Z,1741759653.885 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:C.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-03-12T06:07:33.885Z,1741759653.885 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:D.Pitch] Running Loop=1
2025-03-12T06:07:33.885Z,1741759653.885 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:D.Pitch](DEBUG): Initialize.
2025-03-12T06:07:33.886Z,1741759653.886 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow] Running Loop=1
2025-03-12T06:07:33.886Z,1741759653.886 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:D.Pitch] Running Loop=1
2025-03-12T06:07:33.888Z,1741759653.888 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:C.Buoyancy] Running Loop=1
2025-03-12T06:07:33.889Z,1741759653.889 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:B] Running Loop=1
2025-03-12T06:07:33.891Z,1741759653.891 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:A.SetSpeed] Running Loop=1
2025-03-12T06:07:33.892Z,1741759653.892 [sci2_noyo_optim:DiveCmd:MaintainDepth] Stopped
2025-03-12T06:07:33.893Z,1741759653.893 [sci2_noyo_optim:DiveCmd:MaintainDepth](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepth
2025-03-12T06:07:33.893Z,1741759653.893 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive] Stopped
2025-03-12T06:07:33.894Z,1741759653.894 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive
2025-03-12T06:07:33.897Z,1741759653.897 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive] Stopped
2025-03-12T06:07:33.898Z,1741759653.898 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive
2025-03-12T06:07:33.898Z,1741759653.898 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass] Stopped
2025-03-12T06:07:33.899Z,1741759653.899 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass](DEBUG): Uninitialize.
2025-03-12T06:07:33.899Z,1741759653.899 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed] Stopped
2025-03-12T06:07:33.899Z,1741759653.899 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed](DEBUG): Uninitialize.
2025-03-12T06:07:33.899Z,1741759653.899 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:B.Pitch] Stopped
2025-03-12T06:07:45.923Z,1741759665.923 [CTD_Seabird](ERROR): Failed to parse device response: .33
2025-03-12T06:15:37.892Z,1741760137.892 [CTD_Seabird](ERROR): Failed to parse device response: 34.43,9.796.13
2025-03-12T06:17:11.014Z,1741760231.014 [Waterlinked](ERROR): only read 0 of 1 data item for altitude. Device response::BD,       +0.00,       +1475.0,  0
2025-03-12T06:23:25.742Z,1741760605.742 [BPC1](ERROR): BPC1A got IPBS message with 6 sticks (min is 7).
2025-03-12T06:27:51.112Z,1741760871.112 [BPC1](INFO): Calculating totals. Valid battery stick count: 51. Valid reserve battery stick count: 5.
2025-03-12T06:27:51.123Z,1741760871.123 [BPC1](FAULT): Failed to receive data from 4 sticks prior to timeout. Will not retry this scan cycle. Missing stick IDs are: 17, 19, 21, 24.
2025-03-12T06:31:12.383Z,1741761072.383 [Waterlinked](ERROR): only read 0 of 1 data item for altitude. Device response::BD,       +0.00,       +0   +0.00,   0.00,  0.00
2025-03-12T06:37:06.303Z,1741761426.303 [CTD_Seabird](ERROR): Failed to parse device response: 34.78,9.811.99
2025-03-12T06:41:23.734Z,1741761683.734 [Waterlinked](ERROR): only read 0 of 1 data item for altitude. Device response::BD,       +0.00,       +0.00,.00
2025-03-12T06:41:45.908Z,1741761705.908 [sci2_noyo_optim:Lap:DepthByLap:Wpt1:A.Waypoint](IMPORTANT): Reached waypoint: 36.797001,-121.847000
2025-03-12T06:41:45.908Z,1741761705.908 [sci2_noyo_optim:Lap:DepthByLap:Wpt1:A.Waypoint] Stopped
2025-03-12T06:41:45.908Z,1741761705.908 [sci2_noyo_optim:Lap:DepthByLap:Wpt1:A.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-03-12T06:41:45.909Z,1741761705.909 [sci2_noyo_optim:Lap:DepthByLap:Wpt1](INFO): Completed sci2_noyo_optim:Lap:DepthByLap:Wpt1
2025-03-12T06:41:45.909Z,1741761705.909 [sci2_noyo_optim:Lap:DepthByLap:Wpt1] Stopped
2025-03-12T06:41:45.909Z,1741761705.909 [sci2_noyo_optim:Lap:DepthByLap:Wpt1](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Lap:DepthByLap:Wpt1
2025-03-12T06:41:45.909Z,1741761705.909 [sci2_noyo_optim:Lap:DepthByLap:Wpt2] Running Loop=1
2025-03-12T06:41:45.909Z,1741761705.909 [sci2_noyo_optim:Lap:DepthByLap:Wpt2](DEBUG): Aggregate::initialize sci2_noyo_optim:Lap:DepthByLap:Wpt2
2025-03-12T06:41:45.909Z,1741761705.909 [sci2_noyo_optim:Lap:DepthByLap:Wpt2:A.Waypoint] Running Loop=1
2025-03-12T06:41:45.910Z,1741761705.910 [sci2_noyo_optim:Lap:DepthByLap:Wpt2:A.Waypoint](DEBUG): Initialize WaypointComponent.
2025-03-12T06:41:45.911Z,1741761705.911 [sci2_noyo_optim:Lap:DepthByLap:Wpt2:A.Waypoint](IMPORTANT): Navigating to waypoint: 36.797050,-121.877693
2025-03-12T06:41:46.262Z,1741761706.262 [sci2_noyo_optim:Lap:DepthByLap:Wpt2:A.Waypoint](INFO): Navigating to waypoint: 36.797050,-121.877693
2025-03-12T06:56:25.482Z,1741762585.482 [Waterlinked](ERROR): DVL uart error: serial timeout
2025-03-12T06:56:25.482Z,1741762585.482 [Waterlinked] Communications Fault, FailCount= 1
2025-03-12T06:56:25.482Z,1741762585.482 [Waterlinked](ERROR): Communications Fault
2025-03-12T06:56:25.633Z,1741762585.633 [CBIT](ERROR): Communications Fault in component: Waterlinked
2025-03-12T06:56:25.959Z,1741762585.959 [Waterlinked](INFO): Powering down
2025-03-12T06:56:26.789Z,1741762586.789 [CBIT](INFO): Clearing failed state for component Waterlinked
2025-03-12T06:56:26.790Z,1741762586.790 [Waterlinked] No Fault, FailCount= 1
2025-03-12T06:59:46.562Z,1741762786.562 [sci2_noyo_optim:SurfaceComms] Running Loop=1
2025-03-12T06:59:46.562Z,1741762786.562 [sci2_noyo_optim:SurfaceComms](DEBUG): Aggregate::initialize sci2_noyo_optim:SurfaceComms
2025-03-12T06:59:46.563Z,1741762786.563 [sci2_noyo_optim:SurfaceComms:A] Running Loop=1
2025-03-12T06:59:46.563Z,1741762786.563 [sci2_noyo_optim:SurfaceComms:A] Stopped
2025-03-12T06:59:46.563Z,1741762786.563 [sci2_noyo_optim:SurfaceComms:B] Running Loop=1
2025-03-12T06:59:46.563Z,1741762786.563 [sci2_noyo_optim:SurfaceComms:B](DEBUG): Aggregate::initialize sci2_noyo_optim:SurfaceComms:B
2025-03-12T06:59:46.969Z,1741762786.969 [sci2_noyo_optim:Lap:Dive] Stopped
2025-03-12T06:59:46.969Z,1741762786.969 [sci2_noyo_optim:Lap:Dive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Lap:Dive
2025-03-12T06:59:46.969Z,1741762786.969 [sci2_noyo_optim:Lap:Dive:A] Stopped
2025-03-12T06:59:46.970Z,1741762786.970 [sci2_noyo_optim:Lap:Dive:A](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Lap:Dive:A
2025-03-12T06:59:46.971Z,1741762786.971 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow] Stopped
2025-03-12T06:59:46.971Z,1741762786.971 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepthSlow
2025-03-12T06:59:46.971Z,1741762786.971 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:A.SetSpeed] Stopped
2025-03-12T06:59:46.971Z,1741762786.971 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:A.SetSpeed](DEBUG): Uninitialize.
2025-03-12T06:59:46.971Z,1741762786.971 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:B] Stopped
2025-03-12T06:59:46.971Z,1741762786.971 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:C.Buoyancy] Stopped
2025-03-12T06:59:46.971Z,1741762786.971 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-03-12T06:59:46.971Z,1741762786.971 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:D.Pitch] Stopped
2025-03-12T06:59:46.974Z,1741762786.974 [sci2_noyo_optim:NeedComms] Running Loop=1
2025-03-12T06:59:46.974Z,1741762786.974 [sci2_noyo_optim:NeedComms](DEBUG): Aggregate::initialize sci2_noyo_optim:NeedComms
2025-03-12T06:59:46.974Z,1741762786.974 [sci2_noyo_optim:NeedComms:B.GoToSurface] Running Loop=1
2025-03-12T06:59:46.975Z,1741762786.975 [sci2_noyo_optim:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-03-12T06:59:46.975Z,1741762786.975 [sci2_noyo_optim:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-03-12T06:59:46.975Z,1741762786.975 [sci2_noyo_optim:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-03-12T06:59:46.976Z,1741762786.976 [sci2_noyo_optim:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-03-12T06:59:46.976Z,1741762786.976 [sci2_noyo_optim:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-03-12T06:59:46.976Z,1741762786.976 [sci2_noyo_optim:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-03-12T06:59:46.977Z,1741762786.977 [sci2_noyo_optim:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-03-12T06:59:46.977Z,1741762786.977 [sci2_noyo_optim:NeedComms:A] Running Loop=1
2025-03-12T06:59:46.979Z,1741762786.979 [sci2_noyo_optim:NeedComms:A](INFO): last time_fix was:  1741759185.000000 second since 1970/01/01T00:00:00Z 
2025-03-12T06:59:46.979Z,1741762786.979 [sci2_noyo_optim:NeedComms:A] Stopped
2025-03-12T07:00:08.636Z,1741762808.636 [sci2_noyo_optim:DiveCmd:MaintainDepth] Running Loop=1
2025-03-12T07:00:08.636Z,1741762808.636 [sci2_noyo_optim:DiveCmd:MaintainDepth](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepth
2025-03-12T07:00:08.637Z,1741762808.637 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive] Running Loop=1
2025-03-12T07:00:08.637Z,1741762808.637 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive
2025-03-12T07:00:08.637Z,1741762808.637 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive] Running Loop=1
2025-03-12T07:00:08.637Z,1741762808.637 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive
2025-03-12T07:00:08.637Z,1741762808.637 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass] Running Loop=1
2025-03-12T07:00:08.638Z,1741762808.638 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass](DEBUG): Initialize.
2025-03-12T07:00:08.639Z,1741762808.639 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed] Running Loop=1
2025-03-12T07:00:08.639Z,1741762808.639 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed](DEBUG): Initialize.
2025-03-12T07:00:08.639Z,1741762808.639 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:B.Pitch] Running Loop=1
2025-03-12T07:00:08.639Z,1741762808.639 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:B.Pitch](DEBUG): Initialize.
2025-03-12T07:00:27.152Z,1741762827.152 [CTD_Seabird](ERROR): Failed to parse device response: 27.15,10.0715,3.687044
2025-03-12T07:02:04.895Z,1741762924.895 [sci2_noyo_optim:NeedComms:C] Running Loop=1
2025-03-12T07:02:05.386Z,1741762925.386 [Waterlinked](INFO): Powering down
2025-03-12T07:02:05.626Z,1741762925.626 [Radio_Surface](INFO): Powering up
2025-03-12T07:02:11.094Z,1741762931.094 [DataOverHttps](INFO): Radio surface powered ON.
2025-03-12T07:02:37.648Z,1741762957.648 [NAL9602](ERROR): Failed to receive proper response when querying signal strength for MT queue check.
2025-03-12T07:02:37.726Z,1741762957.726 [NAL9602](ERROR): received: 
+CSQ:0

OK515, 0, 0, 0, 0

OK
2025-03-12T07:02:41.214Z,1741762961.214 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T07:03:16.354Z,1741762996.354 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T07:03:51.494Z,1741763031.494 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T07:04:26.642Z,1741763066.642 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T07:05:01.790Z,1741763101.790 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T07:05:35.656Z,1741763135.656 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.004371
2025-03-12T07:07:03.929Z,1741763223.929 [NAL9602](INFO): SBD MO Status=2, MOMSN=18516, MT Status=2, MTMSN=0
2025-03-12T07:07:03.929Z,1741763223.929 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-03-12T07:07:09.584Z,1741763229.584 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2025-03-12T07:07:10.799Z,1741763230.799 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,070710.00,A,3648.05578,N,12151.51415,W,0.292,304.23,120325,,,A*71
2025-03-12T07:07:10.801Z,1741763230.801 [NAL9602](INFO): GPS fix at 20250312T070710: (36.800930, -121.858569)
2025-03-12T07:07:10.829Z,1741763230.829 [UniversalFixResidualReporter](INFO): Fix residual: 39.5 %DT, over the last 1755.9 m. Residual distance 693.9 m at bearing 129.3 degrees. Fix at (36.8009, -121.8586) with 52.3 m made good.
2025-03-12T07:07:10.850Z,1741763230.850 [sci2_noyo_optim:NeedComms:C] Stopped
2025-03-12T07:07:10.851Z,1741763230.851 [sci2_noyo_optim:NeedComms:D] Running Loop=1
2025-03-12T07:07:18.754Z,1741763238.754 [DataOverHttps](INFO): Sending 96 bytes from file Logs/20250311T232940/Courier0111.lzma
2025-03-12T07:07:19.756Z,1741763239.756 [DataOverHttps](INFO): Moved sent file to Logs/20250311T232940/Courier0111.lzma.bak
2025-03-12T07:07:19.757Z,1741763239.757 [DataOverHttps](INFO): SBD MOMSN=24182834
2025-03-12T07:07:36.603Z,1741763256.603 [DataOverHttps](INFO): Sending 695 bytes from file Logs/20250311T232940/Express0112.lzma
2025-03-12T07:07:37.604Z,1741763257.604 [DataOverHttps](INFO): Moved sent file to Logs/20250311T232940/Express0112.lzma.bak
2025-03-12T07:07:37.605Z,1741763257.605 [DataOverHttps](INFO): SBD MOMSN=24182837
2025-03-12T07:07:38.710Z,1741763258.710 [sci2_noyo_optim:NeedComms:D] Stopped
2025-03-12T07:07:38.710Z,1741763258.710 [sci2_noyo_optim:NeedComms:E] Running Loop=1
2025-03-12T07:07:40.689Z,1741763260.689 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,070739.00,A,3648.05894,N,12151.51772,W,0.991,304.23,120325,,,A*7F
2025-03-12T07:07:40.692Z,1741763260.692 [NAL9602](INFO): GPS fix at 20250312T070739: (36.800982, -121.858629)
2025-03-12T07:07:40.746Z,1741763260.746 [sci2_noyo_optim:NeedComms:E] Stopped
2025-03-12T07:07:40.747Z,1741763260.747 [sci2_noyo_optim:NeedComms](INFO): Completed sci2_noyo_optim:NeedComms
2025-03-12T07:07:40.747Z,1741763260.747 [sci2_noyo_optim:NeedComms] Stopped
2025-03-12T07:07:40.747Z,1741763260.747 [sci2_noyo_optim:NeedComms](DEBUG): Aggregate::uninitialize sci2_noyo_optim:NeedComms
2025-03-12T07:07:40.748Z,1741763260.748 [sci2_noyo_optim:NeedComms:B.GoToSurface] Stopped
2025-03-12T07:07:40.748Z,1741763260.748 [sci2_noyo_optim:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-03-12T07:07:41.133Z,1741763261.133 [sci2_noyo_optim:SurfaceComms:B](INFO): Completed sci2_noyo_optim:SurfaceComms:B
2025-03-12T07:07:41.133Z,1741763261.133 [sci2_noyo_optim:SurfaceComms:B] Stopped
2025-03-12T07:07:41.134Z,1741763261.134 [sci2_noyo_optim:SurfaceComms:B](DEBUG): Aggregate::uninitialize sci2_noyo_optim:SurfaceComms:B
2025-03-12T07:07:41.134Z,1741763261.134 [sci2_noyo_optim:SurfaceComms:C] Running Loop=1
2025-03-12T07:07:41.650Z,1741763261.650 [ElevatorOffsetCalculator](INFO): Removing expired estimator for commanded vars: speed 1.00 m/s, pitch -20.00 deg, mass-position 6.85 mm.
2025-03-12T07:07:41.687Z,1741763261.687 [sci2_noyo_optim:SurfaceComms:C] Stopped
2025-03-12T07:07:41.687Z,1741763261.687 [sci2_noyo_optim:SurfaceComms](INFO): Completed sci2_noyo_optim:SurfaceComms
2025-03-12T07:07:41.687Z,1741763261.687 [sci2_noyo_optim:SurfaceComms] Stopped
2025-03-12T07:07:41.687Z,1741763261.687 [sci2_noyo_optim:SurfaceComms](DEBUG): Aggregate::uninitialize sci2_noyo_optim:SurfaceComms
2025-03-12T07:07:41.957Z,1741763261.957 [sci2_noyo_optim:Lap:Dive] Running Loop=1
2025-03-12T07:07:41.957Z,1741763261.957 [sci2_noyo_optim:Lap:Dive](DEBUG): Aggregate::initialize sci2_noyo_optim:Lap:Dive
2025-03-12T07:07:41.957Z,1741763261.957 [sci2_noyo_optim:Lap:Dive:A] Running Loop=1
2025-03-12T07:07:41.957Z,1741763261.957 [sci2_noyo_optim:Lap:Dive:A](DEBUG): Aggregate::initialize sci2_noyo_optim:Lap:Dive:A
2025-03-12T07:07:41.963Z,1741763261.963 [sci2_noyo_optim:DiveCmd:InitialDive] Running Loop=1
2025-03-12T07:07:41.964Z,1741763261.964 [sci2_noyo_optim:DiveCmd:InitialDive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:InitialDive
2025-03-12T07:07:41.964Z,1741763261.964 [sci2_noyo_optim:DiveCmd:InitialDive:dive] Running Loop=1
2025-03-12T07:07:41.964Z,1741763261.964 [sci2_noyo_optim:DiveCmd:InitialDive:dive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:InitialDive:dive
2025-03-12T07:07:41.964Z,1741763261.964 [sci2_noyo_optim:DiveCmd:InitialDive:dive:A] Running Loop=1
2025-03-12T07:07:41.964Z,1741763261.964 [sci2_noyo_optim:DiveCmd:InitialDive:dive:B] Running Loop=1
2025-03-12T07:07:41.964Z,1741763261.964 [sci2_noyo_optim:DiveCmd:InitialDive:dive:C.Mass] Running Loop=1
2025-03-12T07:07:41.964Z,1741763261.964 [sci2_noyo_optim:DiveCmd:InitialDive:dive:C.Mass](DEBUG): Initialize.
2025-03-12T07:07:41.964Z,1741763261.964 [sci2_noyo_optim:DiveCmd:InitialDive:dive:D] Running Loop=1
2025-03-12T07:07:41.965Z,1741763261.965 [sci2_noyo_optim:DiveCmd:InitialDive:dive:D](INFO): Waiting for  1.000000 min while pumping down to neutral.
2025-03-12T07:07:41.965Z,1741763261.965 [sci2_noyo_optim:DiveCmd:InitialDive:dive:D] Stopped
2025-03-12T07:07:41.965Z,1741763261.965 [sci2_noyo_optim:DiveCmd:InitialDive:dive:E.Wait] Running Loop=1
2025-03-12T07:07:41.965Z,1741763261.965 [sci2_noyo_optim:DiveCmd:InitialDive:dive:E.Wait](DEBUG): Initialize Wait Component.
2025-03-12T07:08:12.469Z,1741763292.469 [NAL9602](INFO): Not Powering down - fast GPS
2025-03-12T07:08:42.912Z,1741763322.912 [sci2_noyo_optim:DiveCmd:InitialDive:dive:E.Wait](INFO): Done Waiting.
2025-03-12T07:08:42.912Z,1741763322.912 [sci2_noyo_optim:DiveCmd:InitialDive:dive:E.Wait] Stopped
2025-03-12T07:08:42.912Z,1741763322.912 [sci2_noyo_optim:DiveCmd:InitialDive:dive:E.Wait](DEBUG): Uninitialize Wait Component.
2025-03-12T07:08:42.913Z,1741763322.913 [sci2_noyo_optim:DiveCmd:InitialDive:dive:F] Running Loop=1
2025-03-12T07:08:43.153Z,1741763323.153 [sci2_noyo_optim:DiveCmd:InitialDive:dive:F](INFO): Moving to  10.000000 m 
2025-03-12T07:08:43.158Z,1741763323.158 [sci2_noyo_optim:DiveCmd:InitialDive:dive:F] Stopped
2025-03-12T07:08:43.158Z,1741763323.158 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth] Running Loop=1
2025-03-12T07:08:43.159Z,1741763323.159 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth
2025-03-12T07:08:43.159Z,1741763323.159 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:A.SetSpeed] Running Loop=1
2025-03-12T07:08:43.159Z,1741763323.159 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:A.SetSpeed](DEBUG): Initialize.
2025-03-12T07:08:43.160Z,1741763323.160 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:B.Pitch] Running Loop=1
2025-03-12T07:08:43.160Z,1741763323.160 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:B.Pitch](DEBUG): Initialize.
2025-03-12T07:08:44.392Z,1741763324.392 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T07:08:48.407Z,1741763328.407 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.250977
2025-03-12T07:08:52.919Z,1741763332.919 [BPC1](INFO): Calculating totals. Valid battery stick count: 50. Valid reserve battery stick count: 5.
2025-03-12T07:08:52.922Z,1741763332.922 [BPC1](FAULT): Failed to receive data from 3 sticks prior to timeout. Will not retry this scan cycle. Missing stick IDs are: 17, 21, 24.
2025-03-12T07:09:13.655Z,1741763353.655 [Radio_Surface](INFO): Powering down
2025-03-12T07:09:19.535Z,1741763359.535 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T07:09:20.539Z,1741763360.539 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-03-12T07:10:55.299Z,1741763455.299 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:B.Pitch] Stopped
2025-03-12T07:10:55.301Z,1741763455.301 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth](INFO): Completed sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth
2025-03-12T07:10:55.302Z,1741763455.302 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth] Stopped
2025-03-12T07:10:55.306Z,1741763455.306 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth
2025-03-12T07:10:55.307Z,1741763455.307 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:A.SetSpeed] Stopped
2025-03-12T07:10:55.307Z,1741763455.307 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:A.SetSpeed](DEBUG): Uninitialize.
2025-03-12T07:10:55.308Z,1741763455.308 [sci2_noyo_optim:DiveCmd:InitialDive:dive:H] Running Loop=1
2025-03-12T07:10:55.819Z,1741763455.819 [sci2_noyo_optim:DiveCmd:InitialDive:dive:H] Stopped
2025-03-12T07:10:55.830Z,1741763455.830 [sci2_noyo_optim:DiveCmd:InitialDive:dive](INFO): Completed sci2_noyo_optim:DiveCmd:InitialDive:dive
2025-03-12T07:10:55.830Z,1741763455.830 [sci2_noyo_optim:DiveCmd:InitialDive:dive] Stopped
2025-03-12T07:10:55.830Z,1741763455.830 [sci2_noyo_optim:DiveCmd:InitialDive:dive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:InitialDive:dive
2025-03-12T07:10:55.831Z,1741763455.831 [sci2_noyo_optim:DiveCmd:InitialDive:dive:A] Stopped
2025-03-12T07:10:55.831Z,1741763455.831 [sci2_noyo_optim:DiveCmd:InitialDive:dive:B] Stopped
2025-03-12T07:10:55.831Z,1741763455.831 [sci2_noyo_optim:DiveCmd:InitialDive:dive:C.Mass] Stopped
2025-03-12T07:10:55.831Z,1741763455.831 [sci2_noyo_optim:DiveCmd:InitialDive:dive:C.Mass](DEBUG): Uninitialize.
2025-03-12T07:10:55.831Z,1741763455.831 [sci2_noyo_optim:DiveCmd:InitialDive](INFO): Completed sci2_noyo_optim:DiveCmd:InitialDive
2025-03-12T07:10:56.082Z,1741763456.082 [sci2_noyo_optim:DiveCmd:SettleAtDepth] Running Loop=1
2025-03-12T07:10:56.082Z,1741763456.082 [sci2_noyo_optim:DiveCmd:SettleAtDepth](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:SettleAtDepth
2025-03-12T07:10:56.083Z,1741763456.083 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive] Running Loop=1
2025-03-12T07:10:56.083Z,1741763456.083 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:SettleAtDepth:dive
2025-03-12T07:10:56.083Z,1741763456.083 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:B.Pitch] Running Loop=1
2025-03-12T07:10:56.083Z,1741763456.083 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:B.Pitch](DEBUG): Initialize.
2025-03-12T07:10:56.083Z,1741763456.083 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:A] Running Loop=1
2025-03-12T07:10:56.084Z,1741763456.084 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:A](INFO): Reached  10.084078 m , settling for  3.000000 min 
2025-03-12T07:10:56.084Z,1741763456.084 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:A] Stopped
2025-03-12T07:10:56.084Z,1741763456.084 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:C.Wait] Running Loop=1
2025-03-12T07:10:56.085Z,1741763456.085 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:C.Wait](DEBUG): Initialize Wait Component.
2025-03-12T07:13:56.715Z,1741763636.715 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:C.Wait](INFO): Done Waiting.
2025-03-12T07:13:56.715Z,1741763636.715 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:C.Wait] Stopped
2025-03-12T07:13:56.715Z,1741763636.715 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:C.Wait](DEBUG): Uninitialize Wait Component.
2025-03-12T07:13:56.716Z,1741763636.716 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:D] Running Loop=1
2025-03-12T07:13:57.180Z,1741763637.180 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:D] Stopped
2025-03-12T07:13:57.180Z,1741763637.180 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive](INFO): Completed sci2_noyo_optim:DiveCmd:SettleAtDepth:dive
2025-03-12T07:13:57.181Z,1741763637.181 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive] Stopped
2025-03-12T07:13:57.181Z,1741763637.181 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:SettleAtDepth:dive
2025-03-12T07:13:57.181Z,1741763637.181 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:B.Pitch] Stopped
2025-03-12T07:13:57.181Z,1741763637.181 [sci2_noyo_optim:DiveCmd:SettleAtDepth](INFO): Completed sci2_noyo_optim:DiveCmd:SettleAtDepth
2025-03-12T07:15:03.833Z,1741763703.833 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow] Running Loop=1
2025-03-12T07:15:03.834Z,1741763703.834 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepthSlow
2025-03-12T07:15:03.834Z,1741763703.834 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:A.SetSpeed] Running Loop=1
2025-03-12T07:15:03.850Z,1741763703.850 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:A.SetSpeed](DEBUG): Initialize.
2025-03-12T07:15:03.850Z,1741763703.850 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:B] Running Loop=1
2025-03-12T07:15:03.850Z,1741763703.850 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:C.Buoyancy] Running Loop=1
2025-03-12T07:15:03.850Z,1741763703.850 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:C.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-03-12T07:15:03.850Z,1741763703.850 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:D.Pitch] Running Loop=1
2025-03-12T07:15:03.850Z,1741763703.850 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:D.Pitch](DEBUG): Initialize.
2025-03-12T07:15:03.858Z,1741763703.858 [sci2_noyo_optim:DiveCmd:MaintainDepth] Stopped
2025-03-12T07:15:03.858Z,1741763703.858 [sci2_noyo_optim:DiveCmd:MaintainDepth](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepth
2025-03-12T07:15:03.859Z,1741763703.859 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive] Stopped
2025-03-12T07:15:03.859Z,1741763703.859 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive
2025-03-12T07:15:03.859Z,1741763703.859 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive] Stopped
2025-03-12T07:15:03.859Z,1741763703.859 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive
2025-03-12T07:15:03.859Z,1741763703.859 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass] Stopped
2025-03-12T07:15:03.859Z,1741763703.859 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass](DEBUG): Uninitialize.
2025-03-12T07:15:03.859Z,1741763703.859 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed] Stopped
2025-03-12T07:15:03.859Z,1741763703.859 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed](DEBUG): Uninitialize.
2025-03-12T07:15:03.859Z,1741763703.859 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:B.Pitch] Stopped
2025-03-12T07:27:43.280Z,1741764463.280 [BPC1](ERROR): BPC1A: No match for serial number 1717 in BPC1A's battery stick inventory (sticks 1-31 in onboard configuration file).
2025-03-12T07:30:02.694Z,1741764602.694 [CTD_Seabird](ERROR): Failed to parse device response: 5,3.68185,2313.22
2025-03-12T07:31:03.960Z,1741764663.960 [CTD_Seabird](ERROR): Failed to parse device response: ,9.9736,3.68120,2316.01
2025-03-12T07:36:09.088Z,1741764969.088 [Waterlinked](ERROR): only read 3 of 5 data items. Device response::BI,    +0,    +0,    +0,  :BS,    +0,    +0,    +0,V
2025-03-12T07:37:14.312Z,1741765034.312 [Waterlinked](ERROR): only read 3 of 5 data items. Device response::BI,   +0,    +0,    +0,V
2025-03-12T07:38:08.747Z,1741765088.747 [Waterlinked](ERROR): only read 0 of 1 data item for BIT error. Device response::TS,24052713315236, 0.0, ,    +0,V
2025-03-12T07:40:25.926Z,1741765225.926 [Waterlinked](ERROR): only read 0 of 1 data item for BIT error. Device response::TS,24052713340928, 0.0, +0.0WD,       +0.00,       +0.00,       +0.00,   0.00,  0.00
2025-03-12T07:43:48.246Z,1741765428.246 [GFScanner](IMPORTANT): Beginning ground fault scan
2025-03-12T07:43:50.184Z,1741765430.184 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2025-03-12T07:43:50.189Z,1741765430.189 [CTD_Seabird](INFO): some bad data, not updating bins
2025-03-12T07:43:52.188Z,1741765432.188 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2025-03-12T07:43:52.189Z,1741765432.189 [CTD_Seabird](INFO): some bad data, not updating bins
2025-03-12T07:43:52.928Z,1741765432.928 [GFScanner](IMPORTANT): No ground fault detected
mA:
CHAN A0 (Batt): -0.006395
CHAN A1 (24V): 0.001081
CHAN A2 (12V): -0.005031
CHAN A3 (5V): -0.003092
CHAN B0 (3.3V): 0.001583
CHAN B1 (3.15aV): -0.001849
CHAN B2 (3.15bV): -0.002050
CHAN B3 (GND): -0.000937
OPEN: 0.006510
Full Scale: +/- 1 mA
2025-03-12T07:45:32.365Z,1741765532.365 [Waterlinked](ERROR): only read 3 of 5 data items. Device response::BI,    +0,    +0,    +0,    

2025-03-12T07:46:33.271Z,1741765593.271 [BPC1](ERROR): BPC1A: No match for serial number 1717 in BPC1A's battery stick inventory (sticks 1-31 in onboard configuration file).
2025-03-12T07:49:54.751Z,1741765794.751 [BPC1](INFO): Calculating totals. Valid battery stick count: 49. Valid reserve battery stick count: 5.
2025-03-12T07:49:54.755Z,1741765794.755 [BPC1](FAULT): Failed to receive data from 3 sticks prior to timeout. Will not retry this scan cycle. Missing stick IDs are: 17, 21, 24.
2025-03-12T07:58:17.489Z,1741766297.489 [Waterlinked](ERROR): only read 0 of 1 data item for altitude. Device response::BD,       +0.00,       +0.00+0.00,   0.00,  0.00
2025-03-12T08:01:50.797Z,1741766510.797 [Waterlinked](ERROR): only read 0 of 1 data item for BIT error. Device response::TS,2405271355

2025-03-12T08:07:41.087Z,1741766861.087 [sci2_noyo_optim:SurfaceComms] Running Loop=1
2025-03-12T08:07:41.087Z,1741766861.087 [sci2_noyo_optim:SurfaceComms](DEBUG): Aggregate::initialize sci2_noyo_optim:SurfaceComms
2025-03-12T08:07:41.088Z,1741766861.088 [sci2_noyo_optim:SurfaceComms:A] Running Loop=1
2025-03-12T08:07:41.088Z,1741766861.088 [sci2_noyo_optim:SurfaceComms:A] Stopped
2025-03-12T08:07:41.088Z,1741766861.088 [sci2_noyo_optim:SurfaceComms:B] Running Loop=1
2025-03-12T08:07:41.088Z,1741766861.088 [sci2_noyo_optim:SurfaceComms:B](DEBUG): Aggregate::initialize sci2_noyo_optim:SurfaceComms:B
2025-03-12T08:07:41.464Z,1741766861.464 [sci2_noyo_optim:Lap:Dive] Stopped
2025-03-12T08:07:41.464Z,1741766861.464 [sci2_noyo_optim:Lap:Dive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Lap:Dive
2025-03-12T08:07:41.464Z,1741766861.464 [sci2_noyo_optim:Lap:Dive:A] Stopped
2025-03-12T08:07:41.464Z,1741766861.464 [sci2_noyo_optim:Lap:Dive:A](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Lap:Dive:A
2025-03-12T08:07:41.465Z,1741766861.465 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow] Stopped
2025-03-12T08:07:41.465Z,1741766861.465 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepthSlow
2025-03-12T08:07:41.465Z,1741766861.465 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:A.SetSpeed] Stopped
2025-03-12T08:07:41.465Z,1741766861.465 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:A.SetSpeed](DEBUG): Uninitialize.
2025-03-12T08:07:41.465Z,1741766861.465 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:B] Stopped
2025-03-12T08:07:41.465Z,1741766861.465 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:C.Buoyancy] Stopped
2025-03-12T08:07:41.465Z,1741766861.465 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-03-12T08:07:41.465Z,1741766861.465 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:D.Pitch] Stopped
2025-03-12T08:07:41.470Z,1741766861.470 [sci2_noyo_optim:NeedComms] Running Loop=1
2025-03-12T08:07:41.471Z,1741766861.471 [sci2_noyo_optim:NeedComms](DEBUG): Aggregate::initialize sci2_noyo_optim:NeedComms
2025-03-12T08:07:41.471Z,1741766861.471 [sci2_noyo_optim:NeedComms:B.GoToSurface] Running Loop=1
2025-03-12T08:07:41.471Z,1741766861.471 [sci2_noyo_optim:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-03-12T08:07:41.472Z,1741766861.472 [sci2_noyo_optim:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-03-12T08:07:41.474Z,1741766861.474 [sci2_noyo_optim:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-03-12T08:07:41.475Z,1741766861.475 [sci2_noyo_optim:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-03-12T08:07:41.477Z,1741766861.477 [sci2_noyo_optim:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-03-12T08:07:41.479Z,1741766861.479 [sci2_noyo_optim:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-03-12T08:07:41.481Z,1741766861.481 [sci2_noyo_optim:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-03-12T08:07:41.502Z,1741766861.502 [sci2_noyo_optim:NeedComms:A] Running Loop=1
2025-03-12T08:07:41.507Z,1741766861.507 [sci2_noyo_optim:NeedComms:A](INFO): last time_fix was:  1741763259.000000 second since 1970/01/01T00:00:00Z 
2025-03-12T08:07:41.507Z,1741766861.507 [sci2_noyo_optim:NeedComms:A] Stopped
2025-03-12T08:08:07.565Z,1741766887.565 [sci2_noyo_optim:DiveCmd:MaintainDepth] Running Loop=1
2025-03-12T08:08:07.565Z,1741766887.565 [sci2_noyo_optim:DiveCmd:MaintainDepth](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepth
2025-03-12T08:08:07.565Z,1741766887.565 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive] Running Loop=1
2025-03-12T08:08:07.565Z,1741766887.565 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive
2025-03-12T08:08:07.565Z,1741766887.565 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive] Running Loop=1
2025-03-12T08:08:07.566Z,1741766887.566 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive
2025-03-12T08:08:07.566Z,1741766887.566 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass] Running Loop=1
2025-03-12T08:08:07.566Z,1741766887.566 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass](DEBUG): Initialize.
2025-03-12T08:08:07.566Z,1741766887.566 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed] Running Loop=1
2025-03-12T08:08:07.566Z,1741766887.566 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed](DEBUG): Initialize.
2025-03-12T08:08:07.566Z,1741766887.566 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:B.Pitch] Running Loop=1
2025-03-12T08:08:07.566Z,1741766887.566 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:B.Pitch](DEBUG): Initialize.
2025-03-12T08:08:25.367Z,1741766905.367 [CTD_Seabird](ERROR): Failed to parse device response: 27.45,10.3265,3.703.44
2025-03-12T08:08:32.373Z,1741766912.373 [Waterlinked](ERROR): only read 3 of 5 data items. Device response::BI,    +0,   +0,    +0,V
2025-03-12T08:09:44.823Z,1741766984.823 [Waterlinked](ERROR): only read 3 of 5 data items. Device response::BI,    +0,   +0,    +0,V
2025-03-12T08:10:05.063Z,1741767005.063 [sci2_noyo_optim:NeedComms:C] Running Loop=1
2025-03-12T08:10:05.510Z,1741767005.510 [Waterlinked](INFO): Powering down
2025-03-12T08:10:05.770Z,1741767005.770 [Radio_Surface](INFO): Powering up
2025-03-12T08:10:11.042Z,1741767011.042 [DataOverHttps](INFO): Radio surface powered ON.
2025-03-12T08:10:41.163Z,1741767041.163 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T08:11:16.311Z,1741767076.311 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T08:11:32.862Z,1741767092.862 [NAL9602](INFO): SBD MO Status=0, MOMSN=18516, MT Status=0, MTMSN=0
2025-03-12T08:11:32.862Z,1741767092.862 [NAL9602](INFO): No messages in MT queue
2025-03-12T08:11:34.066Z,1741767094.066 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,081133.00,A,3648.07776,N,12152.55375,W,0.428,276.84,120325,,,A*7E
2025-03-12T08:11:34.068Z,1741767094.068 [NAL9602](INFO): GPS fix at 20250312T081133: (36.801296, -121.875896)
2025-03-12T08:11:34.097Z,1741767094.097 [UniversalFixResidualReporter](INFO): Fix residual: 28.9 %DT, over the last 1759.3 m. Residual distance 507.7 m at bearing 178.7 degrees. Fix at (36.8013, -121.8759) with 1537.8 m made good.
2025-03-12T08:11:34.114Z,1741767094.114 [sci2_noyo_optim:NeedComms:C] Stopped
2025-03-12T08:11:34.115Z,1741767094.115 [sci2_noyo_optim:NeedComms:D] Running Loop=1
2025-03-12T08:11:51.458Z,1741767111.458 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T08:11:54.761Z,1741767114.761 [NAL9602](INFO): SBD MO Status=2, MOMSN=18517, MT Status=2, MTMSN=0
2025-03-12T08:11:54.761Z,1741767114.761 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-03-12T08:12:26.610Z,1741767146.610 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T08:12:53.472Z,1741767173.472 [CTD_Seabird](ERROR): Failed to parse device response: ,11.9185,3.83580,5463.56
2025-03-12T08:13:01.750Z,1741767181.750 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T08:13:35.644Z,1741767215.644 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.008466
2025-03-12T08:13:43.418Z,1741767223.418 [DataOverHttps](INFO): Sending 94 bytes from file Logs/20250311T232940/Courier0114.lzma
2025-03-12T08:13:44.429Z,1741767224.429 [DataOverHttps](INFO): Moved sent file to Logs/20250311T232940/Courier0114.lzma.bak
2025-03-12T08:13:44.430Z,1741767224.430 [DataOverHttps](INFO): SBD MOMSN=24182938
2025-03-12T08:14:08.895Z,1741767248.895 [DataOverHttps](INFO): Sending 615 bytes from file Logs/20250311T232940/Express0115.lzma
2025-03-12T08:14:09.896Z,1741767249.896 [DataOverHttps](INFO): Moved sent file to Logs/20250311T232940/Express0115.lzma.bak
2025-03-12T08:14:09.897Z,1741767249.897 [DataOverHttps](INFO): SBD MOMSN=24182941
2025-03-12T08:14:11.230Z,1741767251.230 [sci2_noyo_optim:NeedComms:D] Stopped
2025-03-12T08:14:11.231Z,1741767251.231 [sci2_noyo_optim:NeedComms:E] Running Loop=1
2025-03-12T08:14:13.234Z,1741767253.234 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,081412.00,A,3648.09154,N,12152.57007,W,0.952,174.04,120325,,,A*7D
2025-03-12T08:14:13.236Z,1741767253.236 [NAL9602](INFO): GPS fix at 20250312T081412: (36.801526, -121.876168)
2025-03-12T08:14:13.266Z,1741767253.266 [sci2_noyo_optim:NeedComms:E] Stopped
2025-03-12T08:14:13.267Z,1741767253.267 [sci2_noyo_optim:NeedComms](INFO): Completed sci2_noyo_optim:NeedComms
2025-03-12T08:14:13.267Z,1741767253.267 [sci2_noyo_optim:NeedComms] Stopped
2025-03-12T08:14:13.267Z,1741767253.267 [sci2_noyo_optim:NeedComms](DEBUG): Aggregate::uninitialize sci2_noyo_optim:NeedComms
2025-03-12T08:14:13.267Z,1741767253.267 [sci2_noyo_optim:NeedComms:B.GoToSurface] Stopped
2025-03-12T08:14:13.268Z,1741767253.268 [sci2_noyo_optim:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-03-12T08:14:13.752Z,1741767253.752 [sci2_noyo_optim:SurfaceComms:B](INFO): Completed sci2_noyo_optim:SurfaceComms:B
2025-03-12T08:14:13.752Z,1741767253.752 [sci2_noyo_optim:SurfaceComms:B] Stopped
2025-03-12T08:14:13.753Z,1741767253.753 [sci2_noyo_optim:SurfaceComms:B](DEBUG): Aggregate::uninitialize sci2_noyo_optim:SurfaceComms:B
2025-03-12T08:14:13.753Z,1741767253.753 [sci2_noyo_optim:SurfaceComms:C] Running Loop=1
2025-03-12T08:14:14.092Z,1741767254.092 [sci2_noyo_optim:SurfaceComms:C] Stopped
2025-03-12T08:14:14.093Z,1741767254.093 [sci2_noyo_optim:SurfaceComms](INFO): Completed sci2_noyo_optim:SurfaceComms
2025-03-12T08:14:14.093Z,1741767254.093 [sci2_noyo_optim:SurfaceComms] Stopped
2025-03-12T08:14:14.093Z,1741767254.093 [sci2_noyo_optim:SurfaceComms](DEBUG): Aggregate::uninitialize sci2_noyo_optim:SurfaceComms
2025-03-12T08:14:14.461Z,1741767254.461 [sci2_noyo_optim:Lap:Dive] Running Loop=1
2025-03-12T08:14:14.461Z,1741767254.461 [sci2_noyo_optim:Lap:Dive](DEBUG): Aggregate::initialize sci2_noyo_optim:Lap:Dive
2025-03-12T08:14:14.461Z,1741767254.461 [sci2_noyo_optim:Lap:Dive:A] Running Loop=1
2025-03-12T08:14:14.462Z,1741767254.462 [sci2_noyo_optim:Lap:Dive:A](DEBUG): Aggregate::initialize sci2_noyo_optim:Lap:Dive:A
2025-03-12T08:14:14.468Z,1741767254.468 [sci2_noyo_optim:DiveCmd:InitialDive] Running Loop=1
2025-03-12T08:14:14.468Z,1741767254.468 [sci2_noyo_optim:DiveCmd:InitialDive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:InitialDive
2025-03-12T08:14:14.468Z,1741767254.468 [sci2_noyo_optim:DiveCmd:InitialDive:dive] Running Loop=1
2025-03-12T08:14:14.468Z,1741767254.468 [sci2_noyo_optim:DiveCmd:InitialDive:dive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:InitialDive:dive
2025-03-12T08:14:14.468Z,1741767254.468 [sci2_noyo_optim:DiveCmd:InitialDive:dive:A] Running Loop=1
2025-03-12T08:14:14.468Z,1741767254.468 [sci2_noyo_optim:DiveCmd:InitialDive:dive:B] Running Loop=1
2025-03-12T08:14:14.468Z,1741767254.468 [sci2_noyo_optim:DiveCmd:InitialDive:dive:C.Mass] Running Loop=1
2025-03-12T08:14:14.468Z,1741767254.468 [sci2_noyo_optim:DiveCmd:InitialDive:dive:C.Mass](DEBUG): Initialize.
2025-03-12T08:14:14.468Z,1741767254.468 [sci2_noyo_optim:DiveCmd:InitialDive:dive:D] Running Loop=1
2025-03-12T08:14:14.469Z,1741767254.469 [sci2_noyo_optim:DiveCmd:InitialDive:dive:D](INFO): Waiting for  1.000000 min while pumping down to neutral.
2025-03-12T08:14:14.469Z,1741767254.469 [sci2_noyo_optim:DiveCmd:InitialDive:dive:D] Stopped
2025-03-12T08:14:14.469Z,1741767254.469 [sci2_noyo_optim:DiveCmd:InitialDive:dive:E.Wait] Running Loop=1
2025-03-12T08:14:14.469Z,1741767254.469 [sci2_noyo_optim:DiveCmd:InitialDive:dive:E.Wait](DEBUG): Initialize Wait Component.
2025-03-12T08:14:45.335Z,1741767285.335 [NAL9602](INFO): Not Powering down - fast GPS
2025-03-12T08:15:15.307Z,1741767315.307 [sci2_noyo_optim:DiveCmd:InitialDive:dive:E.Wait](INFO): Done Waiting.
2025-03-12T08:15:15.307Z,1741767315.307 [sci2_noyo_optim:DiveCmd:InitialDive:dive:E.Wait] Stopped
2025-03-12T08:15:15.307Z,1741767315.307 [sci2_noyo_optim:DiveCmd:InitialDive:dive:E.Wait](DEBUG): Uninitialize Wait Component.
2025-03-12T08:15:15.307Z,1741767315.307 [sci2_noyo_optim:DiveCmd:InitialDive:dive:F] Running Loop=1
2025-03-12T08:15:15.695Z,1741767315.695 [sci2_noyo_optim:DiveCmd:InitialDive:dive:F](INFO): Moving to  10.000000 m 
2025-03-12T08:15:15.695Z,1741767315.695 [sci2_noyo_optim:DiveCmd:InitialDive:dive:F] Stopped
2025-03-12T08:15:15.695Z,1741767315.695 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth] Running Loop=1
2025-03-12T08:15:15.695Z,1741767315.695 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth
2025-03-12T08:15:15.695Z,1741767315.695 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:A.SetSpeed] Running Loop=1
2025-03-12T08:15:15.695Z,1741767315.695 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:A.SetSpeed](DEBUG): Initialize.
2025-03-12T08:15:15.696Z,1741767315.696 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:B.Pitch] Running Loop=1
2025-03-12T08:15:15.696Z,1741767315.696 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:B.Pitch](DEBUG): Initialize.
2025-03-12T08:15:52.307Z,1741767352.307 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T08:15:55.319Z,1741767355.319 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.251324
2025-03-12T08:16:08.216Z,1741767368.216 [DAT](INFO): DAT read: Rx Time:08:16:07.4165

2025-03-12T08:16:08.217Z,1741767368.217 [DAT](INFO): Rx dataTimestamp_ set to:1741767368.216072
2025-03-12T08:16:08.218Z,1741767368.218 [DAT](INFO): DAT read: 

2025-03-12T08:16:08.220Z,1741767368.220 [DAT](INFO): DAT read: $Packet for address 0

2025-03-12T08:16:08.221Z,1741767368.221 [DAT](INFO): received a packet notification
2025-03-12T08:16:10.410Z,1741767370.410 [Radio_Surface](INFO): Powering down
2025-03-12T08:16:27.446Z,1741767387.446 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T08:16:28.451Z,1741767388.451 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-03-12T08:18:04.239Z,1741767484.239 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:B.Pitch] Stopped
2025-03-12T08:18:04.240Z,1741767484.240 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth](INFO): Completed sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth
2025-03-12T08:18:04.240Z,1741767484.240 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth] Stopped
2025-03-12T08:18:04.240Z,1741767484.240 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth
2025-03-12T08:18:04.240Z,1741767484.240 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:A.SetSpeed] Stopped
2025-03-12T08:18:04.240Z,1741767484.240 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:A.SetSpeed](DEBUG): Uninitialize.
2025-03-12T08:18:04.240Z,1741767484.240 [sci2_noyo_optim:DiveCmd:InitialDive:dive:H] Running Loop=1
2025-03-12T08:18:04.781Z,1741767484.781 [sci2_noyo_optim:DiveCmd:InitialDive:dive:H] Stopped
2025-03-12T08:18:04.799Z,1741767484.799 [sci2_noyo_optim:DiveCmd:InitialDive:dive](INFO): Completed sci2_noyo_optim:DiveCmd:InitialDive:dive
2025-03-12T08:18:04.799Z,1741767484.799 [sci2_noyo_optim:DiveCmd:InitialDive:dive] Stopped
2025-03-12T08:18:04.799Z,1741767484.799 [sci2_noyo_optim:DiveCmd:InitialDive:dive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:InitialDive:dive
2025-03-12T08:18:04.799Z,1741767484.799 [sci2_noyo_optim:DiveCmd:InitialDive:dive:A] Stopped
2025-03-12T08:18:04.799Z,1741767484.799 [sci2_noyo_optim:DiveCmd:InitialDive:dive:B] Stopped
2025-03-12T08:18:04.800Z,1741767484.800 [sci2_noyo_optim:DiveCmd:InitialDive:dive:C.Mass] Stopped
2025-03-12T08:18:04.800Z,1741767484.800 [sci2_noyo_optim:DiveCmd:InitialDive:dive:C.Mass](DEBUG): Uninitialize.
2025-03-12T08:18:04.800Z,1741767484.800 [sci2_noyo_optim:DiveCmd:InitialDive](INFO): Completed sci2_noyo_optim:DiveCmd:InitialDive
2025-03-12T08:18:05.175Z,1741767485.175 [sci2_noyo_optim:DiveCmd:SettleAtDepth] Running Loop=1
2025-03-12T08:18:05.175Z,1741767485.175 [sci2_noyo_optim:DiveCmd:SettleAtDepth](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:SettleAtDepth
2025-03-12T08:18:05.176Z,1741767485.176 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive] Running Loop=1
2025-03-12T08:18:05.176Z,1741767485.176 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:SettleAtDepth:dive
2025-03-12T08:18:05.176Z,1741767485.176 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:B.Pitch] Running Loop=1
2025-03-12T08:18:05.176Z,1741767485.176 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:B.Pitch](DEBUG): Initialize.
2025-03-12T08:18:05.176Z,1741767485.176 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:A] Running Loop=1
2025-03-12T08:18:05.177Z,1741767485.177 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:A](INFO): Reached  10.117172 m , settling for  3.000000 min 
2025-03-12T08:18:05.177Z,1741767485.177 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:A] Stopped
2025-03-12T08:18:05.177Z,1741767485.177 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:C.Wait] Running Loop=1
2025-03-12T08:18:05.177Z,1741767485.177 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:C.Wait](DEBUG): Initialize Wait Component.
2025-03-12T08:19:25.531Z,1741767565.531 [sci2_noyo_optim:Lap:DepthByLap:Wpt2:A.Waypoint](IMPORTANT): Reached waypoint: 36.797050,-121.877693
2025-03-12T08:19:25.531Z,1741767565.531 [sci2_noyo_optim:Lap:DepthByLap:Wpt2:A.Waypoint] Stopped
2025-03-12T08:19:25.531Z,1741767565.531 [sci2_noyo_optim:Lap:DepthByLap:Wpt2:A.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-03-12T08:19:25.531Z,1741767565.531 [sci2_noyo_optim:Lap:DepthByLap:Wpt2](INFO): Completed sci2_noyo_optim:Lap:DepthByLap:Wpt2
2025-03-12T08:19:25.531Z,1741767565.531 [sci2_noyo_optim:Lap:DepthByLap:Wpt2] Stopped
2025-03-12T08:19:25.532Z,1741767565.532 [sci2_noyo_optim:Lap:DepthByLap:Wpt2](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Lap:DepthByLap:Wpt2
2025-03-12T08:19:25.532Z,1741767565.532 [sci2_noyo_optim:Lap:DepthByLap:Wpt3] Running Loop=1
2025-03-12T08:19:25.532Z,1741767565.532 [sci2_noyo_optim:Lap:DepthByLap:Wpt3](DEBUG): Aggregate::initialize sci2_noyo_optim:Lap:DepthByLap:Wpt3
2025-03-12T08:19:25.532Z,1741767565.532 [sci2_noyo_optim:Lap:DepthByLap:Wpt3:A.Waypoint] Running Loop=1
2025-03-12T08:19:25.532Z,1741767565.532 [sci2_noyo_optim:Lap:DepthByLap:Wpt3:A.Waypoint](DEBUG): Initialize WaypointComponent.
2025-03-12T08:21:05.897Z,1741767665.897 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:C.Wait](INFO): Done Waiting.
2025-03-12T08:21:05.897Z,1741767665.897 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:C.Wait] Stopped
2025-03-12T08:21:05.897Z,1741767665.897 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:C.Wait](DEBUG): Uninitialize Wait Component.
2025-03-12T08:21:05.898Z,1741767665.898 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:D] Running Loop=1
2025-03-12T08:21:06.378Z,1741767666.378 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:D] Stopped
2025-03-12T08:21:06.379Z,1741767666.379 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive](INFO): Completed sci2_noyo_optim:DiveCmd:SettleAtDepth:dive
2025-03-12T08:21:06.379Z,1741767666.379 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive] Stopped
2025-03-12T08:21:06.379Z,1741767666.379 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:SettleAtDepth:dive
2025-03-12T08:21:06.379Z,1741767666.379 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:B.Pitch] Stopped
2025-03-12T08:21:06.379Z,1741767666.379 [sci2_noyo_optim:DiveCmd:SettleAtDepth](INFO): Completed sci2_noyo_optim:DiveCmd:SettleAtDepth
2025-03-12T08:22:16.004Z,1741767736.004 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow] Running Loop=1
2025-03-12T08:22:16.004Z,1741767736.004 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepthSlow
2025-03-12T08:22:16.004Z,1741767736.004 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:A.SetSpeed] Running Loop=1
2025-03-12T08:22:16.004Z,1741767736.004 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:A.SetSpeed](DEBUG): Initialize.
2025-03-12T08:22:16.004Z,1741767736.004 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:B] Running Loop=1
2025-03-12T08:22:16.004Z,1741767736.004 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:C.Buoyancy] Running Loop=1
2025-03-12T08:22:16.005Z,1741767736.005 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:C.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-03-12T08:22:16.005Z,1741767736.005 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:D.Pitch] Running Loop=1
2025-03-12T08:22:16.005Z,1741767736.005 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:D.Pitch](DEBUG): Initialize.
2025-03-12T08:22:16.006Z,1741767736.006 [sci2_noyo_optim:DiveCmd:MaintainDepth] Stopped
2025-03-12T08:22:16.006Z,1741767736.006 [sci2_noyo_optim:DiveCmd:MaintainDepth](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepth
2025-03-12T08:22:16.006Z,1741767736.006 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive] Stopped
2025-03-12T08:22:16.007Z,1741767736.007 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive
2025-03-12T08:22:16.007Z,1741767736.007 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive] Stopped
2025-03-12T08:22:16.007Z,1741767736.007 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive
2025-03-12T08:22:16.007Z,1741767736.007 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass] Stopped
2025-03-12T08:22:16.007Z,1741767736.007 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass](DEBUG): Uninitialize.
2025-03-12T08:22:16.007Z,1741767736.007 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed] Stopped
2025-03-12T08:22:16.007Z,1741767736.007 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed](DEBUG): Uninitialize.
2025-03-12T08:22:16.007Z,1741767736.007 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:B.Pitch] Stopped
2025-03-12T08:24:17.265Z,1741767857.265 [BPC1](ERROR): BPC1B: No match for serial number 1717 in BPC1B's battery stick inventory (sticks 32-62 in onboard configuration file).
2025-03-12T08:24:20.650Z,1741767860.650 [sci2_noyo_optim:Lap:DepthByLap:Wpt3:A.Waypoint] Stopped
2025-03-12T08:24:20.650Z,1741767860.650 [sci2_noyo_optim:Lap:DepthByLap:Wpt3:A.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-03-12T08:24:20.651Z,1741767860.651 [sci2_noyo_optim:Lap:DepthByLap:Wpt3](INFO): Completed sci2_noyo_optim:Lap:DepthByLap:Wpt3
2025-03-12T08:24:20.651Z,1741767860.651 [sci2_noyo_optim:Lap:DepthByLap:Wpt3] Stopped
2025-03-12T08:24:20.651Z,1741767860.651 [sci2_noyo_optim:Lap:DepthByLap:Wpt3](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Lap:DepthByLap:Wpt3
2025-03-12T08:24:20.651Z,1741767860.651 [sci2_noyo_optim:Lap:DepthByLap:Wpt4] Running Loop=1
2025-03-12T08:24:20.651Z,1741767860.651 [sci2_noyo_optim:Lap:DepthByLap:Wpt4](DEBUG): Aggregate::initialize sci2_noyo_optim:Lap:DepthByLap:Wpt4
2025-03-12T08:24:20.651Z,1741767860.651 [sci2_noyo_optim:Lap:DepthByLap:Wpt4:A.Waypoint] Running Loop=1
2025-03-12T08:24:20.652Z,1741767860.652 [sci2_noyo_optim:Lap:DepthByLap:Wpt4:A.Waypoint](DEBUG): Initialize WaypointComponent.
2025-03-12T08:24:21.013Z,1741767861.013 [sci2_noyo_optim:Lap:DepthByLap:Wpt4:A.Waypoint] Stopped
2025-03-12T08:24:21.013Z,1741767861.013 [sci2_noyo_optim:Lap:DepthByLap:Wpt4:A.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-03-12T08:24:21.013Z,1741767861.013 [sci2_noyo_optim:Lap:DepthByLap:Wpt4](INFO): Completed sci2_noyo_optim:Lap:DepthByLap:Wpt4
2025-03-12T08:24:21.013Z,1741767861.013 [sci2_noyo_optim:Lap:DepthByLap:Wpt4] Stopped
2025-03-12T08:24:21.013Z,1741767861.013 [sci2_noyo_optim:Lap:DepthByLap:Wpt4](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Lap:DepthByLap:Wpt4
2025-03-12T08:24:21.013Z,1741767861.013 [sci2_noyo_optim:Lap:DepthByLap:Wpt5] Running Loop=1
2025-03-12T08:24:21.013Z,1741767861.013 [sci2_noyo_optim:Lap:DepthByLap:Wpt5](DEBUG): Aggregate::initialize sci2_noyo_optim:Lap:DepthByLap:Wpt5
2025-03-12T08:24:21.014Z,1741767861.014 [sci2_noyo_optim:Lap:DepthByLap:Wpt5:A.Waypoint] Running Loop=1
2025-03-12T08:24:21.014Z,1741767861.014 [sci2_noyo_optim:Lap:DepthByLap:Wpt5:A.Waypoint](DEBUG): Initialize WaypointComponent.
2025-03-12T08:24:21.670Z,1741767861.670 [sci2_noyo_optim:Lap:DepthByLap:Wpt5:A.Waypoint] Stopped
2025-03-12T08:24:21.670Z,1741767861.670 [sci2_noyo_optim:Lap:DepthByLap:Wpt5:A.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-03-12T08:24:21.670Z,1741767861.670 [sci2_noyo_optim:Lap:DepthByLap:Wpt5](INFO): Completed sci2_noyo_optim:Lap:DepthByLap:Wpt5
2025-03-12T08:24:21.670Z,1741767861.670 [sci2_noyo_optim:Lap:DepthByLap:Wpt5] Stopped
2025-03-12T08:24:21.670Z,1741767861.670 [sci2_noyo_optim:Lap:DepthByLap:Wpt5](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Lap:DepthByLap:Wpt5
2025-03-12T08:24:21.671Z,1741767861.671 [sci2_noyo_optim:Lap:DepthByLap:Wpt6] Running Loop=1
2025-03-12T08:24:21.671Z,1741767861.671 [sci2_noyo_optim:Lap:DepthByLap:Wpt6](DEBUG): Aggregate::initialize sci2_noyo_optim:Lap:DepthByLap:Wpt6
2025-03-12T08:24:21.671Z,1741767861.671 [sci2_noyo_optim:Lap:DepthByLap:Wpt6:A.Waypoint] Running Loop=1
2025-03-12T08:24:21.671Z,1741767861.671 [sci2_noyo_optim:Lap:DepthByLap:Wpt6:A.Waypoint](DEBUG): Initialize WaypointComponent.
2025-03-12T08:24:21.867Z,1741767861.867 [sci2_noyo_optim:Lap:DepthByLap:Wpt6:A.Waypoint] Stopped
2025-03-12T08:24:21.868Z,1741767861.868 [sci2_noyo_optim:Lap:DepthByLap:Wpt6:A.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-03-12T08:24:21.868Z,1741767861.868 [sci2_noyo_optim:Lap:DepthByLap:Wpt6](INFO): Completed sci2_noyo_optim:Lap:DepthByLap:Wpt6
2025-03-12T08:24:21.868Z,1741767861.868 [sci2_noyo_optim:Lap:DepthByLap:Wpt6] Stopped
2025-03-12T08:24:21.868Z,1741767861.868 [sci2_noyo_optim:Lap:DepthByLap:Wpt6](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Lap:DepthByLap:Wpt6
2025-03-12T08:24:21.868Z,1741767861.868 [sci2_noyo_optim:Lap:DepthByLap:Wpt7] Running Loop=1
2025-03-12T08:24:21.868Z,1741767861.868 [sci2_noyo_optim:Lap:DepthByLap:Wpt7](DEBUG): Aggregate::initialize sci2_noyo_optim:Lap:DepthByLap:Wpt7
2025-03-12T08:24:21.868Z,1741767861.868 [sci2_noyo_optim:Lap:DepthByLap:Wpt7:A.Waypoint] Running Loop=1
2025-03-12T08:24:21.868Z,1741767861.868 [sci2_noyo_optim:Lap:DepthByLap:Wpt7:A.Waypoint](DEBUG): Initialize WaypointComponent.
2025-03-12T08:24:22.315Z,1741767862.315 [sci2_noyo_optim:Lap:DepthByLap:Wpt7:A.Waypoint] Stopped
2025-03-12T08:24:22.315Z,1741767862.315 [sci2_noyo_optim:Lap:DepthByLap:Wpt7:A.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-03-12T08:24:22.315Z,1741767862.315 [sci2_noyo_optim:Lap:DepthByLap:Wpt7](INFO): Completed sci2_noyo_optim:Lap:DepthByLap:Wpt7
2025-03-12T08:24:22.315Z,1741767862.315 [sci2_noyo_optim:Lap:DepthByLap:Wpt7] Stopped
2025-03-12T08:24:22.315Z,1741767862.315 [sci2_noyo_optim:Lap:DepthByLap:Wpt7](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Lap:DepthByLap:Wpt7
2025-03-12T08:24:22.315Z,1741767862.315 [sci2_noyo_optim:Lap:DepthByLap:Wpt8] Running Loop=1
2025-03-12T08:24:22.315Z,1741767862.315 [sci2_noyo_optim:Lap:DepthByLap:Wpt8](DEBUG): Aggregate::initialize sci2_noyo_optim:Lap:DepthByLap:Wpt8
2025-03-12T08:24:22.316Z,1741767862.316 [sci2_noyo_optim:Lap:DepthByLap:Wpt8:A.Waypoint] Running Loop=1
2025-03-12T08:24:22.316Z,1741767862.316 [sci2_noyo_optim:Lap:DepthByLap:Wpt8:A.Waypoint](DEBUG): Initialize WaypointComponent.
2025-03-12T08:24:22.682Z,1741767862.682 [sci2_noyo_optim:Lap:DepthByLap:Wpt8:A.Waypoint] Stopped
2025-03-12T08:24:22.682Z,1741767862.682 [sci2_noyo_optim:Lap:DepthByLap:Wpt8:A.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-03-12T08:24:22.682Z,1741767862.682 [sci2_noyo_optim:Lap:DepthByLap:Wpt8](INFO): Completed sci2_noyo_optim:Lap:DepthByLap:Wpt8
2025-03-12T08:24:22.682Z,1741767862.682 [sci2_noyo_optim:Lap:DepthByLap:Wpt8] Stopped
2025-03-12T08:24:22.682Z,1741767862.682 [sci2_noyo_optim:Lap:DepthByLap:Wpt8](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Lap:DepthByLap:Wpt8
2025-03-12T08:24:22.683Z,1741767862.683 [sci2_noyo_optim:Lap:DepthByLap:Leg2] Running Loop=1
2025-03-12T08:24:22.683Z,1741767862.683 [sci2_noyo_optim:Lap:DepthByLap:Leg2](DEBUG): Aggregate::initialize sci2_noyo_optim:Lap:DepthByLap:Leg2
2025-03-12T08:24:22.683Z,1741767862.683 [sci2_noyo_optim:Lap:DepthByLap:Leg2:A] Running Loop=1
2025-03-12T08:24:23.020Z,1741767863.020 [sci2_noyo_optim:Lap:DepthByLap:Leg2] Stopped
2025-03-12T08:24:23.020Z,1741767863.020 [sci2_noyo_optim:Lap:DepthByLap:Leg2](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Lap:DepthByLap:Leg2
2025-03-12T08:24:23.020Z,1741767863.020 [sci2_noyo_optim:Lap:DepthByLap:Leg2:A] Stopped
2025-03-12T08:24:23.020Z,1741767863.020 [sci2_noyo_optim:Lap:DepthByLap:Leg3] Running Loop=1
2025-03-12T08:24:23.020Z,1741767863.020 [sci2_noyo_optim:Lap:DepthByLap:Leg3](DEBUG): Aggregate::initialize sci2_noyo_optim:Lap:DepthByLap:Leg3
2025-03-12T08:24:23.020Z,1741767863.020 [sci2_noyo_optim:Lap:DepthByLap:Leg3:A] Running Loop=1
2025-03-12T08:24:23.483Z,1741767863.483 [sci2_noyo_optim:Lap:DepthByLap:Leg3] Stopped
2025-03-12T08:24:23.483Z,1741767863.483 [sci2_noyo_optim:Lap:DepthByLap:Leg3](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Lap:DepthByLap:Leg3
2025-03-12T08:24:23.484Z,1741767863.484 [sci2_noyo_optim:Lap:DepthByLap:Leg3:A] Stopped
2025-03-12T08:24:23.484Z,1741767863.484 [sci2_noyo_optim:Lap:DepthByLap:Leg4] Running Loop=1
2025-03-12T08:24:23.484Z,1741767863.484 [sci2_noyo_optim:Lap:DepthByLap:Leg4](DEBUG): Aggregate::initialize sci2_noyo_optim:Lap:DepthByLap:Leg4
2025-03-12T08:24:23.484Z,1741767863.484 [sci2_noyo_optim:Lap:DepthByLap:Leg4:A] Running Loop=1
2025-03-12T08:24:24.124Z,1741767864.124 [sci2_noyo_optim:Lap:DepthByLap:Leg4] Stopped
2025-03-12T08:24:24.125Z,1741767864.125 [sci2_noyo_optim:Lap:DepthByLap:Leg4](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Lap:DepthByLap:Leg4
2025-03-12T08:24:24.125Z,1741767864.125 [sci2_noyo_optim:Lap:DepthByLap:Leg4:A] Stopped
2025-03-12T08:24:24.125Z,1741767864.125 [sci2_noyo_optim:Lap:DepthByLap:Leg5] Running Loop=1
2025-03-12T08:24:24.125Z,1741767864.125 [sci2_noyo_optim:Lap:DepthByLap:Leg5](DEBUG): Aggregate::initialize sci2_noyo_optim:Lap:DepthByLap:Leg5
2025-03-12T08:24:24.126Z,1741767864.126 [sci2_noyo_optim:Lap:DepthByLap:Leg5:A] Running Loop=1
2025-03-12T08:24:24.427Z,1741767864.427 [sci2_noyo_optim:Lap:DepthByLap:Leg5] Stopped
2025-03-12T08:24:24.427Z,1741767864.427 [sci2_noyo_optim:Lap:DepthByLap:Leg5](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Lap:DepthByLap:Leg5
2025-03-12T08:24:24.427Z,1741767864.427 [sci2_noyo_optim:Lap:DepthByLap:Leg5:A] Stopped
2025-03-12T08:24:24.427Z,1741767864.427 [sci2_noyo_optim:Lap:DepthByLap:Leg6] Running Loop=1
2025-03-12T08:24:24.427Z,1741767864.427 [sci2_noyo_optim:Lap:DepthByLap:Leg6](DEBUG): Aggregate::initialize sci2_noyo_optim:Lap:DepthByLap:Leg6
2025-03-12T08:24:24.427Z,1741767864.427 [sci2_noyo_optim:Lap:DepthByLap:Leg6:A] Running Loop=1
2025-03-12T08:24:24.748Z,1741767864.748 [sci2_noyo_optim:Lap:DepthByLap:Leg6] Stopped
2025-03-12T08:24:24.748Z,1741767864.748 [sci2_noyo_optim:Lap:DepthByLap:Leg6](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Lap:DepthByLap:Leg6
2025-03-12T08:24:24.748Z,1741767864.748 [sci2_noyo_optim:Lap:DepthByLap:Leg6:A] Stopped
2025-03-12T08:24:24.749Z,1741767864.749 [sci2_noyo_optim:Lap:DepthByLap:Leg7] Running Loop=1
2025-03-12T08:24:24.749Z,1741767864.749 [sci2_noyo_optim:Lap:DepthByLap:Leg7](DEBUG): Aggregate::initialize sci2_noyo_optim:Lap:DepthByLap:Leg7
2025-03-12T08:24:24.749Z,1741767864.749 [sci2_noyo_optim:Lap:DepthByLap:Leg7:A] Running Loop=1
2025-03-12T08:24:25.217Z,1741767865.217 [sci2_noyo_optim:Lap:DepthByLap:Leg7] Stopped
2025-03-12T08:24:25.217Z,1741767865.217 [sci2_noyo_optim:Lap:DepthByLap:Leg7](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Lap:DepthByLap:Leg7
2025-03-12T08:24:25.217Z,1741767865.217 [sci2_noyo_optim:Lap:DepthByLap:Leg7:A] Stopped
2025-03-12T08:24:25.218Z,1741767865.218 [sci2_noyo_optim:Lap:DepthByLap:Leg8] Running Loop=1
2025-03-12T08:24:25.218Z,1741767865.218 [sci2_noyo_optim:Lap:DepthByLap:Leg8](DEBUG): Aggregate::initialize sci2_noyo_optim:Lap:DepthByLap:Leg8
2025-03-12T08:24:25.218Z,1741767865.218 [sci2_noyo_optim:Lap:DepthByLap:Leg8:A] Running Loop=1
2025-03-12T08:24:25.545Z,1741767865.545 [sci2_noyo_optim:Lap:DepthByLap:Leg8] Stopped
2025-03-12T08:24:25.545Z,1741767865.545 [sci2_noyo_optim:Lap:DepthByLap:Leg8](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Lap:DepthByLap:Leg8
2025-03-12T08:24:25.545Z,1741767865.545 [sci2_noyo_optim:Lap:DepthByLap:Leg8:A] Stopped
2025-03-12T08:24:25.545Z,1741767865.545 [sci2_noyo_optim:Lap:DepthByLap](INFO): Completed sci2_noyo_optim:Lap:DepthByLap
2025-03-12T08:24:25.545Z,1741767865.545 [sci2_noyo_optim:Lap:DepthByLap] Stopped
2025-03-12T08:24:25.545Z,1741767865.545 [sci2_noyo_optim:Lap:DepthByLap](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Lap:DepthByLap
2025-03-12T08:24:25.545Z,1741767865.545 [sci2_noyo_optim:Lap:DepthByLeg] Running Loop=1
2025-03-12T08:24:25.546Z,1741767865.546 [sci2_noyo_optim:Lap:DepthByLeg](DEBUG): Aggregate::initialize sci2_noyo_optim:Lap:DepthByLeg
2025-03-12T08:24:25.546Z,1741767865.546 [sci2_noyo_optim:Lap:DepthByLeg:Leg1] Running Loop=1
2025-03-12T08:24:25.546Z,1741767865.546 [sci2_noyo_optim:Lap:DepthByLeg:Leg1](DEBUG): Aggregate::initialize sci2_noyo_optim:Lap:DepthByLeg:Leg1
2025-03-12T08:24:25.546Z,1741767865.546 [sci2_noyo_optim:Lap:DepthByLeg:Leg1:A] Running Loop=1
2025-03-12T08:24:25.971Z,1741767865.971 [sci2_noyo_optim:Lap:DepthByLeg] Stopped
2025-03-12T08:24:25.971Z,1741767865.971 [sci2_noyo_optim:Lap:DepthByLeg](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Lap:DepthByLeg
2025-03-12T08:24:25.971Z,1741767865.971 [sci2_noyo_optim:Lap:DepthByLeg:Leg1] Stopped
2025-03-12T08:24:25.971Z,1741767865.971 [sci2_noyo_optim:Lap:DepthByLeg:Leg1](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Lap:DepthByLeg:Leg1
2025-03-12T08:24:25.971Z,1741767865.971 [sci2_noyo_optim:Lap:DepthByLeg:Leg1:A] Stopped
2025-03-12T08:24:25.971Z,1741767865.971 [sci2_noyo_optim:Lap](INFO): Completed sci2_noyo_optim:Lap
2025-03-12T08:24:25.971Z,1741767865.971 [sci2_noyo_optim:Lap] Stopped
2025-03-12T08:24:25.972Z,1741767865.972 [sci2_noyo_optim:Lap](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Lap
2025-03-12T08:24:25.972Z,1741767865.972 [sci2_noyo_optim:Lap:Dive] Stopped
2025-03-12T08:24:25.972Z,1741767865.972 [sci2_noyo_optim:Lap:Dive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Lap:Dive
2025-03-12T08:24:25.972Z,1741767865.972 [sci2_noyo_optim:Lap:Dive:A] Stopped
2025-03-12T08:24:25.972Z,1741767865.972 [sci2_noyo_optim:Lap:Dive:A](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Lap:Dive:A
2025-03-12T08:24:25.972Z,1741767865.972 [sci2_noyo_optim:Lap](INFO): Running loop #2
2025-03-12T08:24:25.972Z,1741767865.972 [sci2_noyo_optim:Lap] Running Loop=2
2025-03-12T08:24:25.972Z,1741767865.972 [sci2_noyo_optim:Lap](DEBUG): Aggregate::initialize sci2_noyo_optim:Lap
2025-03-12T08:24:25.972Z,1741767865.972 [sci2_noyo_optim:Lap:Dive] Running Loop=1
2025-03-12T08:24:25.972Z,1741767865.972 [sci2_noyo_optim:Lap:Dive](DEBUG): Aggregate::initialize sci2_noyo_optim:Lap:Dive
2025-03-12T08:24:25.973Z,1741767865.973 [sci2_noyo_optim:Lap:Dive:A] Running Loop=1
2025-03-12T08:24:25.973Z,1741767865.973 [sci2_noyo_optim:Lap:Dive:A](DEBUG): Aggregate::initialize sci2_noyo_optim:Lap:Dive:A
2025-03-12T08:24:25.973Z,1741767865.973 [sci2_noyo_optim:Lap:DepthByLap] Running Loop=1
2025-03-12T08:24:25.973Z,1741767865.973 [sci2_noyo_optim:Lap:DepthByLap](DEBUG): Aggregate::initialize sci2_noyo_optim:Lap:DepthByLap
2025-03-12T08:24:25.973Z,1741767865.973 [sci2_noyo_optim:Lap:DepthByLap:A] Running Loop=1
2025-03-12T08:24:26.378Z,1741767866.378 [sci2_noyo_optim:Lap:DepthByLap:A] Stopped
2025-03-12T08:24:26.378Z,1741767866.378 [sci2_noyo_optim:Lap:DepthByLap:Wpt1] Running Loop=1
2025-03-12T08:24:26.378Z,1741767866.378 [sci2_noyo_optim:Lap:DepthByLap:Wpt1](DEBUG): Aggregate::initialize sci2_noyo_optim:Lap:DepthByLap:Wpt1
2025-03-12T08:24:26.380Z,1741767866.380 [sci2_noyo_optim:Lap:DepthByLap:Wpt1:A.Waypoint] Running Loop=1
2025-03-12T08:24:26.380Z,1741767866.380 [sci2_noyo_optim:Lap:DepthByLap:Wpt1:A.Waypoint](DEBUG): Initialize WaypointComponent.
2025-03-12T08:24:26.381Z,1741767866.381 [sci2_noyo_optim:Lap:DepthByLap:Wpt1:A.Waypoint](IMPORTANT): Navigating to waypoint: 36.797001,-121.847000
2025-03-12T08:30:32.026Z,1741768232.026 [Waterlinked](ERROR): DVL uart error: serial timeout
2025-03-12T08:30:32.026Z,1741768232.026 [Waterlinked] Communications Fault, FailCount= 1
2025-03-12T08:30:32.026Z,1741768232.026 [Waterlinked](ERROR): Communications Fault
2025-03-12T08:30:32.429Z,1741768232.429 [CBIT](ERROR): Communications Fault in component: Waterlinked
2025-03-12T08:30:32.614Z,1741768232.614 [Waterlinked](INFO): Powering down
2025-03-12T08:30:33.466Z,1741768233.466 [CBIT](INFO): Clearing failed state for component Waterlinked
2025-03-12T08:30:33.466Z,1741768233.466 [Waterlinked] No Fault, FailCount= 1
2025-03-12T08:30:56.784Z,1741768256.784 [BPC1](INFO): Calculating totals. Valid battery stick count: 50. Valid reserve battery stick count: 5.
2025-03-12T08:30:56.797Z,1741768256.797 [BPC1](FAULT): Failed to receive data from 3 sticks prior to timeout. Will not retry this scan cycle. Missing stick IDs are: 17, 21, 24.
2025-03-12T08:32:47.047Z,1741768367.047 [Waterlinked](ERROR): only read 0 of 1 data item for altitude. Device response::BD,       +0.00,       +0.00,.00
2025-03-12T08:35:10.073Z,1741768510.073 [CTD_Seabird](ERROR): Failed to parse device response: 34.77,9.9678,3.676.73
2025-03-12T08:36:34.434Z,1741768594.434 [CTD_Seabird](ERROR): Failed to parse device response: 1,3.68162,2285.96
2025-03-12T08:40:04.806Z,1741768804.806 [ElevatorServo](ERROR): getPosition uart error serial timeout
2025-03-12T08:40:04.806Z,1741768804.806 [ElevatorServo](FAULT): Elevator uart error - getPosition.serial timeout
2025-03-12T08:40:04.806Z,1741768804.806 [ElevatorServo] Communications Fault, FailCount= 1
2025-03-12T08:40:04.806Z,1741768804.806 [ElevatorServo](ERROR): Communications Fault
2025-03-12T08:40:04.910Z,1741768804.910 [CBIT](ERROR): Communications Fault in component: ElevatorServo
2025-03-12T08:40:04.967Z,1741768804.967 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2025-03-12T08:40:04.967Z,1741768804.967 [ElevatorServo](INFO): Powering down
2025-03-12T08:40:05.973Z,1741768805.973 [ElevatorServo](DEBUG): Initializing EZServoServo.
2025-03-12T08:40:06.088Z,1741768806.088 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2025-03-12T08:40:06.125Z,1741768806.125 [CBIT](INFO): Clearing failed state for component ElevatorServo
2025-03-12T08:40:06.125Z,1741768806.125 [ElevatorServo] No Fault, FailCount= 1
2025-03-12T08:40:45.998Z,1741768845.998 [Waterlinked](ERROR): only read 0 of 1 data item for BIT error. Device response::TS,24052713120961, 0.0, +0.0,   0.0,1475.0,:WD,       +0.00,       +0.00,       +0.00,   0.00,  0.00
2025-03-12T08:40:46.479Z,1741768846.479 [CTD_Seabird](ERROR): Failed to parse device response: 3.68806,2416.30
2025-03-12T08:59:48.478Z,1741769988.478 [Waterlinked](ERROR): only read 0 of 1 data item for BIT error. Device response::TS,240527130.0, +0.0,   0.0,1475.0,  0
2025-03-12T09:05:58.335Z,1741770358.335 [Waterlinked](ERROR): only read 0 of 5 data items. Device response::BI,    +    +0,V
2025-03-12T09:07:58.240Z,1741770478.240 [CTD_Seabird](ERROR): Failed to parse device response: 5
2025-03-12T09:11:58.653Z,1741770718.653 [BPC1](INFO): Calculating totals. Valid battery stick count: 50. Valid reserve battery stick count: 5.
2025-03-12T09:11:58.656Z,1741770718.656 [BPC1](FAULT): Failed to receive data from 3 sticks prior to timeout. Will not retry this scan cycle. Missing stick IDs are: 17, 21, 24.
2025-03-12T09:12:14.126Z,1741770734.126 [Waterlinked](ERROR): only read 0 of 1 data item for BIT error. Device response::TS,24052713433739, 0.0, +0.0,   00,  0
2025-03-12T09:14:13.534Z,1741770853.534 [sci2_noyo_optim:SurfaceComms] Running Loop=1
2025-03-12T09:14:13.539Z,1741770853.539 [sci2_noyo_optim:SurfaceComms](DEBUG): Aggregate::initialize sci2_noyo_optim:SurfaceComms
2025-03-12T09:14:13.539Z,1741770853.539 [sci2_noyo_optim:SurfaceComms:A] Running Loop=1
2025-03-12T09:14:13.540Z,1741770853.540 [sci2_noyo_optim:SurfaceComms:A] Stopped
2025-03-12T09:14:13.540Z,1741770853.540 [sci2_noyo_optim:SurfaceComms:B] Running Loop=1
2025-03-12T09:14:13.541Z,1741770853.541 [sci2_noyo_optim:SurfaceComms:B](DEBUG): Aggregate::initialize sci2_noyo_optim:SurfaceComms:B
2025-03-12T09:14:13.763Z,1741770853.763 [sci2_noyo_optim:Lap:Dive] Stopped
2025-03-12T09:14:13.764Z,1741770853.764 [sci2_noyo_optim:Lap:Dive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Lap:Dive
2025-03-12T09:14:13.764Z,1741770853.764 [sci2_noyo_optim:Lap:Dive:A] Stopped
2025-03-12T09:14:13.764Z,1741770853.764 [sci2_noyo_optim:Lap:Dive:A](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Lap:Dive:A
2025-03-12T09:14:13.765Z,1741770853.765 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow] Stopped
2025-03-12T09:14:13.765Z,1741770853.765 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepthSlow
2025-03-12T09:14:13.765Z,1741770853.765 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:A.SetSpeed] Stopped
2025-03-12T09:14:13.765Z,1741770853.765 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:A.SetSpeed](DEBUG): Uninitialize.
2025-03-12T09:14:13.765Z,1741770853.765 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:B] Stopped
2025-03-12T09:14:13.765Z,1741770853.765 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:C.Buoyancy] Stopped
2025-03-12T09:14:13.765Z,1741770853.765 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-03-12T09:14:13.765Z,1741770853.765 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:D.Pitch] Stopped
2025-03-12T09:14:13.770Z,1741770853.770 [sci2_noyo_optim:NeedComms] Running Loop=1
2025-03-12T09:14:13.770Z,1741770853.770 [sci2_noyo_optim:NeedComms](DEBUG): Aggregate::initialize sci2_noyo_optim:NeedComms
2025-03-12T09:14:13.770Z,1741770853.770 [sci2_noyo_optim:NeedComms:B.GoToSurface] Running Loop=1
2025-03-12T09:14:13.771Z,1741770853.771 [sci2_noyo_optim:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-03-12T09:14:13.771Z,1741770853.771 [sci2_noyo_optim:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-03-12T09:14:13.771Z,1741770853.771 [sci2_noyo_optim:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-03-12T09:14:13.772Z,1741770853.772 [sci2_noyo_optim:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-03-12T09:14:13.772Z,1741770853.772 [sci2_noyo_optim:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-03-12T09:14:13.772Z,1741770853.772 [sci2_noyo_optim:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-03-12T09:14:13.773Z,1741770853.773 [sci2_noyo_optim:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-03-12T09:14:13.773Z,1741770853.773 [sci2_noyo_optim:NeedComms:A] Running Loop=1
2025-03-12T09:14:13.775Z,1741770853.775 [sci2_noyo_optim:NeedComms:A](INFO): last time_fix was:  1741767252.000000 second since 1970/01/01T00:00:00Z 
2025-03-12T09:14:13.775Z,1741770853.775 [sci2_noyo_optim:NeedComms:A] Stopped
2025-03-12T09:14:26.603Z,1741770866.603 [Waterlinked](ERROR): only read 0 of 1 data item for BIT error. Device response::TS,24052713454994, 0.0, +0.01475.0,  0
2025-03-12T09:14:38.539Z,1741770878.539 [sci2_noyo_optim:DiveCmd:MaintainDepth] Running Loop=1
2025-03-12T09:14:38.539Z,1741770878.539 [sci2_noyo_optim:DiveCmd:MaintainDepth](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepth
2025-03-12T09:14:38.540Z,1741770878.540 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive] Running Loop=1
2025-03-12T09:14:38.540Z,1741770878.540 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive
2025-03-12T09:14:38.540Z,1741770878.540 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive] Running Loop=1
2025-03-12T09:14:38.540Z,1741770878.540 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive
2025-03-12T09:14:38.540Z,1741770878.540 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass] Running Loop=1
2025-03-12T09:14:38.540Z,1741770878.540 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass](DEBUG): Initialize.
2025-03-12T09:14:38.540Z,1741770878.540 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed] Running Loop=1
2025-03-12T09:14:38.540Z,1741770878.540 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed](DEBUG): Initialize.
2025-03-12T09:14:38.540Z,1741770878.540 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:B.Pitch] Running Loop=1
2025-03-12T09:14:38.540Z,1741770878.540 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:B.Pitch](DEBUG): Initialize.
2025-03-12T09:16:32.037Z,1741770992.037 [sci2_noyo_optim:NeedComms:C] Running Loop=1
2025-03-12T09:16:32.417Z,1741770992.417 [Radio_Surface](INFO): Powering up
2025-03-12T09:16:32.474Z,1741770992.474 [Waterlinked](INFO): Powering down
2025-03-12T09:16:38.522Z,1741770998.522 [DataOverHttps](INFO): Radio surface powered ON.
2025-03-12T09:17:08.642Z,1741771028.642 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T09:17:43.782Z,1741771063.782 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T09:18:18.930Z,1741771098.930 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T09:18:54.071Z,1741771134.071 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T09:19:29.211Z,1741771169.211 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T09:20:02.076Z,1741771202.076 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.004380
2025-03-12T09:21:36.621Z,1741771296.621 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2025-03-12T09:21:43.087Z,1741771303.087 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,092142.00,A,3648.25936,N,12152.10971,W,1.186,25.71,120325,,,A*41
2025-03-12T09:21:43.089Z,1741771303.089 [NAL9602](INFO): GPS fix at 20250312T092142: (36.804323, -121.868495)
2025-03-12T09:21:43.101Z,1741771303.101 [UniversalFixResidualReporter](INFO): Fix residual: 38.5 %DT, over the last 1761.7 m. Residual distance 677.8 m at bearing 140.5 degrees. Fix at (36.8043, -121.8685) with 750.6 m made good.
2025-03-12T09:21:43.110Z,1741771303.110 [sci2_noyo_optim:NeedComms:C] Stopped
2025-03-12T09:21:43.111Z,1741771303.111 [sci2_noyo_optim:NeedComms:D] Running Loop=1
2025-03-12T09:21:53.720Z,1741771313.720 [DataOverHttps](INFO): Sending 94 bytes from file Logs/20250311T232940/Courier0117.lzma
2025-03-12T09:21:54.720Z,1741771314.720 [DataOverHttps](INFO): Moved sent file to Logs/20250311T232940/Courier0117.lzma.bak
2025-03-12T09:21:54.721Z,1741771314.721 [DataOverHttps](INFO): SBD MOMSN=24183046
2025-03-12T09:22:11.320Z,1741771331.320 [DataOverHttps](INFO): Sending 619 bytes from file Logs/20250311T232940/Express0118.lzma
2025-03-12T09:22:12.320Z,1741771332.320 [DataOverHttps](INFO): Moved sent file to Logs/20250311T232940/Express0118.lzma.bak
2025-03-12T09:22:12.321Z,1741771332.321 [DataOverHttps](INFO): SBD MOMSN=24183049
2025-03-12T09:22:13.702Z,1741771333.702 [sci2_noyo_optim:NeedComms:D] Stopped
2025-03-12T09:22:13.703Z,1741771333.703 [sci2_noyo_optim:NeedComms:E] Running Loop=1
2025-03-12T09:22:15.702Z,1741771335.702 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,092214.00,A,3648.26424,N,12152.11205,W,0.428,27.90,120325,,,A*48
2025-03-12T09:22:15.704Z,1741771335.704 [NAL9602](INFO): GPS fix at 20250312T092214: (36.804404, -121.868534)
2025-03-12T09:22:15.734Z,1741771335.734 [sci2_noyo_optim:NeedComms:E] Stopped
2025-03-12T09:22:15.735Z,1741771335.735 [sci2_noyo_optim:NeedComms](INFO): Completed sci2_noyo_optim:NeedComms
2025-03-12T09:22:15.735Z,1741771335.735 [sci2_noyo_optim:NeedComms] Stopped
2025-03-12T09:22:15.735Z,1741771335.735 [sci2_noyo_optim:NeedComms](DEBUG): Aggregate::uninitialize sci2_noyo_optim:NeedComms
2025-03-12T09:22:15.735Z,1741771335.735 [sci2_noyo_optim:NeedComms:B.GoToSurface] Stopped
2025-03-12T09:22:15.736Z,1741771335.736 [sci2_noyo_optim:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-03-12T09:22:16.141Z,1741771336.141 [sci2_noyo_optim:SurfaceComms:B](INFO): Completed sci2_noyo_optim:SurfaceComms:B
2025-03-12T09:22:16.141Z,1741771336.141 [sci2_noyo_optim:SurfaceComms:B] Stopped
2025-03-12T09:22:16.141Z,1741771336.141 [sci2_noyo_optim:SurfaceComms:B](DEBUG): Aggregate::uninitialize sci2_noyo_optim:SurfaceComms:B
2025-03-12T09:22:16.142Z,1741771336.142 [sci2_noyo_optim:SurfaceComms:C] Running Loop=1
2025-03-12T09:22:16.535Z,1741771336.535 [ElevatorOffsetCalculator](INFO): Removing expired estimator for commanded vars: speed 0.70 m/s, pitch 30.00 deg, mass-position 6.85 mm.
2025-03-12T09:22:16.551Z,1741771336.551 [sci2_noyo_optim:SurfaceComms:C] Stopped
2025-03-12T09:22:16.552Z,1741771336.552 [sci2_noyo_optim:SurfaceComms](INFO): Completed sci2_noyo_optim:SurfaceComms
2025-03-12T09:22:16.552Z,1741771336.552 [sci2_noyo_optim:SurfaceComms] Stopped
2025-03-12T09:22:16.552Z,1741771336.552 [sci2_noyo_optim:SurfaceComms](DEBUG): Aggregate::uninitialize sci2_noyo_optim:SurfaceComms
2025-03-12T09:22:16.938Z,1741771336.938 [sci2_noyo_optim:Lap:Dive] Running Loop=1
2025-03-12T09:22:16.938Z,1741771336.938 [sci2_noyo_optim:Lap:Dive](DEBUG): Aggregate::initialize sci2_noyo_optim:Lap:Dive
2025-03-12T09:22:16.962Z,1741771336.962 [sci2_noyo_optim:Lap:Dive:A] Running Loop=1
2025-03-12T09:22:16.962Z,1741771336.962 [sci2_noyo_optim:Lap:Dive:A](DEBUG): Aggregate::initialize sci2_noyo_optim:Lap:Dive:A
2025-03-12T09:22:16.964Z,1741771336.964 [sci2_noyo_optim:DiveCmd:InitialDive] Running Loop=1
2025-03-12T09:22:16.964Z,1741771336.964 [sci2_noyo_optim:DiveCmd:InitialDive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:InitialDive
2025-03-12T09:22:16.964Z,1741771336.964 [sci2_noyo_optim:DiveCmd:InitialDive:dive] Running Loop=1
2025-03-12T09:22:16.964Z,1741771336.964 [sci2_noyo_optim:DiveCmd:InitialDive:dive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:InitialDive:dive
2025-03-12T09:22:16.965Z,1741771336.965 [sci2_noyo_optim:DiveCmd:InitialDive:dive:A] Running Loop=1
2025-03-12T09:22:16.965Z,1741771336.965 [sci2_noyo_optim:DiveCmd:InitialDive:dive:B] Running Loop=1
2025-03-12T09:22:16.965Z,1741771336.965 [sci2_noyo_optim:DiveCmd:InitialDive:dive:C.Mass] Running Loop=1
2025-03-12T09:22:16.965Z,1741771336.965 [sci2_noyo_optim:DiveCmd:InitialDive:dive:C.Mass](DEBUG): Initialize.
2025-03-12T09:22:16.965Z,1741771336.965 [sci2_noyo_optim:DiveCmd:InitialDive:dive:D] Running Loop=1
2025-03-12T09:22:16.965Z,1741771336.965 [sci2_noyo_optim:DiveCmd:InitialDive:dive:D](INFO): Waiting for  1.000000 min while pumping down to neutral.
2025-03-12T09:22:16.966Z,1741771336.966 [sci2_noyo_optim:DiveCmd:InitialDive:dive:D] Stopped
2025-03-12T09:22:16.966Z,1741771336.966 [sci2_noyo_optim:DiveCmd:InitialDive:dive:E.Wait] Running Loop=1
2025-03-12T09:22:16.966Z,1741771336.966 [sci2_noyo_optim:DiveCmd:InitialDive:dive:E.Wait](DEBUG): Initialize Wait Component.
2025-03-12T09:22:47.499Z,1741771367.499 [NAL9602](INFO): Not Powering down - fast GPS
2025-03-12T09:23:17.715Z,1741771397.715 [sci2_noyo_optim:DiveCmd:InitialDive:dive:E.Wait](INFO): Done Waiting.
2025-03-12T09:23:17.715Z,1741771397.715 [sci2_noyo_optim:DiveCmd:InitialDive:dive:E.Wait] Stopped
2025-03-12T09:23:17.715Z,1741771397.715 [sci2_noyo_optim:DiveCmd:InitialDive:dive:E.Wait](DEBUG): Uninitialize Wait Component.
2025-03-12T09:23:17.715Z,1741771397.715 [sci2_noyo_optim:DiveCmd:InitialDive:dive:F] Running Loop=1
2025-03-12T09:23:18.122Z,1741771398.122 [sci2_noyo_optim:DiveCmd:InitialDive:dive:F](INFO): Moving to  10.000000 m 
2025-03-12T09:23:18.122Z,1741771398.122 [sci2_noyo_optim:DiveCmd:InitialDive:dive:F] Stopped
2025-03-12T09:23:18.122Z,1741771398.122 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth] Running Loop=1
2025-03-12T09:23:18.122Z,1741771398.122 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth
2025-03-12T09:23:18.122Z,1741771398.122 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:A.SetSpeed] Running Loop=1
2025-03-12T09:23:18.122Z,1741771398.122 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:A.SetSpeed](DEBUG): Initialize.
2025-03-12T09:23:18.123Z,1741771398.123 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:B.Pitch] Running Loop=1
2025-03-12T09:23:18.123Z,1741771398.123 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:B.Pitch](DEBUG): Initialize.
2025-03-12T09:23:49.421Z,1741771429.421 [DAT](INFO): DAT read: Rx Time:09:23:48.4877

2025-03-12T09:23:49.422Z,1741771429.422 [DAT](INFO): Rx dataTimestamp_ set to:1741771429.421242
2025-03-12T09:23:49.423Z,1741771429.423 [DAT](INFO): DAT read: 

2025-03-12T09:23:49.424Z,1741771429.424 [DAT](INFO): DAT read: $Packet for address 0

2025-03-12T09:23:49.425Z,1741771429.425 [DAT](INFO): received a packet notification
2025-03-12T09:23:54.311Z,1741771434.311 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T09:23:57.328Z,1741771437.328 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.251179
2025-03-12T09:24:09.506Z,1741771449.506 [Radio_Surface](INFO): Powering down
2025-03-12T09:24:29.458Z,1741771469.458 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T09:24:30.462Z,1741771470.462 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-03-12T09:25:49.307Z,1741771549.307 [BPC1](ERROR): BPC1B: No match for serial number 1717 in BPC1B's battery stick inventory (sticks 32-62 in onboard configuration file).
2025-03-12T09:25:59.344Z,1741771559.344 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:B.Pitch] Stopped
2025-03-12T09:25:59.356Z,1741771559.356 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth](INFO): Completed sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth
2025-03-12T09:25:59.357Z,1741771559.357 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth] Stopped
2025-03-12T09:25:59.357Z,1741771559.357 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth
2025-03-12T09:25:59.357Z,1741771559.357 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:A.SetSpeed] Stopped
2025-03-12T09:25:59.357Z,1741771559.357 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:A.SetSpeed](DEBUG): Uninitialize.
2025-03-12T09:25:59.358Z,1741771559.358 [sci2_noyo_optim:DiveCmd:InitialDive:dive:H] Running Loop=1
2025-03-12T09:25:59.895Z,1741771559.895 [sci2_noyo_optim:DiveCmd:InitialDive:dive:H] Stopped
2025-03-12T09:25:59.896Z,1741771559.896 [sci2_noyo_optim:DiveCmd:InitialDive:dive](INFO): Completed sci2_noyo_optim:DiveCmd:InitialDive:dive
2025-03-12T09:25:59.896Z,1741771559.896 [sci2_noyo_optim:DiveCmd:InitialDive:dive] Stopped
2025-03-12T09:25:59.896Z,1741771559.896 [sci2_noyo_optim:DiveCmd:InitialDive:dive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:InitialDive:dive
2025-03-12T09:25:59.896Z,1741771559.896 [sci2_noyo_optim:DiveCmd:InitialDive:dive:A] Stopped
2025-03-12T09:25:59.896Z,1741771559.896 [sci2_noyo_optim:DiveCmd:InitialDive:dive:B] Stopped
2025-03-12T09:25:59.896Z,1741771559.896 [sci2_noyo_optim:DiveCmd:InitialDive:dive:C.Mass] Stopped
2025-03-12T09:25:59.896Z,1741771559.896 [sci2_noyo_optim:DiveCmd:InitialDive:dive:C.Mass](DEBUG): Uninitialize.
2025-03-12T09:25:59.897Z,1741771559.897 [sci2_noyo_optim:DiveCmd:InitialDive](INFO): Completed sci2_noyo_optim:DiveCmd:InitialDive
2025-03-12T09:26:00.210Z,1741771560.210 [sci2_noyo_optim:DiveCmd:SettleAtDepth] Running Loop=1
2025-03-12T09:26:00.210Z,1741771560.210 [sci2_noyo_optim:DiveCmd:SettleAtDepth](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:SettleAtDepth
2025-03-12T09:26:00.210Z,1741771560.210 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive] Running Loop=1
2025-03-12T09:26:00.210Z,1741771560.210 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:SettleAtDepth:dive
2025-03-12T09:26:00.210Z,1741771560.210 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:B.Pitch] Running Loop=1
2025-03-12T09:26:00.211Z,1741771560.211 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:B.Pitch](DEBUG): Initialize.
2025-03-12T09:26:00.211Z,1741771560.211 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:A] Running Loop=1
2025-03-12T09:26:00.212Z,1741771560.212 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:A](INFO): Reached  10.112937 m , settling for  3.000000 min 
2025-03-12T09:26:00.212Z,1741771560.212 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:A] Stopped
2025-03-12T09:26:00.212Z,1741771560.212 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:C.Wait] Running Loop=1
2025-03-12T09:26:00.212Z,1741771560.212 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:C.Wait](DEBUG): Initialize Wait Component.
2025-03-12T09:29:00.824Z,1741771740.824 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:C.Wait](INFO): Done Waiting.
2025-03-12T09:29:00.824Z,1741771740.824 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:C.Wait] Stopped
2025-03-12T09:29:00.824Z,1741771740.824 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:C.Wait](DEBUG): Uninitialize Wait Component.
2025-03-12T09:29:00.825Z,1741771740.825 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:D] Running Loop=1
2025-03-12T09:29:01.248Z,1741771741.248 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:D] Stopped
2025-03-12T09:29:01.249Z,1741771741.249 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive](INFO): Completed sci2_noyo_optim:DiveCmd:SettleAtDepth:dive
2025-03-12T09:29:01.249Z,1741771741.249 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive] Stopped
2025-03-12T09:29:01.249Z,1741771741.249 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:SettleAtDepth:dive
2025-03-12T09:29:01.249Z,1741771741.249 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:B.Pitch] Stopped
2025-03-12T09:29:01.249Z,1741771741.249 [sci2_noyo_optim:DiveCmd:SettleAtDepth](INFO): Completed sci2_noyo_optim:DiveCmd:SettleAtDepth
2025-03-12T09:30:10.942Z,1741771810.942 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow] Running Loop=1
2025-03-12T09:30:10.942Z,1741771810.942 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepthSlow
2025-03-12T09:30:10.942Z,1741771810.942 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:A.SetSpeed] Running Loop=1
2025-03-12T09:30:10.943Z,1741771810.943 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:A.SetSpeed](DEBUG): Initialize.
2025-03-12T09:30:10.943Z,1741771810.943 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:B] Running Loop=1
2025-03-12T09:30:10.943Z,1741771810.943 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:C.Buoyancy] Running Loop=1
2025-03-12T09:30:10.943Z,1741771810.943 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:C.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-03-12T09:30:10.943Z,1741771810.943 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:D.Pitch] Running Loop=1
2025-03-12T09:30:10.943Z,1741771810.943 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:D.Pitch](DEBUG): Initialize.
2025-03-12T09:30:10.944Z,1741771810.944 [sci2_noyo_optim:DiveCmd:MaintainDepth] Stopped
2025-03-12T09:30:10.944Z,1741771810.944 [sci2_noyo_optim:DiveCmd:MaintainDepth](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepth
2025-03-12T09:30:10.944Z,1741771810.944 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive] Stopped
2025-03-12T09:30:10.944Z,1741771810.944 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive
2025-03-12T09:30:10.945Z,1741771810.945 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive] Stopped
2025-03-12T09:30:10.945Z,1741771810.945 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive
2025-03-12T09:30:10.945Z,1741771810.945 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass] Stopped
2025-03-12T09:30:10.945Z,1741771810.945 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass](DEBUG): Uninitialize.
2025-03-12T09:30:10.945Z,1741771810.945 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed] Stopped
2025-03-12T09:30:10.945Z,1741771810.945 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed](DEBUG): Uninitialize.
2025-03-12T09:30:10.945Z,1741771810.945 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:B.Pitch] Stopped
2025-03-12T09:44:10.343Z,1741772650.343 [Waterlinked](ERROR): only read 4 of 5 data items. Device response::BI,    +0,    +0,    +0, 00
2025-03-12T09:47:04.490Z,1741772824.490 [Waterlinked](ERROR): DVL uart error: serial timeout
2025-03-12T09:47:04.490Z,1741772824.490 [Waterlinked] Communications Fault, FailCount= 1
2025-03-12T09:47:04.490Z,1741772824.490 [Waterlinked](ERROR): Communications Fault
2025-03-12T09:47:04.650Z,1741772824.650 [CBIT](ERROR): Communications Fault in component: Waterlinked
2025-03-12T09:47:04.990Z,1741772824.990 [Waterlinked](INFO): Powering down
2025-03-12T09:47:05.842Z,1741772825.842 [CBIT](INFO): Clearing failed state for component Waterlinked
2025-03-12T09:47:05.842Z,1741772825.842 [Waterlinked] No Fault, FailCount= 1
2025-03-12T09:48:41.154Z,1741772921.154 [BPC1](ERROR): BPC1A: No match for serial number 1717 in BPC1A's battery stick inventory (sticks 1-31 in onboard configuration file).
2025-03-12T09:53:00.515Z,1741773180.515 [BPC1](INFO): Calculating totals. Valid battery stick count: 50. Valid reserve battery stick count: 5.
2025-03-12T09:53:00.518Z,1741773180.518 [BPC1](FAULT): Failed to receive data from 3 sticks prior to timeout. Will not retry this scan cycle. Missing stick IDs are: 17, 21, 24.
2025-03-12T09:53:13.316Z,1741773193.316 [Waterlinked](ERROR): only read 0 of 1 data item for BIT error. Device response::TS,24052713080407, 0.0, +0.0,   0.I,    +0,    +0,    +0,    +0,V
2025-03-12T10:03:16.507Z,1741773796.507 [Waterlinked](ERROR): only read 0 of 1 data item for altitude. Device response::BD,       +0.00,       +    +0.00,   0.00,  0.00
2025-03-12T10:12:01.995Z,1741774321.995 [Waterlinked](ERROR): only read 3 of 5 data items. Device response::BI,    +0,    +0,    +0,   BS,    +0,    +0,    +0,V
2025-03-12T10:13:32.309Z,1741774412.309 [Waterlinked](ERROR): only read 0 of 1 data item for BIT error. Device response::TS,24052713280, +0.0,   0.0,1475.0,  0
2025-03-12T10:22:15.975Z,1741774935.975 [sci2_noyo_optim:SurfaceComms] Running Loop=1
2025-03-12T10:22:15.976Z,1741774935.976 [sci2_noyo_optim:SurfaceComms](DEBUG): Aggregate::initialize sci2_noyo_optim:SurfaceComms
2025-03-12T10:22:15.976Z,1741774935.976 [sci2_noyo_optim:SurfaceComms:A] Running Loop=1
2025-03-12T10:22:15.976Z,1741774935.976 [sci2_noyo_optim:SurfaceComms:A] Stopped
2025-03-12T10:22:15.976Z,1741774935.976 [sci2_noyo_optim:SurfaceComms:B] Running Loop=1
2025-03-12T10:22:15.976Z,1741774935.976 [sci2_noyo_optim:SurfaceComms:B](DEBUG): Aggregate::initialize sci2_noyo_optim:SurfaceComms:B
2025-03-12T10:22:16.361Z,1741774936.361 [sci2_noyo_optim:Lap:Dive] Stopped
2025-03-12T10:22:16.361Z,1741774936.361 [sci2_noyo_optim:Lap:Dive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Lap:Dive
2025-03-12T10:22:16.361Z,1741774936.361 [sci2_noyo_optim:Lap:Dive:A] Stopped
2025-03-12T10:22:16.361Z,1741774936.361 [sci2_noyo_optim:Lap:Dive:A](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Lap:Dive:A
2025-03-12T10:22:16.362Z,1741774936.362 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow] Stopped
2025-03-12T10:22:16.363Z,1741774936.363 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepthSlow
2025-03-12T10:22:16.363Z,1741774936.363 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:A.SetSpeed] Stopped
2025-03-12T10:22:16.363Z,1741774936.363 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:A.SetSpeed](DEBUG): Uninitialize.
2025-03-12T10:22:16.363Z,1741774936.363 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:B] Stopped
2025-03-12T10:22:16.363Z,1741774936.363 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:C.Buoyancy] Stopped
2025-03-12T10:22:16.363Z,1741774936.363 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-03-12T10:22:16.363Z,1741774936.363 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:D.Pitch] Stopped
2025-03-12T10:22:16.366Z,1741774936.366 [sci2_noyo_optim:NeedComms] Running Loop=1
2025-03-12T10:22:16.366Z,1741774936.366 [sci2_noyo_optim:NeedComms](DEBUG): Aggregate::initialize sci2_noyo_optim:NeedComms
2025-03-12T10:22:16.366Z,1741774936.366 [sci2_noyo_optim:NeedComms:B.GoToSurface] Running Loop=1
2025-03-12T10:22:16.366Z,1741774936.366 [sci2_noyo_optim:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-03-12T10:22:16.367Z,1741774936.367 [sci2_noyo_optim:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-03-12T10:22:16.367Z,1741774936.367 [sci2_noyo_optim:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-03-12T10:22:16.367Z,1741774936.367 [sci2_noyo_optim:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-03-12T10:22:16.368Z,1741774936.368 [sci2_noyo_optim:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-03-12T10:22:16.368Z,1741774936.368 [sci2_noyo_optim:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-03-12T10:22:16.368Z,1741774936.368 [sci2_noyo_optim:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-03-12T10:22:16.369Z,1741774936.369 [sci2_noyo_optim:NeedComms:A] Running Loop=1
2025-03-12T10:22:16.370Z,1741774936.370 [sci2_noyo_optim:NeedComms:A](INFO): last time_fix was:  1741771334.000000 second since 1970/01/01T00:00:00Z 
2025-03-12T10:22:16.370Z,1741774936.370 [sci2_noyo_optim:NeedComms:A] Stopped
2025-03-12T10:22:39.228Z,1741774959.228 [sci2_noyo_optim:DiveCmd:MaintainDepth] Running Loop=1
2025-03-12T10:22:39.228Z,1741774959.228 [sci2_noyo_optim:DiveCmd:MaintainDepth](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepth
2025-03-12T10:22:39.228Z,1741774959.228 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive] Running Loop=1
2025-03-12T10:22:39.228Z,1741774959.228 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive
2025-03-12T10:22:39.228Z,1741774959.228 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive] Running Loop=1
2025-03-12T10:22:39.229Z,1741774959.229 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive
2025-03-12T10:22:39.229Z,1741774959.229 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass] Running Loop=1
2025-03-12T10:22:39.229Z,1741774959.229 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass](DEBUG): Initialize.
2025-03-12T10:22:39.229Z,1741774959.229 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed] Running Loop=1
2025-03-12T10:22:39.229Z,1741774959.229 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed](DEBUG): Initialize.
2025-03-12T10:22:39.229Z,1741774959.229 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:B.Pitch] Running Loop=1
2025-03-12T10:22:39.229Z,1741774959.229 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:B.Pitch](DEBUG): Initialize.
2025-03-12T10:24:35.697Z,1741775075.697 [sci2_noyo_optim:NeedComms:C] Running Loop=1
2025-03-12T10:24:36.070Z,1741775076.070 [Radio_Surface](INFO): Powering up
2025-03-12T10:24:36.103Z,1741775076.103 [Waterlinked](INFO): Powering down
2025-03-12T10:24:41.586Z,1741775081.586 [DataOverHttps](INFO): Radio surface powered ON.
2025-03-12T10:25:08.351Z,1741775108.351 [NAL9602](ERROR): Failed to receive proper response when querying signal strength for MT queue check.
2025-03-12T10:25:08.434Z,1741775108.434 [NAL9602](ERROR): received: 
+CSQ:0

OK517, 2, 0, 0, 0

OK
2025-03-12T10:25:11.710Z,1741775111.710 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T10:25:46.850Z,1741775146.850 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T10:26:21.990Z,1741775181.990 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T10:26:57.132Z,1741775217.132 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T10:27:32.271Z,1741775252.271 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T10:28:05.112Z,1741775285.112 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.004375
2025-03-12T10:29:39.457Z,1741775379.457 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2025-03-12T10:29:45.119Z,1741775385.119 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,102944.00,A,3648.35708,N,12151.45077,W,0.661,349.03,120325,,,A*7A
2025-03-12T10:29:45.121Z,1741775385.121 [NAL9602](INFO): GPS fix at 20250312T102944: (36.805951, -121.857513)
2025-03-12T10:29:45.166Z,1741775385.166 [UniversalFixResidualReporter](INFO): Fix residual: 56.4 %DT, over the last 1764.5 m. Residual distance 995.5 m at bearing 151.5 degrees. Fix at (36.8060, -121.8575) with 996.2 m made good.
2025-03-12T10:29:45.186Z,1741775385.186 [sci2_noyo_optim:NeedComms:C] Stopped
2025-03-12T10:29:45.187Z,1741775385.187 [sci2_noyo_optim:NeedComms:D] Running Loop=1
2025-03-12T10:29:56.234Z,1741775396.234 [DataOverHttps](INFO): Sending 92 bytes from file Logs/20250311T232940/Courier0120.lzma
2025-03-12T10:29:57.236Z,1741775397.236 [DataOverHttps](INFO): Moved sent file to Logs/20250311T232940/Courier0120.lzma.bak
2025-03-12T10:29:57.237Z,1741775397.237 [DataOverHttps](INFO): SBD MOMSN=24183150
2025-03-12T10:30:13.880Z,1741775413.880 [DataOverHttps](INFO): Sending 505 bytes from file Logs/20250311T232940/Express0121.lzma
2025-03-12T10:30:14.880Z,1741775414.880 [DataOverHttps](INFO): Moved sent file to Logs/20250311T232940/Express0121.lzma.bak
2025-03-12T10:30:14.881Z,1741775414.881 [DataOverHttps](INFO): SBD MOMSN=24183153
2025-03-12T10:30:16.002Z,1741775416.002 [sci2_noyo_optim:NeedComms:D] Stopped
2025-03-12T10:30:16.003Z,1741775416.003 [sci2_noyo_optim:NeedComms:E] Running Loop=1
2025-03-12T10:30:18.001Z,1741775418.001 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,103017.00,A,3648.36487,N,12151.45738,W,1.438,349.03,120325,,,A*70
2025-03-12T10:30:18.004Z,1741775418.004 [NAL9602](INFO): GPS fix at 20250312T103017: (36.806081, -121.857623)
2025-03-12T10:30:18.038Z,1741775418.038 [sci2_noyo_optim:NeedComms:E] Stopped
2025-03-12T10:30:18.039Z,1741775418.039 [sci2_noyo_optim:NeedComms](INFO): Completed sci2_noyo_optim:NeedComms
2025-03-12T10:30:18.039Z,1741775418.039 [sci2_noyo_optim:NeedComms] Stopped
2025-03-12T10:30:18.039Z,1741775418.039 [sci2_noyo_optim:NeedComms](DEBUG): Aggregate::uninitialize sci2_noyo_optim:NeedComms
2025-03-12T10:30:18.040Z,1741775418.040 [sci2_noyo_optim:NeedComms:B.GoToSurface] Stopped
2025-03-12T10:30:18.040Z,1741775418.040 [sci2_noyo_optim:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-03-12T10:30:18.550Z,1741775418.550 [sci2_noyo_optim:SurfaceComms:B](INFO): Completed sci2_noyo_optim:SurfaceComms:B
2025-03-12T10:30:18.550Z,1741775418.550 [sci2_noyo_optim:SurfaceComms:B] Stopped
2025-03-12T10:30:18.551Z,1741775418.551 [sci2_noyo_optim:SurfaceComms:B](DEBUG): Aggregate::uninitialize sci2_noyo_optim:SurfaceComms:B
2025-03-12T10:30:18.551Z,1741775418.551 [sci2_noyo_optim:SurfaceComms:C] Running Loop=1
2025-03-12T10:30:18.846Z,1741775418.846 [ElevatorOffsetCalculator](INFO): Removing expired estimator for commanded vars: speed 1.00 m/s, pitch 20.00 deg, mass-position 6.85 mm.
2025-03-12T10:30:18.871Z,1741775418.871 [sci2_noyo_optim:SurfaceComms:C] Stopped
2025-03-12T10:30:18.871Z,1741775418.871 [sci2_noyo_optim:SurfaceComms](INFO): Completed sci2_noyo_optim:SurfaceComms
2025-03-12T10:30:18.871Z,1741775418.871 [sci2_noyo_optim:SurfaceComms] Stopped
2025-03-12T10:30:18.871Z,1741775418.871 [sci2_noyo_optim:SurfaceComms](DEBUG): Aggregate::uninitialize sci2_noyo_optim:SurfaceComms
2025-03-12T10:30:19.249Z,1741775419.249 [sci2_noyo_optim:Lap:Dive] Running Loop=1
2025-03-12T10:30:19.249Z,1741775419.249 [sci2_noyo_optim:Lap:Dive](DEBUG): Aggregate::initialize sci2_noyo_optim:Lap:Dive
2025-03-12T10:30:19.249Z,1741775419.249 [sci2_noyo_optim:Lap:Dive:A] Running Loop=1
2025-03-12T10:30:19.249Z,1741775419.249 [sci2_noyo_optim:Lap:Dive:A](DEBUG): Aggregate::initialize sci2_noyo_optim:Lap:Dive:A
2025-03-12T10:30:19.275Z,1741775419.275 [sci2_noyo_optim:DiveCmd:InitialDive] Running Loop=1
2025-03-12T10:30:19.276Z,1741775419.276 [sci2_noyo_optim:DiveCmd:InitialDive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:InitialDive
2025-03-12T10:30:19.276Z,1741775419.276 [sci2_noyo_optim:DiveCmd:InitialDive:dive] Running Loop=1
2025-03-12T10:30:19.276Z,1741775419.276 [sci2_noyo_optim:DiveCmd:InitialDive:dive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:InitialDive:dive
2025-03-12T10:30:19.276Z,1741775419.276 [sci2_noyo_optim:DiveCmd:InitialDive:dive:A] Running Loop=1
2025-03-12T10:30:19.276Z,1741775419.276 [sci2_noyo_optim:DiveCmd:InitialDive:dive:B] Running Loop=1
2025-03-12T10:30:19.276Z,1741775419.276 [sci2_noyo_optim:DiveCmd:InitialDive:dive:C.Mass] Running Loop=1
2025-03-12T10:30:19.276Z,1741775419.276 [sci2_noyo_optim:DiveCmd:InitialDive:dive:C.Mass](DEBUG): Initialize.
2025-03-12T10:30:19.276Z,1741775419.276 [sci2_noyo_optim:DiveCmd:InitialDive:dive:D] Running Loop=1
2025-03-12T10:30:19.277Z,1741775419.277 [sci2_noyo_optim:DiveCmd:InitialDive:dive:D](INFO): Waiting for  1.000000 min while pumping down to neutral.
2025-03-12T10:30:19.277Z,1741775419.277 [sci2_noyo_optim:DiveCmd:InitialDive:dive:D] Stopped
2025-03-12T10:30:19.277Z,1741775419.277 [sci2_noyo_optim:DiveCmd:InitialDive:dive:E.Wait] Running Loop=1
2025-03-12T10:30:19.277Z,1741775419.277 [sci2_noyo_optim:DiveCmd:InitialDive:dive:E.Wait](DEBUG): Initialize Wait Component.
2025-03-12T10:30:50.680Z,1741775450.680 [NAL9602](INFO): Not Powering down - fast GPS
2025-03-12T10:31:06.339Z,1741775466.339 [ElevatorOffsetCalculator](INFO): New estimator for commanded vars: speed 1.00 m/s, pitch 20.00 deg, mass-position 6.85 mm (1 active estimators).
2025-03-12T10:31:19.736Z,1741775479.736 [sci2_noyo_optim:DiveCmd:InitialDive:dive:E.Wait](INFO): Done Waiting.
2025-03-12T10:31:19.736Z,1741775479.736 [sci2_noyo_optim:DiveCmd:InitialDive:dive:E.Wait] Stopped
2025-03-12T10:31:19.736Z,1741775479.736 [sci2_noyo_optim:DiveCmd:InitialDive:dive:E.Wait](DEBUG): Uninitialize Wait Component.
2025-03-12T10:31:19.736Z,1741775479.736 [sci2_noyo_optim:DiveCmd:InitialDive:dive:F] Running Loop=1
2025-03-12T10:31:20.147Z,1741775480.147 [sci2_noyo_optim:DiveCmd:InitialDive:dive:F](INFO): Moving to  10.000000 m 
2025-03-12T10:31:20.147Z,1741775480.147 [sci2_noyo_optim:DiveCmd:InitialDive:dive:F] Stopped
2025-03-12T10:31:20.147Z,1741775480.147 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth] Running Loop=1
2025-03-12T10:31:20.147Z,1741775480.147 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth
2025-03-12T10:31:20.147Z,1741775480.147 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:A.SetSpeed] Running Loop=1
2025-03-12T10:31:20.147Z,1741775480.147 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:A.SetSpeed](DEBUG): Initialize.
2025-03-12T10:31:20.147Z,1741775480.147 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:B.Pitch] Running Loop=1
2025-03-12T10:31:20.147Z,1741775480.147 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:B.Pitch](DEBUG): Initialize.
2025-03-12T10:31:57.403Z,1741775517.403 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T10:32:00.416Z,1741775520.416 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.239056
2025-03-12T10:32:06.751Z,1741775526.751 [Radio_Surface](INFO): Powering down
2025-03-12T10:32:32.543Z,1741775552.543 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T10:32:33.547Z,1741775553.547 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-03-12T10:33:57.501Z,1741775637.501 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:B.Pitch] Stopped
2025-03-12T10:33:57.501Z,1741775637.501 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth](INFO): Completed sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth
2025-03-12T10:33:57.501Z,1741775637.501 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth] Stopped
2025-03-12T10:33:57.501Z,1741775637.501 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth
2025-03-12T10:33:57.502Z,1741775637.502 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:A.SetSpeed] Stopped
2025-03-12T10:33:57.502Z,1741775637.502 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:A.SetSpeed](DEBUG): Uninitialize.
2025-03-12T10:33:57.502Z,1741775637.502 [sci2_noyo_optim:DiveCmd:InitialDive:dive:H] Running Loop=1
2025-03-12T10:33:57.937Z,1741775637.937 [sci2_noyo_optim:DiveCmd:InitialDive:dive:H] Stopped
2025-03-12T10:33:57.946Z,1741775637.946 [sci2_noyo_optim:DiveCmd:InitialDive:dive](INFO): Completed sci2_noyo_optim:DiveCmd:InitialDive:dive
2025-03-12T10:33:57.950Z,1741775637.950 [sci2_noyo_optim:DiveCmd:InitialDive:dive] Stopped
2025-03-12T10:33:57.951Z,1741775637.951 [sci2_noyo_optim:DiveCmd:InitialDive:dive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:InitialDive:dive
2025-03-12T10:33:57.951Z,1741775637.951 [sci2_noyo_optim:DiveCmd:InitialDive:dive:A] Stopped
2025-03-12T10:33:57.952Z,1741775637.952 [sci2_noyo_optim:DiveCmd:InitialDive:dive:B] Stopped
2025-03-12T10:33:57.952Z,1741775637.952 [sci2_noyo_optim:DiveCmd:InitialDive:dive:C.Mass] Stopped
2025-03-12T10:33:57.952Z,1741775637.952 [sci2_noyo_optim:DiveCmd:InitialDive:dive:C.Mass](DEBUG): Uninitialize.
2025-03-12T10:33:57.953Z,1741775637.953 [sci2_noyo_optim:DiveCmd:InitialDive](INFO): Completed sci2_noyo_optim:DiveCmd:InitialDive
2025-03-12T10:33:58.299Z,1741775638.299 [sci2_noyo_optim:DiveCmd:SettleAtDepth] Running Loop=1
2025-03-12T10:33:58.299Z,1741775638.299 [sci2_noyo_optim:DiveCmd:SettleAtDepth](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:SettleAtDepth
2025-03-12T10:33:58.299Z,1741775638.299 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive] Running Loop=1
2025-03-12T10:33:58.299Z,1741775638.299 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:SettleAtDepth:dive
2025-03-12T10:33:58.299Z,1741775638.299 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:B.Pitch] Running Loop=1
2025-03-12T10:33:58.299Z,1741775638.299 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:B.Pitch](DEBUG): Initialize.
2025-03-12T10:33:58.299Z,1741775638.299 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:A] Running Loop=1
2025-03-12T10:33:58.300Z,1741775638.300 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:A](INFO): Reached  10.100237 m , settling for  3.000000 min 
2025-03-12T10:33:58.301Z,1741775638.301 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:A] Stopped
2025-03-12T10:33:58.301Z,1741775638.301 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:C.Wait] Running Loop=1
2025-03-12T10:33:58.301Z,1741775638.301 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:C.Wait](DEBUG): Initialize Wait Component.
2025-03-12T10:34:02.432Z,1741775642.432 [BPC1](INFO): Calculating totals. Valid battery stick count: 51. Valid reserve battery stick count: 5.
2025-03-12T10:34:02.435Z,1741775642.435 [BPC1](FAULT): Failed to receive data from 3 sticks prior to timeout. Will not retry this scan cycle. Missing stick IDs are: 17, 21, 24.
2025-03-12T10:34:58.263Z,1741775698.263 [Waterlinked](ERROR): only read 0 of 1 data item for altitude. Device response::BD,       +0.  +0.00,       +0.00,   0.00,  0.00
2025-03-12T10:35:15.148Z,1741775715.148 [CTD_Seabird](ERROR): Failed to parse device response: 90,4285.51
2025-03-12T10:36:59.431Z,1741775819.431 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:C.Wait](INFO): Done Waiting.
2025-03-12T10:36:59.431Z,1741775819.431 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:C.Wait] Stopped
2025-03-12T10:36:59.432Z,1741775819.432 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:C.Wait](DEBUG): Uninitialize Wait Component.
2025-03-12T10:36:59.432Z,1741775819.432 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:D] Running Loop=1
2025-03-12T10:36:59.640Z,1741775819.640 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:D] Stopped
2025-03-12T10:36:59.641Z,1741775819.641 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive](INFO): Completed sci2_noyo_optim:DiveCmd:SettleAtDepth:dive
2025-03-12T10:36:59.641Z,1741775819.641 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive] Stopped
2025-03-12T10:36:59.641Z,1741775819.641 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:SettleAtDepth:dive
2025-03-12T10:36:59.641Z,1741775819.641 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:B.Pitch] Stopped
2025-03-12T10:36:59.641Z,1741775819.641 [sci2_noyo_optim:DiveCmd:SettleAtDepth](INFO): Completed sci2_noyo_optim:DiveCmd:SettleAtDepth
2025-03-12T10:38:06.812Z,1741775886.812 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow] Running Loop=1
2025-03-12T10:38:06.813Z,1741775886.813 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepthSlow
2025-03-12T10:38:06.813Z,1741775886.813 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:A.SetSpeed] Running Loop=1
2025-03-12T10:38:06.813Z,1741775886.813 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:A.SetSpeed](DEBUG): Initialize.
2025-03-12T10:38:06.813Z,1741775886.813 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:B] Running Loop=1
2025-03-12T10:38:06.813Z,1741775886.813 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:C.Buoyancy] Running Loop=1
2025-03-12T10:38:06.813Z,1741775886.813 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:C.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-03-12T10:38:06.813Z,1741775886.813 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:D.Pitch] Running Loop=1
2025-03-12T10:38:06.813Z,1741775886.813 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:D.Pitch](DEBUG): Initialize.
2025-03-12T10:38:06.815Z,1741775886.815 [sci2_noyo_optim:DiveCmd:MaintainDepth] Stopped
2025-03-12T10:38:06.815Z,1741775886.815 [sci2_noyo_optim:DiveCmd:MaintainDepth](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepth
2025-03-12T10:38:06.815Z,1741775886.815 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive] Stopped
2025-03-12T10:38:06.815Z,1741775886.815 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive
2025-03-12T10:38:06.815Z,1741775886.815 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive] Stopped
2025-03-12T10:38:06.815Z,1741775886.815 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive
2025-03-12T10:38:06.815Z,1741775886.815 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass] Stopped
2025-03-12T10:38:06.815Z,1741775886.815 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass](DEBUG): Uninitialize.
2025-03-12T10:38:06.815Z,1741775886.815 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed] Stopped
2025-03-12T10:38:06.815Z,1741775886.815 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed](DEBUG): Uninitialize.
2025-03-12T10:38:06.816Z,1741775886.816 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:B.Pitch] Stopped
2025-03-12T10:52:59.809Z,1741776779.809 [Waterlinked](ERROR): only read 0 of 1 data item for BIT error. Device response::TS,24052713235035, 0.0, +0.0,   0.0:WS,    +0,    +0,    +0,V
2025-03-12T10:53:09.735Z,1741776789.735 [CTD_Seabird](ERROR): Failed to parse device response: ,10.0232,3.68643,2340.85
2025-03-12T10:54:08.679Z,1741776848.679 [Waterlinked](ERROR): only read 0 of 1 data item for BIT error. Device response::TS,24052713245936, 0.0,5.0,  0
2025-03-12T10:57:54.534Z,1741777074.534 [Waterlinked](ERROR): DVL uart error: serial timeout
2025-03-12T10:57:54.534Z,1741777074.534 [Waterlinked] Communications Fault, FailCount= 1
2025-03-12T10:57:54.534Z,1741777074.534 [Waterlinked](ERROR): Communications Fault
2025-03-12T10:57:54.814Z,1741777074.814 [CBIT](ERROR): Communications Fault in component: Waterlinked
2025-03-12T10:57:54.970Z,1741777074.970 [Waterlinked](INFO): Powering down
2025-03-12T10:57:55.761Z,1741777075.761 [CBIT](INFO): Clearing failed state for component Waterlinked
2025-03-12T10:57:55.761Z,1741777075.761 [Waterlinked] No Fault, FailCount= 1
2025-03-12T10:59:14.168Z,1741777154.168 [Waterlinked](ERROR): only read 0 of 1 data item for BIT error. Device response::TS,24052713031543, 0.0, +0.0,   0.0,1   +0,    +0,    +0,    +0,V
2025-03-12T11:01:20.039Z,1741777280.039 [ThrusterHE](FAULT): getSpeed error serial timeout
2025-03-12T11:01:20.039Z,1741777280.039 [ThrusterHE](FAULT): Thruster uart error: serial timeout
2025-03-12T11:01:20.039Z,1741777280.039 [ThrusterHE] Communications Fault, FailCount= 1
2025-03-12T11:01:20.039Z,1741777280.039 [ThrusterHE](ERROR): Communications Fault
2025-03-12T11:01:20.043Z,1741777280.043 [CBIT](ERROR): Communications Fault in component: ThrusterHE
2025-03-12T11:01:20.345Z,1741777280.345 [ThrusterHE](DEBUG): Uninitialize Thruster Servo.
2025-03-12T11:01:20.345Z,1741777280.345 [ThrusterHE](INFO): Powering down
2025-03-12T11:01:21.032Z,1741777281.032 [ThrusterHE](DEBUG): Initializing EZServoServo.
2025-03-12T11:01:21.147Z,1741777281.147 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2025-03-12T11:01:21.151Z,1741777281.151 [CBIT](INFO): Clearing failed state for component ThrusterHE
2025-03-12T11:01:21.151Z,1741777281.151 [ThrusterHE] No Fault, FailCount= 1
2025-03-12T11:01:26.347Z,1741777286.347 [ThrusterHE](ERROR): Zero Speed Commanded.
2025-03-12T11:02:22.746Z,1741777342.746 [Waterlinked](ERROR): DVL uart error: serial timeout
2025-03-12T11:02:22.746Z,1741777342.746 [Waterlinked] Communications Fault, FailCount= 1
2025-03-12T11:02:22.746Z,1741777342.746 [Waterlinked](ERROR): Communications Fault
2025-03-12T11:02:22.857Z,1741777342.857 [CBIT](ERROR): Communications Fault in component: Waterlinked
2025-03-12T11:02:23.235Z,1741777343.235 [Waterlinked](INFO): Powering down
2025-03-12T11:02:24.193Z,1741777344.193 [CBIT](INFO): Clearing failed state for component Waterlinked
2025-03-12T11:02:24.193Z,1741777344.193 [Waterlinked] No Fault, FailCount= 1
2025-03-12T11:12:23.678Z,1741777943.678 [BPC1](ERROR): BPC1A: No match for serial number 1717 in BPC1A's battery stick inventory (sticks 1-31 in onboard configuration file).
2025-03-12T11:15:04.476Z,1741778104.476 [BPC1](INFO): Calculating totals. Valid battery stick count: 51. Valid reserve battery stick count: 5.
2025-03-12T11:15:04.484Z,1741778104.484 [BPC1](FAULT): Failed to receive data from 2 sticks prior to timeout. Will not retry this scan cycle. Missing stick IDs are: 21, 24.
2025-03-12T11:19:43.840Z,1741778383.840 [Waterlinked](ERROR): only read 0 of 1 data item for BIT error. Device response::TS,24052713  +0,V
2025-03-12T11:22:57.364Z,1741778577.364 [sci2_noyo_optim:Lap:DepthByLap:Wpt1:A.Waypoint](IMPORTANT): Reached waypoint: 36.797001,-121.847000
2025-03-12T11:22:57.364Z,1741778577.364 [sci2_noyo_optim:Lap:DepthByLap:Wpt1:A.Waypoint] Stopped
2025-03-12T11:22:57.364Z,1741778577.364 [sci2_noyo_optim:Lap:DepthByLap:Wpt1:A.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-03-12T11:22:57.365Z,1741778577.365 [sci2_noyo_optim:Lap:DepthByLap:Wpt1](INFO): Completed sci2_noyo_optim:Lap:DepthByLap:Wpt1
2025-03-12T11:22:57.365Z,1741778577.365 [sci2_noyo_optim:Lap:DepthByLap:Wpt1] Stopped
2025-03-12T11:22:57.365Z,1741778577.365 [sci2_noyo_optim:Lap:DepthByLap:Wpt1](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Lap:DepthByLap:Wpt1
2025-03-12T11:22:57.365Z,1741778577.365 [sci2_noyo_optim:Lap:DepthByLap:Wpt2] Running Loop=1
2025-03-12T11:22:57.365Z,1741778577.365 [sci2_noyo_optim:Lap:DepthByLap:Wpt2](DEBUG): Aggregate::initialize sci2_noyo_optim:Lap:DepthByLap:Wpt2
2025-03-12T11:22:57.365Z,1741778577.365 [sci2_noyo_optim:Lap:DepthByLap:Wpt2:A.Waypoint] Running Loop=1
2025-03-12T11:22:57.365Z,1741778577.365 [sci2_noyo_optim:Lap:DepthByLap:Wpt2:A.Waypoint](DEBUG): Initialize WaypointComponent.
2025-03-12T11:22:57.371Z,1741778577.371 [sci2_noyo_optim:Lap:DepthByLap:Wpt2:A.Waypoint](IMPORTANT): Navigating to waypoint: 36.797050,-121.877693
2025-03-12T11:29:25.310Z,1741778965.310 [Waterlinked](ERROR): only read 0 of 1 data item for BIT error. Device response::TS,24052713285809, 0.0, +0.0,   0.I,    +0,    +0,    +0,    +0,V
2025-03-12T11:30:18.279Z,1741779018.279 [sci2_noyo_optim:SurfaceComms] Running Loop=1
2025-03-12T11:30:18.279Z,1741779018.279 [sci2_noyo_optim:SurfaceComms](DEBUG): Aggregate::initialize sci2_noyo_optim:SurfaceComms
2025-03-12T11:30:18.279Z,1741779018.279 [sci2_noyo_optim:SurfaceComms:A] Running Loop=1
2025-03-12T11:30:18.280Z,1741779018.280 [sci2_noyo_optim:SurfaceComms:A] Stopped
2025-03-12T11:30:18.280Z,1741779018.280 [sci2_noyo_optim:SurfaceComms:B] Running Loop=1
2025-03-12T11:30:18.280Z,1741779018.280 [sci2_noyo_optim:SurfaceComms:B](DEBUG): Aggregate::initialize sci2_noyo_optim:SurfaceComms:B
2025-03-12T11:30:18.764Z,1741779018.764 [sci2_noyo_optim:Lap:Dive] Stopped
2025-03-12T11:30:18.764Z,1741779018.764 [sci2_noyo_optim:Lap:Dive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Lap:Dive
2025-03-12T11:30:18.764Z,1741779018.764 [sci2_noyo_optim:Lap:Dive:A] Stopped
2025-03-12T11:30:18.764Z,1741779018.764 [sci2_noyo_optim:Lap:Dive:A](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Lap:Dive:A
2025-03-12T11:30:18.765Z,1741779018.765 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow] Stopped
2025-03-12T11:30:18.765Z,1741779018.765 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepthSlow
2025-03-12T11:30:18.765Z,1741779018.765 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:A.SetSpeed] Stopped
2025-03-12T11:30:18.765Z,1741779018.765 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:A.SetSpeed](DEBUG): Uninitialize.
2025-03-12T11:30:18.766Z,1741779018.766 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:B] Stopped
2025-03-12T11:30:18.766Z,1741779018.766 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:C.Buoyancy] Stopped
2025-03-12T11:30:18.766Z,1741779018.766 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-03-12T11:30:18.766Z,1741779018.766 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:D.Pitch] Stopped
2025-03-12T11:30:18.770Z,1741779018.770 [sci2_noyo_optim:NeedComms] Running Loop=1
2025-03-12T11:30:18.770Z,1741779018.770 [sci2_noyo_optim:NeedComms](DEBUG): Aggregate::initialize sci2_noyo_optim:NeedComms
2025-03-12T11:30:18.770Z,1741779018.770 [sci2_noyo_optim:NeedComms:B.GoToSurface] Running Loop=1
2025-03-12T11:30:18.770Z,1741779018.770 [sci2_noyo_optim:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-03-12T11:30:18.771Z,1741779018.771 [sci2_noyo_optim:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-03-12T11:30:18.771Z,1741779018.771 [sci2_noyo_optim:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-03-12T11:30:18.771Z,1741779018.771 [sci2_noyo_optim:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-03-12T11:30:18.772Z,1741779018.772 [sci2_noyo_optim:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-03-12T11:30:18.772Z,1741779018.772 [sci2_noyo_optim:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-03-12T11:30:18.772Z,1741779018.772 [sci2_noyo_optim:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-03-12T11:30:18.773Z,1741779018.773 [sci2_noyo_optim:NeedComms:A] Running Loop=1
2025-03-12T11:30:18.774Z,1741779018.774 [sci2_noyo_optim:NeedComms:A](INFO): last time_fix was:  1741775417.000000 second since 1970/01/01T00:00:00Z 
2025-03-12T11:30:18.774Z,1741779018.774 [sci2_noyo_optim:NeedComms:A] Stopped
2025-03-12T11:30:44.926Z,1741779044.926 [sci2_noyo_optim:DiveCmd:MaintainDepth] Running Loop=1
2025-03-12T11:30:44.927Z,1741779044.927 [sci2_noyo_optim:DiveCmd:MaintainDepth](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepth
2025-03-12T11:30:44.927Z,1741779044.927 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive] Running Loop=1
2025-03-12T11:30:44.927Z,1741779044.927 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive
2025-03-12T11:30:44.927Z,1741779044.927 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive] Running Loop=1
2025-03-12T11:30:44.928Z,1741779044.928 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive
2025-03-12T11:30:44.928Z,1741779044.928 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass] Running Loop=1
2025-03-12T11:30:44.928Z,1741779044.928 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass](DEBUG): Initialize.
2025-03-12T11:30:44.928Z,1741779044.928 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed] Running Loop=1
2025-03-12T11:30:44.929Z,1741779044.929 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed](DEBUG): Initialize.
2025-03-12T11:30:44.929Z,1741779044.929 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:B.Pitch] Running Loop=1
2025-03-12T11:30:44.929Z,1741779044.929 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:B.Pitch](DEBUG): Initialize.
2025-03-12T11:31:49.307Z,1741779109.307 [BPC1](ERROR): BPC1B: No match for serial number FFFF in BPC1B's battery stick inventory (sticks 32-62 in onboard configuration file).
2025-03-12T11:31:57.967Z,1741779117.967 [Waterlinked](ERROR): only read 0 of 1 data item for altitude. Device response::BD,       +0.00,       0
2025-03-12T11:32:02.774Z,1741779122.774 [Waterlinked](ERROR): only read 0 of 1 data item for BIT error. Device response::TS,24052713313570, 0.0, +0.0   +0,    +0,    +0,V
2025-03-12T11:32:44.291Z,1741779164.291 [sci2_noyo_optim:NeedComms:C] Running Loop=1
2025-03-12T11:32:44.595Z,1741779164.595 [Radio_Surface](INFO): Powering up
2025-03-12T11:32:44.650Z,1741779164.650 [Waterlinked](INFO): Powering down
2025-03-12T11:32:50.630Z,1741779170.630 [DataOverHttps](INFO): Radio surface powered ON.
2025-03-12T11:33:16.908Z,1741779196.908 [NAL9602](ERROR): Failed to receive proper response when querying signal strength for MT queue check.
2025-03-12T11:33:16.982Z,1741779196.982 [NAL9602](ERROR): received: 
+CSQ:0

OK517, 2, 0, 0, 0

OK
2025-03-12T11:33:20.750Z,1741779200.750 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T11:33:55.890Z,1741779235.890 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T11:34:31.030Z,1741779271.030 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T11:35:06.187Z,1741779306.187 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T11:35:41.334Z,1741779341.334 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T11:36:14.160Z,1741779374.160 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.004377
2025-03-12T11:37:48.402Z,1741779468.402 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2025-03-12T11:37:58.105Z,1741779478.105 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,113757.00,A,3648.32397,N,12151.06589,W,0.933,339.53,120325,,,A*7A
2025-03-12T11:37:58.108Z,1741779478.108 [NAL9602](INFO): GPS fix at 20250312T113757: (36.805400, -121.851098)
2025-03-12T11:37:58.119Z,1741779478.119 [UniversalFixResidualReporter](INFO): Fix residual: 54.4 %DT, over the last 1766.5 m. Residual distance 961.6 m at bearing 172.8 degrees. Fix at (36.8054, -121.8511) with 585.8 m made good.
2025-03-12T11:37:58.154Z,1741779478.154 [sci2_noyo_optim:NeedComms:C] Stopped
2025-03-12T11:37:58.155Z,1741779478.155 [sci2_noyo_optim:NeedComms:D] Running Loop=1
2025-03-12T11:38:05.846Z,1741779485.846 [DataOverHttps](INFO): Sending 94 bytes from file Logs/20250311T232940/Courier0123.lzma
2025-03-12T11:38:06.849Z,1741779486.849 [DataOverHttps](INFO): Moved sent file to Logs/20250311T232940/Courier0123.lzma.bak
2025-03-12T11:38:06.849Z,1741779486.849 [DataOverHttps](INFO): SBD MOMSN=24183256
2025-03-12T11:38:23.639Z,1741779503.639 [DataOverHttps](INFO): Sending 633 bytes from file Logs/20250311T232940/Express0124.lzma
2025-03-12T11:38:24.640Z,1741779504.640 [DataOverHttps](INFO): Moved sent file to Logs/20250311T232940/Express0124.lzma.bak
2025-03-12T11:38:24.641Z,1741779504.641 [DataOverHttps](INFO): SBD MOMSN=24183259
2025-03-12T11:38:26.010Z,1741779506.010 [sci2_noyo_optim:NeedComms:D] Stopped
2025-03-12T11:38:26.010Z,1741779506.010 [sci2_noyo_optim:NeedComms:E] Running Loop=1
2025-03-12T11:38:27.998Z,1741779507.998 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,113827.00,A,3648.32963,N,12151.06722,W,0.661,334.72,120325,,,A*76
2025-03-12T11:38:27.000Z,1741779508.000 [NAL9602](INFO): GPS fix at 20250312T113827: (36.805494, -121.851120)
2025-03-12T11:38:28.042Z,1741779508.042 [sci2_noyo_optim:NeedComms:E] Stopped
2025-03-12T11:38:28.043Z,1741779508.043 [sci2_noyo_optim:NeedComms](INFO): Completed sci2_noyo_optim:NeedComms
2025-03-12T11:38:28.043Z,1741779508.043 [sci2_noyo_optim:NeedComms] Stopped
2025-03-12T11:38:28.044Z,1741779508.044 [sci2_noyo_optim:NeedComms](DEBUG): Aggregate::uninitialize sci2_noyo_optim:NeedComms
2025-03-12T11:38:28.044Z,1741779508.044 [sci2_noyo_optim:NeedComms:B.GoToSurface] Stopped
2025-03-12T11:38:28.044Z,1741779508.044 [sci2_noyo_optim:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-03-12T11:38:28.438Z,1741779508.438 [sci2_noyo_optim:SurfaceComms:B](INFO): Completed sci2_noyo_optim:SurfaceComms:B
2025-03-12T11:38:28.439Z,1741779508.439 [sci2_noyo_optim:SurfaceComms:B] Stopped
2025-03-12T11:38:28.439Z,1741779508.439 [sci2_noyo_optim:SurfaceComms:B](DEBUG): Aggregate::uninitialize sci2_noyo_optim:SurfaceComms:B
2025-03-12T11:38:28.439Z,1741779508.439 [sci2_noyo_optim:SurfaceComms:C] Running Loop=1
2025-03-12T11:38:28.847Z,1741779508.847 [sci2_noyo_optim:SurfaceComms:C] Stopped
2025-03-12T11:38:28.847Z,1741779508.847 [sci2_noyo_optim:SurfaceComms](INFO): Completed sci2_noyo_optim:SurfaceComms
2025-03-12T11:38:28.847Z,1741779508.847 [sci2_noyo_optim:SurfaceComms] Stopped
2025-03-12T11:38:28.847Z,1741779508.847 [sci2_noyo_optim:SurfaceComms](DEBUG): Aggregate::uninitialize sci2_noyo_optim:SurfaceComms
2025-03-12T11:38:29.256Z,1741779509.256 [sci2_noyo_optim:Lap:Dive] Running Loop=1
2025-03-12T11:38:29.256Z,1741779509.256 [sci2_noyo_optim:Lap:Dive](DEBUG): Aggregate::initialize sci2_noyo_optim:Lap:Dive
2025-03-12T11:38:29.256Z,1741779509.256 [sci2_noyo_optim:Lap:Dive:A] Running Loop=1
2025-03-12T11:38:29.256Z,1741779509.256 [sci2_noyo_optim:Lap:Dive:A](DEBUG): Aggregate::initialize sci2_noyo_optim:Lap:Dive:A
2025-03-12T11:38:29.263Z,1741779509.263 [sci2_noyo_optim:DiveCmd:InitialDive] Running Loop=1
2025-03-12T11:38:29.263Z,1741779509.263 [sci2_noyo_optim:DiveCmd:InitialDive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:InitialDive
2025-03-12T11:38:29.263Z,1741779509.263 [sci2_noyo_optim:DiveCmd:InitialDive:dive] Running Loop=1
2025-03-12T11:38:29.263Z,1741779509.263 [sci2_noyo_optim:DiveCmd:InitialDive:dive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:InitialDive:dive
2025-03-12T11:38:29.263Z,1741779509.263 [sci2_noyo_optim:DiveCmd:InitialDive:dive:A] Running Loop=1
2025-03-12T11:38:29.263Z,1741779509.263 [sci2_noyo_optim:DiveCmd:InitialDive:dive:B] Running Loop=1
2025-03-12T11:38:29.263Z,1741779509.263 [sci2_noyo_optim:DiveCmd:InitialDive:dive:C.Mass] Running Loop=1
2025-03-12T11:38:29.263Z,1741779509.263 [sci2_noyo_optim:DiveCmd:InitialDive:dive:C.Mass](DEBUG): Initialize.
2025-03-12T11:38:29.263Z,1741779509.263 [sci2_noyo_optim:DiveCmd:InitialDive:dive:D] Running Loop=1
2025-03-12T11:38:29.264Z,1741779509.264 [sci2_noyo_optim:DiveCmd:InitialDive:dive:D](INFO): Waiting for  1.000000 min while pumping down to neutral.
2025-03-12T11:38:29.264Z,1741779509.264 [sci2_noyo_optim:DiveCmd:InitialDive:dive:D] Stopped
2025-03-12T11:38:29.264Z,1741779509.264 [sci2_noyo_optim:DiveCmd:InitialDive:dive:E.Wait] Running Loop=1
2025-03-12T11:38:29.264Z,1741779509.264 [sci2_noyo_optim:DiveCmd:InitialDive:dive:E.Wait](DEBUG): Initialize Wait Component.
2025-03-12T11:39:00.469Z,1741779540.469 [NAL9602](INFO): Not Powering down - fast GPS
2025-03-12T11:39:29.989Z,1741779569.989 [sci2_noyo_optim:DiveCmd:InitialDive:dive:E.Wait](INFO): Done Waiting.
2025-03-12T11:39:29.989Z,1741779569.989 [sci2_noyo_optim:DiveCmd:InitialDive:dive:E.Wait] Stopped
2025-03-12T11:39:29.989Z,1741779569.989 [sci2_noyo_optim:DiveCmd:InitialDive:dive:E.Wait](DEBUG): Uninitialize Wait Component.
2025-03-12T11:39:29.991Z,1741779569.991 [sci2_noyo_optim:DiveCmd:InitialDive:dive:F] Running Loop=1
2025-03-12T11:39:30.422Z,1741779570.422 [sci2_noyo_optim:DiveCmd:InitialDive:dive:F](INFO): Moving to  10.000000 m 
2025-03-12T11:39:30.423Z,1741779570.423 [sci2_noyo_optim:DiveCmd:InitialDive:dive:F] Stopped
2025-03-12T11:39:30.423Z,1741779570.423 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth] Running Loop=1
2025-03-12T11:39:30.423Z,1741779570.423 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth
2025-03-12T11:39:30.423Z,1741779570.423 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:A.SetSpeed] Running Loop=1
2025-03-12T11:39:30.423Z,1741779570.423 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:A.SetSpeed](DEBUG): Initialize.
2025-03-12T11:39:30.423Z,1741779570.423 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:B.Pitch] Running Loop=1
2025-03-12T11:39:30.423Z,1741779570.423 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:B.Pitch](DEBUG): Initialize.
2025-03-12T11:39:34.324Z,1741779574.324 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.240150
2025-03-12T11:40:05.934Z,1741779605.934 [Radio_Surface](INFO): Powering down
2025-03-12T11:40:06.462Z,1741779606.462 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T11:40:07.468Z,1741779607.468 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-03-12T11:40:40.760Z,1741779640.760 [Waterlinked](ERROR): only read 0 of 1 data item for altitude. Device response::BD,       +0.00,      00
2025-03-12T11:41:46.764Z,1741779706.764 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:B.Pitch] Stopped
2025-03-12T11:41:46.765Z,1741779706.765 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth](INFO): Completed sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth
2025-03-12T11:41:46.765Z,1741779706.765 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth] Stopped
2025-03-12T11:41:46.765Z,1741779706.765 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth
2025-03-12T11:41:46.765Z,1741779706.765 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:A.SetSpeed] Stopped
2025-03-12T11:41:46.765Z,1741779706.765 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:A.SetSpeed](DEBUG): Uninitialize.
2025-03-12T11:41:46.765Z,1741779706.765 [sci2_noyo_optim:DiveCmd:InitialDive:dive:H] Running Loop=1
2025-03-12T11:41:47.185Z,1741779707.185 [sci2_noyo_optim:DiveCmd:InitialDive:dive:H] Stopped
2025-03-12T11:41:47.186Z,1741779707.186 [sci2_noyo_optim:DiveCmd:InitialDive:dive](INFO): Completed sci2_noyo_optim:DiveCmd:InitialDive:dive
2025-03-12T11:41:47.186Z,1741779707.186 [sci2_noyo_optim:DiveCmd:InitialDive:dive] Stopped
2025-03-12T11:41:47.190Z,1741779707.190 [sci2_noyo_optim:DiveCmd:InitialDive:dive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:InitialDive:dive
2025-03-12T11:41:47.190Z,1741779707.190 [sci2_noyo_optim:DiveCmd:InitialDive:dive:A] Stopped
2025-03-12T11:41:47.190Z,1741779707.190 [sci2_noyo_optim:DiveCmd:InitialDive:dive:B] Stopped
2025-03-12T11:41:47.190Z,1741779707.190 [sci2_noyo_optim:DiveCmd:InitialDive:dive:C.Mass] Stopped
2025-03-12T11:41:47.190Z,1741779707.190 [sci2_noyo_optim:DiveCmd:InitialDive:dive:C.Mass](DEBUG): Uninitialize.
2025-03-12T11:41:47.190Z,1741779707.190 [sci2_noyo_optim:DiveCmd:InitialDive](INFO): Completed sci2_noyo_optim:DiveCmd:InitialDive
2025-03-12T11:41:47.634Z,1741779707.634 [sci2_noyo_optim:DiveCmd:SettleAtDepth] Running Loop=1
2025-03-12T11:41:47.643Z,1741779707.643 [sci2_noyo_optim:DiveCmd:SettleAtDepth](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:SettleAtDepth
2025-03-12T11:41:47.643Z,1741779707.643 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive] Running Loop=1
2025-03-12T11:41:47.644Z,1741779707.644 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:SettleAtDepth:dive
2025-03-12T11:41:47.644Z,1741779707.644 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:B.Pitch] Running Loop=1
2025-03-12T11:41:47.644Z,1741779707.644 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:B.Pitch](DEBUG): Initialize.
2025-03-12T11:41:47.645Z,1741779707.645 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:A] Running Loop=1
2025-03-12T11:41:47.660Z,1741779707.660 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:A](INFO): Reached  10.043283 m , settling for  3.000000 min 
2025-03-12T11:41:47.660Z,1741779707.660 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:A] Stopped
2025-03-12T11:41:47.661Z,1741779707.661 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:C.Wait] Running Loop=1
2025-03-12T11:41:47.661Z,1741779707.661 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:C.Wait](DEBUG): Initialize Wait Component.
2025-03-12T11:44:48.273Z,1741779888.273 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:C.Wait](INFO): Done Waiting.
2025-03-12T11:44:48.278Z,1741779888.278 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:C.Wait] Stopped
2025-03-12T11:44:48.278Z,1741779888.278 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:C.Wait](DEBUG): Uninitialize Wait Component.
2025-03-12T11:44:48.279Z,1741779888.279 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:D] Running Loop=1
2025-03-12T11:44:48.617Z,1741779888.617 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:D] Stopped
2025-03-12T11:44:48.618Z,1741779888.618 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive](INFO): Completed sci2_noyo_optim:DiveCmd:SettleAtDepth:dive
2025-03-12T11:44:48.618Z,1741779888.618 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive] Stopped
2025-03-12T11:44:48.618Z,1741779888.618 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:SettleAtDepth:dive
2025-03-12T11:44:48.619Z,1741779888.619 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:B.Pitch] Stopped
2025-03-12T11:44:48.620Z,1741779888.620 [sci2_noyo_optim:DiveCmd:SettleAtDepth](INFO): Completed sci2_noyo_optim:DiveCmd:SettleAtDepth
2025-03-12T11:45:56.221Z,1741779956.221 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow] Running Loop=1
2025-03-12T11:45:56.221Z,1741779956.221 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepthSlow
2025-03-12T11:45:56.222Z,1741779956.222 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:A.SetSpeed] Running Loop=1
2025-03-12T11:45:56.222Z,1741779956.222 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:A.SetSpeed](DEBUG): Initialize.
2025-03-12T11:45:56.222Z,1741779956.222 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:B] Running Loop=1
2025-03-12T11:45:56.222Z,1741779956.222 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:C.Buoyancy] Running Loop=1
2025-03-12T11:45:56.222Z,1741779956.222 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:C.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-03-12T11:45:56.222Z,1741779956.222 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:D.Pitch] Running Loop=1
2025-03-12T11:45:56.222Z,1741779956.222 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:D.Pitch](DEBUG): Initialize.
2025-03-12T11:45:56.223Z,1741779956.223 [sci2_noyo_optim:DiveCmd:MaintainDepth] Stopped
2025-03-12T11:45:56.224Z,1741779956.224 [sci2_noyo_optim:DiveCmd:MaintainDepth](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepth
2025-03-12T11:45:56.224Z,1741779956.224 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive] Stopped
2025-03-12T11:45:56.224Z,1741779956.224 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive
2025-03-12T11:45:56.224Z,1741779956.224 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive] Stopped
2025-03-12T11:45:56.224Z,1741779956.224 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive
2025-03-12T11:45:56.224Z,1741779956.224 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass] Stopped
2025-03-12T11:45:56.224Z,1741779956.224 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass](DEBUG): Uninitialize.
2025-03-12T11:45:56.224Z,1741779956.224 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed] Stopped
2025-03-12T11:45:56.224Z,1741779956.224 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed](DEBUG): Uninitialize.
2025-03-12T11:45:56.224Z,1741779956.224 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:B.Pitch] Stopped
2025-03-12T11:50:41.827Z,1741780241.827 [Waterlinked](ERROR): only read 3 of 5 data items. Device response::BI,   +0,    +0,    +0,V
2025-03-12T11:56:06.503Z,1741780566.503 [BPC1](INFO): Calculating totals. Valid battery stick count: 51. Valid reserve battery stick count: 5.
2025-03-12T11:56:06.510Z,1741780566.510 [BPC1](FAULT): Failed to receive data from 2 sticks prior to timeout. Will not retry this scan cycle. Missing stick IDs are: 21, 24.
2025-03-12T11:56:18.220Z,1741780578.220 [Waterlinked](ERROR): only read 0 of 1 data item for BIT error. Device response::TS,240520,    +0,    +0,V
2025-03-12T11:58:27.159Z,1741780707.159 [Waterlinked](ERROR): only read 0 of 1 data item for altitude. Device response::BD,       +0.0 +0.00,       +0.00,   0.00,  0.00
2025-03-12T11:59:34.419Z,1741780774.419 [CTD_Seabird](ERROR): Failed to parse device response: 34247.99
2025-03-12T12:09:57.575Z,1741781397.575 [Waterlinked](ERROR): only read 0 of 5 data items. Device response::BI,   :BE,    +0,    +0,    +0,V
2025-03-12T12:32:48.986Z,1741782768.986 [Waterlinked](ERROR): only read 3 of 5 data items. Device response::BI,    +0,   +0,    +0,V
2025-03-12T12:37:08.247Z,1741783028.247 [BPC1](INFO): Calculating totals. Valid battery stick count: 51. Valid reserve battery stick count: 5.
2025-03-12T12:37:08.250Z,1741783028.250 [BPC1](FAULT): Failed to receive data from 2 sticks prior to timeout. Will not retry this scan cycle. Missing stick IDs are: 21, 24.
2025-03-12T12:38:28.187Z,1741783108.187 [sci2_noyo_optim:SurfaceComms] Running Loop=1
2025-03-12T12:38:28.187Z,1741783108.187 [sci2_noyo_optim:SurfaceComms](DEBUG): Aggregate::initialize sci2_noyo_optim:SurfaceComms
2025-03-12T12:38:28.188Z,1741783108.188 [sci2_noyo_optim:SurfaceComms:A] Running Loop=1
2025-03-12T12:38:28.188Z,1741783108.188 [sci2_noyo_optim:SurfaceComms:A] Stopped
2025-03-12T12:38:28.188Z,1741783108.188 [sci2_noyo_optim:SurfaceComms:B] Running Loop=1
2025-03-12T12:38:28.188Z,1741783108.188 [sci2_noyo_optim:SurfaceComms:B](DEBUG): Aggregate::initialize sci2_noyo_optim:SurfaceComms:B
2025-03-12T12:38:28.609Z,1741783108.609 [sci2_noyo_optim:Lap:Dive] Stopped
2025-03-12T12:38:28.609Z,1741783108.609 [sci2_noyo_optim:Lap:Dive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Lap:Dive
2025-03-12T12:38:28.610Z,1741783108.610 [sci2_noyo_optim:Lap:Dive:A] Stopped
2025-03-12T12:38:28.610Z,1741783108.610 [sci2_noyo_optim:Lap:Dive:A](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Lap:Dive:A
2025-03-12T12:38:28.627Z,1741783108.627 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow] Stopped
2025-03-12T12:38:28.627Z,1741783108.627 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepthSlow
2025-03-12T12:38:28.627Z,1741783108.627 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:A.SetSpeed] Stopped
2025-03-12T12:38:28.627Z,1741783108.627 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:A.SetSpeed](DEBUG): Uninitialize.
2025-03-12T12:38:28.627Z,1741783108.627 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:B] Stopped
2025-03-12T12:38:28.627Z,1741783108.627 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:C.Buoyancy] Stopped
2025-03-12T12:38:28.627Z,1741783108.627 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-03-12T12:38:28.627Z,1741783108.627 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:D.Pitch] Stopped
2025-03-12T12:38:28.630Z,1741783108.630 [sci2_noyo_optim:NeedComms] Running Loop=1
2025-03-12T12:38:28.630Z,1741783108.630 [sci2_noyo_optim:NeedComms](DEBUG): Aggregate::initialize sci2_noyo_optim:NeedComms
2025-03-12T12:38:28.630Z,1741783108.630 [sci2_noyo_optim:NeedComms:B.GoToSurface] Running Loop=1
2025-03-12T12:38:28.630Z,1741783108.630 [sci2_noyo_optim:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-03-12T12:38:28.631Z,1741783108.631 [sci2_noyo_optim:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-03-12T12:38:28.631Z,1741783108.631 [sci2_noyo_optim:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-03-12T12:38:28.632Z,1741783108.632 [sci2_noyo_optim:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-03-12T12:38:28.632Z,1741783108.632 [sci2_noyo_optim:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-03-12T12:38:28.632Z,1741783108.632 [sci2_noyo_optim:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-03-12T12:38:28.632Z,1741783108.632 [sci2_noyo_optim:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-03-12T12:38:28.633Z,1741783108.633 [sci2_noyo_optim:NeedComms:A] Running Loop=1
2025-03-12T12:38:28.636Z,1741783108.636 [sci2_noyo_optim:NeedComms:A](INFO): last time_fix was:  1741779507.000000 second since 1970/01/01T00:00:00Z 
2025-03-12T12:38:28.636Z,1741783108.636 [sci2_noyo_optim:NeedComms:A] Stopped
2025-03-12T12:38:47.493Z,1741783127.493 [sci2_noyo_optim:DiveCmd:MaintainDepth] Running Loop=1
2025-03-12T12:38:47.493Z,1741783127.493 [sci2_noyo_optim:DiveCmd:MaintainDepth](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepth
2025-03-12T12:38:47.494Z,1741783127.494 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive] Running Loop=1
2025-03-12T12:38:47.494Z,1741783127.494 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive
2025-03-12T12:38:47.494Z,1741783127.494 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive] Running Loop=1
2025-03-12T12:38:47.494Z,1741783127.494 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive
2025-03-12T12:38:47.494Z,1741783127.494 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass] Running Loop=1
2025-03-12T12:38:47.494Z,1741783127.494 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass](DEBUG): Initialize.
2025-03-12T12:38:47.494Z,1741783127.494 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed] Running Loop=1
2025-03-12T12:38:47.494Z,1741783127.494 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed](DEBUG): Initialize.
2025-03-12T12:38:47.495Z,1741783127.495 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:B.Pitch] Running Loop=1
2025-03-12T12:38:47.495Z,1741783127.495 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:B.Pitch](DEBUG): Initialize.
2025-03-12T12:40:37.703Z,1741783237.703 [sci2_noyo_optim:NeedComms:C] Running Loop=1
2025-03-12T12:40:38.094Z,1741783238.094 [Waterlinked](INFO): Powering down
2025-03-12T12:40:38.350Z,1741783238.350 [Radio_Surface](INFO): Powering up
2025-03-12T12:40:43.607Z,1741783243.607 [DataOverHttps](INFO): Radio surface powered ON.
2025-03-12T12:41:10.476Z,1741783270.476 [NAL9602](ERROR): Failed to receive proper response when querying signal strength for MT queue check.
2025-03-12T12:41:10.558Z,1741783270.558 [NAL9602](ERROR): received: 
+CSQ:0

OK517, 2, 0, 0, 0

OK
2025-03-12T12:41:13.730Z,1741783273.730 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T12:41:48.879Z,1741783308.879 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T12:42:24.018Z,1741783344.018 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T12:42:59.166Z,1741783379.166 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T12:43:34.306Z,1741783414.306 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T12:44:07.176Z,1741783447.176 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.004374
2025-03-12T12:45:41.564Z,1741783541.564 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2025-03-12T12:45:45.205Z,1741783545.205 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,124544.00,A,3648.28849,N,12151.69155,W,0.758,18.14,120325,,,A*41
2025-03-12T12:45:45.208Z,1741783545.208 [NAL9602](INFO): GPS fix at 20250312T124544: (36.804808, -121.861526)
2025-03-12T12:45:45.256Z,1741783545.256 [UniversalFixResidualReporter](INFO): Fix residual: 55.2 %DT, over the last 1747.9 m. Residual distance 964.9 m at bearing -154.3 degrees. Fix at (36.8048, -121.8615) with 929.5 m made good.
2025-03-12T12:45:45.291Z,1741783545.291 [sci2_noyo_optim:NeedComms:C] Stopped
2025-03-12T12:45:45.291Z,1741783545.291 [sci2_noyo_optim:NeedComms:D] Running Loop=1
2025-03-12T12:45:55.739Z,1741783555.739 [DataOverHttps](INFO): Sending 94 bytes from file Logs/20250311T232940/Courier0126.lzma
2025-03-12T12:45:56.740Z,1741783556.740 [DataOverHttps](INFO): Moved sent file to Logs/20250311T232940/Courier0126.lzma.bak
2025-03-12T12:45:56.741Z,1741783556.741 [DataOverHttps](INFO): SBD MOMSN=24183436
2025-03-12T12:46:13.115Z,1741783573.115 [DataOverHttps](INFO): Sending 505 bytes from file Logs/20250311T232940/Express0127.lzma
2025-03-12T12:46:14.116Z,1741783574.116 [DataOverHttps](INFO): Moved sent file to Logs/20250311T232940/Express0127.lzma.bak
2025-03-12T12:46:14.117Z,1741783574.117 [DataOverHttps](INFO): SBD MOMSN=24183439
2025-03-12T12:46:15.434Z,1741783575.434 [sci2_noyo_optim:NeedComms:D] Stopped
2025-03-12T12:46:15.434Z,1741783575.434 [sci2_noyo_optim:NeedComms:E] Running Loop=1
2025-03-12T12:46:17.437Z,1741783577.437 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,124616.00,A,3648.29260,N,12151.69182,W,0.369,6.94,120325,,,A*7E
2025-03-12T12:46:17.440Z,1741783577.440 [NAL9602](INFO): GPS fix at 20250312T124616: (36.804877, -121.861530)
2025-03-12T12:46:17.478Z,1741783577.478 [sci2_noyo_optim:NeedComms:E] Stopped
2025-03-12T12:46:17.479Z,1741783577.479 [sci2_noyo_optim:NeedComms](INFO): Completed sci2_noyo_optim:NeedComms
2025-03-12T12:46:17.479Z,1741783577.479 [sci2_noyo_optim:NeedComms] Stopped
2025-03-12T12:46:17.479Z,1741783577.479 [sci2_noyo_optim:NeedComms](DEBUG): Aggregate::uninitialize sci2_noyo_optim:NeedComms
2025-03-12T12:46:17.480Z,1741783577.480 [sci2_noyo_optim:NeedComms:B.GoToSurface] Stopped
2025-03-12T12:46:17.480Z,1741783577.480 [sci2_noyo_optim:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-03-12T12:46:17.887Z,1741783577.887 [sci2_noyo_optim:SurfaceComms:B](INFO): Completed sci2_noyo_optim:SurfaceComms:B
2025-03-12T12:46:17.887Z,1741783577.887 [sci2_noyo_optim:SurfaceComms:B] Stopped
2025-03-12T12:46:17.887Z,1741783577.887 [sci2_noyo_optim:SurfaceComms:B](DEBUG): Aggregate::uninitialize sci2_noyo_optim:SurfaceComms:B
2025-03-12T12:46:17.887Z,1741783577.887 [sci2_noyo_optim:SurfaceComms:C] Running Loop=1
2025-03-12T12:46:18.290Z,1741783578.290 [sci2_noyo_optim:SurfaceComms:C] Stopped
2025-03-12T12:46:18.290Z,1741783578.290 [sci2_noyo_optim:SurfaceComms](INFO): Completed sci2_noyo_optim:SurfaceComms
2025-03-12T12:46:18.290Z,1741783578.290 [sci2_noyo_optim:SurfaceComms] Stopped
2025-03-12T12:46:18.290Z,1741783578.290 [sci2_noyo_optim:SurfaceComms](DEBUG): Aggregate::uninitialize sci2_noyo_optim:SurfaceComms
2025-03-12T12:46:18.691Z,1741783578.691 [sci2_noyo_optim:Lap:Dive] Running Loop=1
2025-03-12T12:46:18.692Z,1741783578.692 [sci2_noyo_optim:Lap:Dive](DEBUG): Aggregate::initialize sci2_noyo_optim:Lap:Dive
2025-03-12T12:46:18.692Z,1741783578.692 [sci2_noyo_optim:Lap:Dive:A] Running Loop=1
2025-03-12T12:46:18.692Z,1741783578.692 [sci2_noyo_optim:Lap:Dive:A](DEBUG): Aggregate::initialize sci2_noyo_optim:Lap:Dive:A
2025-03-12T12:46:18.699Z,1741783578.699 [sci2_noyo_optim:DiveCmd:InitialDive] Running Loop=1
2025-03-12T12:46:18.699Z,1741783578.699 [sci2_noyo_optim:DiveCmd:InitialDive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:InitialDive
2025-03-12T12:46:18.699Z,1741783578.699 [sci2_noyo_optim:DiveCmd:InitialDive:dive] Running Loop=1
2025-03-12T12:46:18.699Z,1741783578.699 [sci2_noyo_optim:DiveCmd:InitialDive:dive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:InitialDive:dive
2025-03-12T12:46:18.699Z,1741783578.699 [sci2_noyo_optim:DiveCmd:InitialDive:dive:A] Running Loop=1
2025-03-12T12:46:18.699Z,1741783578.699 [sci2_noyo_optim:DiveCmd:InitialDive:dive:B] Running Loop=1
2025-03-12T12:46:18.699Z,1741783578.699 [sci2_noyo_optim:DiveCmd:InitialDive:dive:C.Mass] Running Loop=1
2025-03-12T12:46:18.699Z,1741783578.699 [sci2_noyo_optim:DiveCmd:InitialDive:dive:C.Mass](DEBUG): Initialize.
2025-03-12T12:46:18.699Z,1741783578.699 [sci2_noyo_optim:DiveCmd:InitialDive:dive:D] Running Loop=1
2025-03-12T12:46:18.700Z,1741783578.700 [sci2_noyo_optim:DiveCmd:InitialDive:dive:D](INFO): Waiting for  1.000000 min while pumping down to neutral.
2025-03-12T12:46:18.700Z,1741783578.700 [sci2_noyo_optim:DiveCmd:InitialDive:dive:D] Stopped
2025-03-12T12:46:18.700Z,1741783578.700 [sci2_noyo_optim:DiveCmd:InitialDive:dive:E.Wait] Running Loop=1
2025-03-12T12:46:18.700Z,1741783578.700 [sci2_noyo_optim:DiveCmd:InitialDive:dive:E.Wait](DEBUG): Initialize Wait Component.
2025-03-12T12:46:49.483Z,1741783609.483 [NAL9602](INFO): Not Powering down - fast GPS
2025-03-12T12:47:19.153Z,1741783639.153 [sci2_noyo_optim:DiveCmd:InitialDive:dive:E.Wait](INFO): Done Waiting.
2025-03-12T12:47:19.153Z,1741783639.153 [sci2_noyo_optim:DiveCmd:InitialDive:dive:E.Wait] Stopped
2025-03-12T12:47:19.153Z,1741783639.153 [sci2_noyo_optim:DiveCmd:InitialDive:dive:E.Wait](DEBUG): Uninitialize Wait Component.
2025-03-12T12:47:19.154Z,1741783639.154 [sci2_noyo_optim:DiveCmd:InitialDive:dive:F] Running Loop=1
2025-03-12T12:47:19.536Z,1741783639.536 [sci2_noyo_optim:DiveCmd:InitialDive:dive:F](INFO): Moving to  10.000000 m 
2025-03-12T12:47:19.536Z,1741783639.536 [sci2_noyo_optim:DiveCmd:InitialDive:dive:F] Stopped
2025-03-12T12:47:19.536Z,1741783639.536 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth] Running Loop=1
2025-03-12T12:47:19.536Z,1741783639.536 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth
2025-03-12T12:47:19.536Z,1741783639.536 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:A.SetSpeed] Running Loop=1
2025-03-12T12:47:19.536Z,1741783639.536 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:A.SetSpeed](DEBUG): Initialize.
2025-03-12T12:47:19.536Z,1741783639.536 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:B.Pitch] Running Loop=1
2025-03-12T12:47:19.536Z,1741783639.536 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:B.Pitch](DEBUG): Initialize.
2025-03-12T12:47:20.596Z,1741783640.596 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T12:47:23.608Z,1741783643.608 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.246952
2025-03-12T12:47:55.582Z,1741783675.582 [Radio_Surface](INFO): Powering down
2025-03-12T12:47:55.766Z,1741783675.766 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T12:47:56.771Z,1741783676.771 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-03-12T12:49:24.372Z,1741783764.372 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:B.Pitch] Stopped
2025-03-12T12:49:24.373Z,1741783764.373 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth](INFO): Completed sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth
2025-03-12T12:49:24.373Z,1741783764.373 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth] Stopped
2025-03-12T12:49:24.373Z,1741783764.373 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth
2025-03-12T12:49:24.373Z,1741783764.373 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:A.SetSpeed] Stopped
2025-03-12T12:49:24.373Z,1741783764.373 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:A.SetSpeed](DEBUG): Uninitialize.
2025-03-12T12:49:24.373Z,1741783764.373 [sci2_noyo_optim:DiveCmd:InitialDive:dive:H] Running Loop=1
2025-03-12T12:49:24.761Z,1741783764.760 [sci2_noyo_optim:DiveCmd:InitialDive:dive:H] Stopped
2025-03-12T12:49:24.761Z,1741783764.761 [sci2_noyo_optim:DiveCmd:InitialDive:dive](INFO): Completed sci2_noyo_optim:DiveCmd:InitialDive:dive
2025-03-12T12:49:24.761Z,1741783764.761 [sci2_noyo_optim:DiveCmd:InitialDive:dive] Stopped
2025-03-12T12:49:24.761Z,1741783764.761 [sci2_noyo_optim:DiveCmd:InitialDive:dive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:InitialDive:dive
2025-03-12T12:49:24.762Z,1741783764.762 [sci2_noyo_optim:DiveCmd:InitialDive:dive:A] Stopped
2025-03-12T12:49:24.762Z,1741783764.762 [sci2_noyo_optim:DiveCmd:InitialDive:dive:B] Stopped
2025-03-12T12:49:24.762Z,1741783764.762 [sci2_noyo_optim:DiveCmd:InitialDive:dive:C.Mass] Stopped
2025-03-12T12:49:24.762Z,1741783764.762 [sci2_noyo_optim:DiveCmd:InitialDive:dive:C.Mass](DEBUG): Uninitialize.
2025-03-12T12:49:24.762Z,1741783764.762 [sci2_noyo_optim:DiveCmd:InitialDive](INFO): Completed sci2_noyo_optim:DiveCmd:InitialDive
2025-03-12T12:49:25.275Z,1741783765.275 [sci2_noyo_optim:DiveCmd:SettleAtDepth] Running Loop=1
2025-03-12T12:49:25.275Z,1741783765.275 [sci2_noyo_optim:DiveCmd:SettleAtDepth](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:SettleAtDepth
2025-03-12T12:49:25.275Z,1741783765.275 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive] Running Loop=1
2025-03-12T12:49:25.275Z,1741783765.275 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:SettleAtDepth:dive
2025-03-12T12:49:25.275Z,1741783765.275 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:B.Pitch] Running Loop=1
2025-03-12T12:49:25.276Z,1741783765.276 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:B.Pitch](DEBUG): Initialize.
2025-03-12T12:49:25.276Z,1741783765.276 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:A] Running Loop=1
2025-03-12T12:49:25.277Z,1741783765.277 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:A](INFO): Reached  10.069837 m , settling for  3.000000 min 
2025-03-12T12:49:25.277Z,1741783765.277 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:A] Stopped
2025-03-12T12:49:25.277Z,1741783765.277 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:C.Wait] Running Loop=1
2025-03-12T12:49:25.277Z,1741783765.277 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:C.Wait](DEBUG): Initialize Wait Component.
2025-03-12T12:52:25.681Z,1741783945.681 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:C.Wait](INFO): Done Waiting.
2025-03-12T12:52:25.681Z,1741783945.681 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:C.Wait] Stopped
2025-03-12T12:52:25.681Z,1741783945.681 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:C.Wait](DEBUG): Uninitialize Wait Component.
2025-03-12T12:52:25.682Z,1741783945.682 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:D] Running Loop=1
2025-03-12T12:52:26.157Z,1741783946.157 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:D] Stopped
2025-03-12T12:52:26.158Z,1741783946.158 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive](INFO): Completed sci2_noyo_optim:DiveCmd:SettleAtDepth:dive
2025-03-12T12:52:26.158Z,1741783946.158 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive] Stopped
2025-03-12T12:52:26.158Z,1741783946.158 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:SettleAtDepth:dive
2025-03-12T12:52:26.159Z,1741783946.159 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:B.Pitch] Stopped
2025-03-12T12:52:26.159Z,1741783946.159 [sci2_noyo_optim:DiveCmd:SettleAtDepth](INFO): Completed sci2_noyo_optim:DiveCmd:SettleAtDepth
2025-03-12T12:53:33.540Z,1741784013.540 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow] Running Loop=1
2025-03-12T12:53:33.540Z,1741784013.540 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepthSlow
2025-03-12T12:53:33.540Z,1741784013.540 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:A.SetSpeed] Running Loop=1
2025-03-12T12:53:33.540Z,1741784013.540 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:A.SetSpeed](DEBUG): Initialize.
2025-03-12T12:53:33.541Z,1741784013.541 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:B] Running Loop=1
2025-03-12T12:53:33.541Z,1741784013.541 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:C.Buoyancy] Running Loop=1
2025-03-12T12:53:33.541Z,1741784013.541 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:C.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-03-12T12:53:33.541Z,1741784013.541 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:D.Pitch] Running Loop=1
2025-03-12T12:53:33.541Z,1741784013.541 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:D.Pitch](DEBUG): Initialize.
2025-03-12T12:53:33.542Z,1741784013.542 [sci2_noyo_optim:DiveCmd:MaintainDepth] Stopped
2025-03-12T12:53:33.542Z,1741784013.542 [sci2_noyo_optim:DiveCmd:MaintainDepth](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepth
2025-03-12T12:53:33.543Z,1741784013.543 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive] Stopped
2025-03-12T12:53:33.543Z,1741784013.543 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive
2025-03-12T12:53:33.543Z,1741784013.543 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive] Stopped
2025-03-12T12:53:33.543Z,1741784013.543 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive
2025-03-12T12:53:33.543Z,1741784013.543 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass] Stopped
2025-03-12T12:53:33.543Z,1741784013.543 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass](DEBUG): Uninitialize.
2025-03-12T12:53:33.543Z,1741784013.543 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed] Stopped
2025-03-12T12:53:33.543Z,1741784013.543 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed](DEBUG): Uninitialize.
2025-03-12T12:53:33.543Z,1741784013.543 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:B.Pitch] Stopped
2025-03-12T12:58:23.337Z,1741784303.337 [Waterlinked](ERROR): only read 0 of 1 data item for altitude. Device response::BD,       +0.00,       +0.000.00
2025-03-12T12:59:20.464Z,1741784360.464 [Waterlinked](ERROR): only read 0 of 1 data item for BIT error. Device response::TS,24052713142214, 0.0, 0.0,1475.0,  0
2025-03-12T13:03:46.429Z,1741784626.429 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size.
2025-03-12T13:09:35.798Z,1741784975.798 [Waterlinked](ERROR): only read 3 of 5 data items. Device response::BI,    +0,    +0,    +0,  :BS,    +0,    +0,    +0,V
2025-03-12T13:09:46.099Z,1741784986.099 [CTD_Seabird](ERROR): Failed to parse device response: 34276.78
2025-03-12T13:10:56.217Z,1741785056.217 [Waterlinked](ERROR): only read 0 of 1 data item for altitude. Device response::BD,       +0.00,       +0.00+0.00,   0.00,  0.00
2025-03-12T13:13:49.776Z,1741785229.776 [BPC1](ERROR): BPC1B: No match for serial number 1717 in BPC1B's battery stick inventory (sticks 32-62 in onboard configuration file).
2025-03-12T13:18:10.575Z,1741785490.575 [BPC1](INFO): Calculating totals. Valid battery stick count: 50. Valid reserve battery stick count: 5.
2025-03-12T13:18:10.606Z,1741785490.606 [BPC1](FAULT): Failed to receive data from 2 sticks prior to timeout. Will not retry this scan cycle. Missing stick IDs are: 21, 24.
2025-03-12T13:21:21.119Z,1741785681.119 [Waterlinked](ERROR): only read 1 of 5 data items. Device response::BI,    +0, 
2025-03-12T13:21:39.689Z,1741785699.689 [Waterlinked](ERROR): only read 0 of 1 data item for BIT error. Device response::TS,24052713364096, 0.0, +0.0,   0.    +0,    +0,V
2025-03-12T13:37:17.967Z,1741786637.967 [CTD_Seabird](ERROR): Failed to parse device response: 64,2306.71
2025-03-12T13:37:18.674Z,1741786638.674 [Waterlinked](ERROR): only read -1 of 5 data items. Device response::BI, 

2025-03-12T13:37:36.024Z,1741786656.024 [CTD_Seabird](ERROR): Failed to parse device response: .46
2025-03-12T13:41:57.614Z,1741786917.614 [Waterlinked](ERROR): only read 0 of 5 data items. Device response::BI,    +,    +0,    +0,V
2025-03-12T13:43:48.611Z,1741787028.611 [GFScanner](IMPORTANT): Beginning ground fault scan
2025-03-12T13:43:49.600Z,1741787029.600 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2025-03-12T13:43:49.602Z,1741787029.602 [CTD_Seabird](INFO): some bad data, not updating bins
2025-03-12T13:43:50.619Z,1741787030.619 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2025-03-12T13:43:50.621Z,1741787030.621 [CTD_Seabird](INFO): some bad data, not updating bins
2025-03-12T13:43:52.612Z,1741787032.612 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2025-03-12T13:43:52.613Z,1741787032.613 [CTD_Seabird](INFO): some bad data, not updating bins
2025-03-12T13:43:52.989Z,1741787032.989 [GFScanner](IMPORTANT): No ground fault detected
mA:
CHAN A0 (Batt): -0.002051
CHAN A1 (24V): 0.001339
CHAN A2 (12V): -0.005691
CHAN A3 (5V): -0.002664
CHAN B0 (3.3V): -0.001657
CHAN B1 (3.15aV): -0.001241
CHAN B2 (3.15bV): 0.004080
CHAN B3 (GND): -0.003952
OPEN: 0.006444
Full Scale: +/- 1 mA
2025-03-12T13:46:17.211Z,1741787177.211 [CTD_Seabird](ERROR): Failed to parse device response: 66,2369.72
2025-03-12T13:46:17.557Z,1741787177.557 [sci2_noyo_optim:SurfaceComms] Running Loop=1
2025-03-12T13:46:17.557Z,1741787177.557 [sci2_noyo_optim:SurfaceComms](DEBUG): Aggregate::initialize sci2_noyo_optim:SurfaceComms
2025-03-12T13:46:17.557Z,1741787177.557 [sci2_noyo_optim:SurfaceComms:A] Running Loop=1
2025-03-12T13:46:17.557Z,1741787177.557 [sci2_noyo_optim:SurfaceComms:A] Stopped
2025-03-12T13:46:17.558Z,1741787177.558 [sci2_noyo_optim:SurfaceComms:B] Running Loop=1
2025-03-12T13:46:17.558Z,1741787177.558 [sci2_noyo_optim:SurfaceComms:B](DEBUG): Aggregate::initialize sci2_noyo_optim:SurfaceComms:B
2025-03-12T13:46:17.866Z,1741787177.866 [sci2_noyo_optim:Lap:Dive] Stopped
2025-03-12T13:46:17.866Z,1741787177.866 [sci2_noyo_optim:Lap:Dive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Lap:Dive
2025-03-12T13:46:17.866Z,1741787177.866 [sci2_noyo_optim:Lap:Dive:A] Stopped
2025-03-12T13:46:17.866Z,1741787177.866 [sci2_noyo_optim:Lap:Dive:A](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Lap:Dive:A
2025-03-12T13:46:17.867Z,1741787177.867 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow] Stopped
2025-03-12T13:46:17.867Z,1741787177.867 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepthSlow
2025-03-12T13:46:17.867Z,1741787177.867 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:A.SetSpeed] Stopped
2025-03-12T13:46:17.867Z,1741787177.867 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:A.SetSpeed](DEBUG): Uninitialize.
2025-03-12T13:46:17.867Z,1741787177.867 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:B] Stopped
2025-03-12T13:46:17.867Z,1741787177.867 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:C.Buoyancy] Stopped
2025-03-12T13:46:17.867Z,1741787177.867 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-03-12T13:46:17.868Z,1741787177.868 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:D.Pitch] Stopped
2025-03-12T13:46:17.870Z,1741787177.870 [sci2_noyo_optim:NeedComms] Running Loop=1
2025-03-12T13:46:17.870Z,1741787177.870 [sci2_noyo_optim:NeedComms](DEBUG): Aggregate::initialize sci2_noyo_optim:NeedComms
2025-03-12T13:46:17.870Z,1741787177.870 [sci2_noyo_optim:NeedComms:B.GoToSurface] Running Loop=1
2025-03-12T13:46:17.870Z,1741787177.870 [sci2_noyo_optim:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-03-12T13:46:17.871Z,1741787177.871 [sci2_noyo_optim:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-03-12T13:46:17.871Z,1741787177.871 [sci2_noyo_optim:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-03-12T13:46:17.872Z,1741787177.872 [sci2_noyo_optim:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-03-12T13:46:17.872Z,1741787177.872 [sci2_noyo_optim:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-03-12T13:46:17.872Z,1741787177.872 [sci2_noyo_optim:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-03-12T13:46:17.873Z,1741787177.873 [sci2_noyo_optim:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-03-12T13:46:17.873Z,1741787177.873 [sci2_noyo_optim:NeedComms:A] Running Loop=1
2025-03-12T13:46:17.874Z,1741787177.874 [sci2_noyo_optim:NeedComms:A](INFO): last time_fix was:  1741783576.000000 second since 1970/01/01T00:00:00Z 
2025-03-12T13:46:17.875Z,1741787177.875 [sci2_noyo_optim:NeedComms:A] Stopped
2025-03-12T13:46:41.483Z,1741787201.483 [sci2_noyo_optim:DiveCmd:MaintainDepth] Running Loop=1
2025-03-12T13:46:41.483Z,1741787201.483 [sci2_noyo_optim:DiveCmd:MaintainDepth](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepth
2025-03-12T13:46:41.483Z,1741787201.483 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive] Running Loop=1
2025-03-12T13:46:41.483Z,1741787201.483 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive
2025-03-12T13:46:41.483Z,1741787201.483 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive] Running Loop=1
2025-03-12T13:46:41.483Z,1741787201.483 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive
2025-03-12T13:46:41.484Z,1741787201.484 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass] Running Loop=1
2025-03-12T13:46:41.484Z,1741787201.484 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass](DEBUG): Initialize.
2025-03-12T13:46:41.484Z,1741787201.484 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed] Running Loop=1
2025-03-12T13:46:41.484Z,1741787201.484 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed](DEBUG): Initialize.
2025-03-12T13:46:41.484Z,1741787201.484 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:B.Pitch] Running Loop=1
2025-03-12T13:46:41.484Z,1741787201.484 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:B.Pitch](DEBUG): Initialize.
2025-03-12T13:48:45.294Z,1741787325.294 [sci2_noyo_optim:NeedComms:C] Running Loop=1
2025-03-12T13:48:45.691Z,1741787325.691 [Radio_Surface](INFO): Powering up
2025-03-12T13:48:45.722Z,1741787325.722 [Waterlinked](INFO): Powering down
2025-03-12T13:48:51.927Z,1741787331.927 [DataOverHttps](INFO): Radio surface powered ON.
2025-03-12T13:49:18.101Z,1741787358.101 [NAL9602](ERROR): Failed to receive proper response when querying signal strength for MT queue check.
2025-03-12T13:49:18.182Z,1741787358.182 [NAL9602](ERROR): received: 
+CSQ:0

OK517, 2, 0, 0, 0

OK
2025-03-12T13:49:22.046Z,1741787362.046 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T13:49:57.186Z,1741787397.186 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T13:50:32.327Z,1741787432.327 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T13:51:07.474Z,1741787467.474 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T13:51:42.614Z,1741787502.614 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T13:52:15.612Z,1741787535.612 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.005124
2025-03-12T13:53:49.586Z,1741787629.586 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2025-03-12T13:53:50.813Z,1741787630.813 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,135349.00,A,3648.09774,N,12152.26637,W,0.739,41.65,120325,,,A*4E
2025-03-12T13:53:50.816Z,1741787630.816 [NAL9602](INFO): GPS fix at 20250312T135349: (36.801629, -121.871106)
2025-03-12T13:53:50.836Z,1741787630.836 [UniversalFixResidualReporter](INFO): Fix residual: 42.9 %DT, over the last 1758.1 m. Residual distance 754.1 m at bearing -134.9 degrees. Fix at (36.8016, -121.8711) with 925.9 m made good.
2025-03-12T13:53:50.883Z,1741787630.883 [sci2_noyo_optim:NeedComms:C] Stopped
2025-03-12T13:53:50.883Z,1741787630.883 [sci2_noyo_optim:NeedComms:D] Running Loop=1
2025-03-12T13:53:58.958Z,1741787638.958 [DataOverHttps](INFO): Sending 94 bytes from file Logs/20250311T232940/Courier0129.lzma
2025-03-12T13:53:59.963Z,1741787639.963 [DataOverHttps](INFO): Moved sent file to Logs/20250311T232940/Courier0129.lzma.bak
2025-03-12T13:53:59.963Z,1741787639.963 [DataOverHttps](INFO): SBD MOMSN=24183558
2025-03-12T13:54:16.572Z,1741787656.572 [DataOverHttps](INFO): Sending 689 bytes from file Logs/20250311T232940/Express0130.lzma
2025-03-12T13:54:17.572Z,1741787657.572 [DataOverHttps](INFO): Moved sent file to Logs/20250311T232940/Express0130.lzma.bak
2025-03-12T13:54:17.573Z,1741787657.573 [DataOverHttps](INFO): SBD MOMSN=24183561
2025-03-12T13:54:18.782Z,1741787658.782 [sci2_noyo_optim:NeedComms:D] Stopped
2025-03-12T13:54:18.782Z,1741787658.782 [sci2_noyo_optim:NeedComms:E] Running Loop=1
2025-03-12T13:54:20.773Z,1741787660.773 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,135419.00,A,3648.10094,N,12152.26666,W,1.166,26.83,120325,,,A*4D
2025-03-12T13:54:20.776Z,1741787660.776 [NAL9602](INFO): GPS fix at 20250312T135419: (36.801682, -121.871111)
2025-03-12T13:54:20.838Z,1741787660.838 [sci2_noyo_optim:NeedComms:E] Stopped
2025-03-12T13:54:20.839Z,1741787660.839 [sci2_noyo_optim:NeedComms](INFO): Completed sci2_noyo_optim:NeedComms
2025-03-12T13:54:20.839Z,1741787660.839 [sci2_noyo_optim:NeedComms] Stopped
2025-03-12T13:54:20.839Z,1741787660.839 [sci2_noyo_optim:NeedComms](DEBUG): Aggregate::uninitialize sci2_noyo_optim:NeedComms
2025-03-12T13:54:20.840Z,1741787660.840 [sci2_noyo_optim:NeedComms:B.GoToSurface] Stopped
2025-03-12T13:54:20.840Z,1741787660.840 [sci2_noyo_optim:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-03-12T13:54:21.241Z,1741787661.241 [sci2_noyo_optim:SurfaceComms:B](INFO): Completed sci2_noyo_optim:SurfaceComms:B
2025-03-12T13:54:21.241Z,1741787661.241 [sci2_noyo_optim:SurfaceComms:B] Stopped
2025-03-12T13:54:21.242Z,1741787661.242 [sci2_noyo_optim:SurfaceComms:B](DEBUG): Aggregate::uninitialize sci2_noyo_optim:SurfaceComms:B
2025-03-12T13:54:21.242Z,1741787661.242 [sci2_noyo_optim:SurfaceComms:C] Running Loop=1
2025-03-12T13:54:21.615Z,1741787661.615 [sci2_noyo_optim:SurfaceComms:C] Stopped
2025-03-12T13:54:21.615Z,1741787661.615 [sci2_noyo_optim:SurfaceComms](INFO): Completed sci2_noyo_optim:SurfaceComms
2025-03-12T13:54:21.615Z,1741787661.615 [sci2_noyo_optim:SurfaceComms] Stopped
2025-03-12T13:54:21.615Z,1741787661.615 [sci2_noyo_optim:SurfaceComms](DEBUG): Aggregate::uninitialize sci2_noyo_optim:SurfaceComms
2025-03-12T13:54:22.044Z,1741787662.044 [sci2_noyo_optim:Lap:Dive] Running Loop=1
2025-03-12T13:54:22.044Z,1741787662.044 [sci2_noyo_optim:Lap:Dive](DEBUG): Aggregate::initialize sci2_noyo_optim:Lap:Dive
2025-03-12T13:54:22.044Z,1741787662.044 [sci2_noyo_optim:Lap:Dive:A] Running Loop=1
2025-03-12T13:54:22.045Z,1741787662.045 [sci2_noyo_optim:Lap:Dive:A](DEBUG): Aggregate::initialize sci2_noyo_optim:Lap:Dive:A
2025-03-12T13:54:22.051Z,1741787662.051 [sci2_noyo_optim:DiveCmd:InitialDive] Running Loop=1
2025-03-12T13:54:22.051Z,1741787662.051 [sci2_noyo_optim:DiveCmd:InitialDive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:InitialDive
2025-03-12T13:54:22.051Z,1741787662.051 [sci2_noyo_optim:DiveCmd:InitialDive:dive] Running Loop=1
2025-03-12T13:54:22.051Z,1741787662.051 [sci2_noyo_optim:DiveCmd:InitialDive:dive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:InitialDive:dive
2025-03-12T13:54:22.051Z,1741787662.051 [sci2_noyo_optim:DiveCmd:InitialDive:dive:A] Running Loop=1
2025-03-12T13:54:22.051Z,1741787662.051 [sci2_noyo_optim:DiveCmd:InitialDive:dive:B] Running Loop=1
2025-03-12T13:54:22.051Z,1741787662.051 [sci2_noyo_optim:DiveCmd:InitialDive:dive:C.Mass] Running Loop=1
2025-03-12T13:54:22.051Z,1741787662.051 [sci2_noyo_optim:DiveCmd:InitialDive:dive:C.Mass](DEBUG): Initialize.
2025-03-12T13:54:22.052Z,1741787662.052 [sci2_noyo_optim:DiveCmd:InitialDive:dive:D] Running Loop=1
2025-03-12T13:54:22.052Z,1741787662.052 [sci2_noyo_optim:DiveCmd:InitialDive:dive:D](INFO): Waiting for  1.000000 min while pumping down to neutral.
2025-03-12T13:54:22.052Z,1741787662.052 [sci2_noyo_optim:DiveCmd:InitialDive:dive:D] Stopped
2025-03-12T13:54:22.052Z,1741787662.052 [sci2_noyo_optim:DiveCmd:InitialDive:dive:E.Wait] Running Loop=1
2025-03-12T13:54:22.052Z,1741787662.052 [sci2_noyo_optim:DiveCmd:InitialDive:dive:E.Wait](DEBUG): Initialize Wait Component.
2025-03-12T13:54:52.763Z,1741787692.763 [NAL9602](INFO): Not Powering down - fast GPS
2025-03-12T13:55:22.620Z,1741787722.620 [sci2_noyo_optim:DiveCmd:InitialDive:dive:E.Wait](INFO): Done Waiting.
2025-03-12T13:55:22.620Z,1741787722.620 [sci2_noyo_optim:DiveCmd:InitialDive:dive:E.Wait] Stopped
2025-03-12T13:55:22.620Z,1741787722.620 [sci2_noyo_optim:DiveCmd:InitialDive:dive:E.Wait](DEBUG): Uninitialize Wait Component.
2025-03-12T13:55:22.620Z,1741787722.620 [sci2_noyo_optim:DiveCmd:InitialDive:dive:F] Running Loop=1
2025-03-12T13:55:23.038Z,1741787723.038 [sci2_noyo_optim:DiveCmd:InitialDive:dive:F](INFO): Moving to  10.000000 m 
2025-03-12T13:55:23.039Z,1741787723.039 [sci2_noyo_optim:DiveCmd:InitialDive:dive:F] Stopped
2025-03-12T13:55:23.039Z,1741787723.039 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth] Running Loop=1
2025-03-12T13:55:23.039Z,1741787723.039 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth
2025-03-12T13:55:23.039Z,1741787723.039 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:A.SetSpeed] Running Loop=1
2025-03-12T13:55:23.039Z,1741787723.039 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:A.SetSpeed](DEBUG): Initialize.
2025-03-12T13:55:23.039Z,1741787723.039 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:B.Pitch] Running Loop=1
2025-03-12T13:55:23.039Z,1741787723.039 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:B.Pitch](DEBUG): Initialize.
2025-03-12T13:55:27.219Z,1741787727.219 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.242706
2025-03-12T13:55:37.543Z,1741787737.543 [CTD_Seabird](ERROR): Failed to parse device response: ,11.7460,3.82443,5092.82
2025-03-12T13:55:59.347Z,1741787759.347 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T13:56:00.350Z,1741787760.350 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-03-12T13:56:00.430Z,1741787760.430 [Radio_Surface](INFO): Powering down
2025-03-12T13:58:02.507Z,1741787882.507 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:B.Pitch] Stopped
2025-03-12T13:58:02.507Z,1741787882.507 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth](INFO): Completed sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth
2025-03-12T13:58:02.507Z,1741787882.507 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth] Stopped
2025-03-12T13:58:02.507Z,1741787882.507 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth
2025-03-12T13:58:02.507Z,1741787882.507 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:A.SetSpeed] Stopped
2025-03-12T13:58:02.508Z,1741787882.508 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:A.SetSpeed](DEBUG): Uninitialize.
2025-03-12T13:58:02.508Z,1741787882.508 [sci2_noyo_optim:DiveCmd:InitialDive:dive:H] Running Loop=1
2025-03-12T13:58:02.925Z,1741787882.925 [sci2_noyo_optim:DiveCmd:InitialDive:dive:H] Stopped
2025-03-12T13:58:02.942Z,1741787882.942 [sci2_noyo_optim:DiveCmd:InitialDive:dive](INFO): Completed sci2_noyo_optim:DiveCmd:InitialDive:dive
2025-03-12T13:58:02.942Z,1741787882.942 [sci2_noyo_optim:DiveCmd:InitialDive:dive] Stopped
2025-03-12T13:58:02.943Z,1741787882.943 [sci2_noyo_optim:DiveCmd:InitialDive:dive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:InitialDive:dive
2025-03-12T13:58:02.943Z,1741787882.943 [sci2_noyo_optim:DiveCmd:InitialDive:dive:A] Stopped
2025-03-12T13:58:02.943Z,1741787882.943 [sci2_noyo_optim:DiveCmd:InitialDive:dive:B] Stopped
2025-03-12T13:58:02.943Z,1741787882.943 [sci2_noyo_optim:DiveCmd:InitialDive:dive:C.Mass] Stopped
2025-03-12T13:58:02.943Z,1741787882.943 [sci2_noyo_optim:DiveCmd:InitialDive:dive:C.Mass](DEBUG): Uninitialize.
2025-03-12T13:58:02.943Z,1741787882.943 [sci2_noyo_optim:DiveCmd:InitialDive](INFO): Completed sci2_noyo_optim:DiveCmd:InitialDive
2025-03-12T13:58:03.316Z,1741787883.316 [sci2_noyo_optim:DiveCmd:SettleAtDepth] Running Loop=1
2025-03-12T13:58:03.316Z,1741787883.316 [sci2_noyo_optim:DiveCmd:SettleAtDepth](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:SettleAtDepth
2025-03-12T13:58:03.317Z,1741787883.317 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive] Running Loop=1
2025-03-12T13:58:03.317Z,1741787883.317 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:SettleAtDepth:dive
2025-03-12T13:58:03.317Z,1741787883.317 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:B.Pitch] Running Loop=1
2025-03-12T13:58:03.317Z,1741787883.317 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:B.Pitch](DEBUG): Initialize.
2025-03-12T13:58:03.317Z,1741787883.317 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:A] Running Loop=1
2025-03-12T13:58:03.318Z,1741787883.318 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:A](INFO): Reached  10.087156 m , settling for  3.000000 min 
2025-03-12T13:58:03.319Z,1741787883.319 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:A] Stopped
2025-03-12T13:58:03.319Z,1741787883.319 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:C.Wait] Running Loop=1
2025-03-12T13:58:03.319Z,1741787883.319 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:C.Wait](DEBUG): Initialize Wait Component.
2025-03-12T13:59:12.487Z,1741787952.487 [BPC1](INFO): Calculating totals. Valid battery stick count: 50. Valid reserve battery stick count: 5.
2025-03-12T13:59:12.516Z,1741787952.516 [BPC1](FAULT): Failed to receive data from 2 sticks prior to timeout. Will not retry this scan cycle. Missing stick IDs are: 21, 24.
2025-03-12T13:59:48.436Z,1741787988.436 [Waterlinked](ERROR): only read 0 of 1 data item for altitude. Device response::BD,       +    +0.00,       +0.00,   0.00,  0.00
2025-03-12T14:01:04.116Z,1741788064.116 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:C.Wait](INFO): Done Waiting.
2025-03-12T14:01:04.117Z,1741788064.117 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:C.Wait] Stopped
2025-03-12T14:01:04.117Z,1741788064.117 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:C.Wait](DEBUG): Uninitialize Wait Component.
2025-03-12T14:01:04.117Z,1741788064.117 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:D] Running Loop=1
2025-03-12T14:01:04.309Z,1741788064.309 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:D] Stopped
2025-03-12T14:01:04.309Z,1741788064.309 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive](INFO): Completed sci2_noyo_optim:DiveCmd:SettleAtDepth:dive
2025-03-12T14:01:04.310Z,1741788064.310 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive] Stopped
2025-03-12T14:01:04.310Z,1741788064.310 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:SettleAtDepth:dive
2025-03-12T14:01:04.310Z,1741788064.310 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:B.Pitch] Stopped
2025-03-12T14:01:04.310Z,1741788064.310 [sci2_noyo_optim:DiveCmd:SettleAtDepth](INFO): Completed sci2_noyo_optim:DiveCmd:SettleAtDepth
2025-03-12T14:01:06.630Z,1741788066.630 [DAT](INFO): DAT read: Rx Time:14:01:05.6869

2025-03-12T14:01:06.632Z,1741788066.632 [DAT](INFO): Rx dataTimestamp_ set to:1741788066.630657
2025-03-12T14:01:06.633Z,1741788066.633 [DAT](INFO): DAT read: 

2025-03-12T14:01:06.636Z,1741788066.636 [DAT](INFO): DAT read: $Packet for address 0

2025-03-12T14:01:06.637Z,1741788066.637 [DAT](INFO): received a packet notification
2025-03-12T14:02:10.129Z,1741788130.129 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow] Running Loop=1
2025-03-12T14:02:10.135Z,1741788130.135 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepthSlow
2025-03-12T14:02:10.135Z,1741788130.135 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:A.SetSpeed] Running Loop=1
2025-03-12T14:02:10.135Z,1741788130.135 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:A.SetSpeed](DEBUG): Initialize.
2025-03-12T14:02:10.136Z,1741788130.136 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:B] Running Loop=1
2025-03-12T14:02:10.136Z,1741788130.136 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:C.Buoyancy] Running Loop=1
2025-03-12T14:02:10.136Z,1741788130.136 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:C.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-03-12T14:02:10.137Z,1741788130.137 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:D.Pitch] Running Loop=1
2025-03-12T14:02:10.137Z,1741788130.137 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:D.Pitch](DEBUG): Initialize.
2025-03-12T14:02:10.152Z,1741788130.152 [sci2_noyo_optim:DiveCmd:MaintainDepth] Stopped
2025-03-12T14:02:10.152Z,1741788130.152 [sci2_noyo_optim:DiveCmd:MaintainDepth](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepth
2025-03-12T14:02:10.153Z,1741788130.153 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive] Stopped
2025-03-12T14:02:10.153Z,1741788130.153 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive
2025-03-12T14:02:10.154Z,1741788130.154 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive] Stopped
2025-03-12T14:02:10.158Z,1741788130.158 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive
2025-03-12T14:02:10.159Z,1741788130.159 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass] Stopped
2025-03-12T14:02:10.159Z,1741788130.159 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass](DEBUG): Uninitialize.
2025-03-12T14:02:10.160Z,1741788130.160 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed] Stopped
2025-03-12T14:02:10.160Z,1741788130.160 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed](DEBUG): Uninitialize.
2025-03-12T14:02:10.160Z,1741788130.160 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:B.Pitch] Stopped
2025-03-12T14:17:24.425Z,1741789044.425 [Waterlinked](ERROR): only read 0 of 1 data item for BIT error. Device response::TS,24052713242123, 0.0, +0.0,   0.0,14
2025-03-12T14:18:54.435Z,1741789134.435 [CTD_Seabird](ERROR): Failed to parse device response: .52
2025-03-12T14:20:07.752Z,1741789207.752 [CTD_Seabird](ERROR): Failed to parse device response: 2,3.68554,2350.05
2025-03-12T14:20:48.966Z,1741789248.966 [sci2_noyo_optim:Lap:DepthByLap:Wpt2:A.Waypoint](IMPORTANT): Reached waypoint: 36.797050,-121.877693
2025-03-12T14:20:48.966Z,1741789248.966 [sci2_noyo_optim:Lap:DepthByLap:Wpt2:A.Waypoint] Stopped
2025-03-12T14:20:48.966Z,1741789248.966 [sci2_noyo_optim:Lap:DepthByLap:Wpt2:A.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-03-12T14:20:48.966Z,1741789248.966 [sci2_noyo_optim:Lap:DepthByLap:Wpt2](INFO): Completed sci2_noyo_optim:Lap:DepthByLap:Wpt2
2025-03-12T14:20:48.966Z,1741789248.966 [sci2_noyo_optim:Lap:DepthByLap:Wpt2] Stopped
2025-03-12T14:20:48.966Z,1741789248.967 [sci2_noyo_optim:Lap:DepthByLap:Wpt2](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Lap:DepthByLap:Wpt2
2025-03-12T14:20:48.967Z,1741789248.967 [sci2_noyo_optim:Lap:DepthByLap:Wpt3] Running Loop=1
2025-03-12T14:20:48.967Z,1741789248.967 [sci2_noyo_optim:Lap:DepthByLap:Wpt3](DEBUG): Aggregate::initialize sci2_noyo_optim:Lap:DepthByLap:Wpt3
2025-03-12T14:20:48.967Z,1741789248.967 [sci2_noyo_optim:Lap:DepthByLap:Wpt3:A.Waypoint] Running Loop=1
2025-03-12T14:20:48.967Z,1741789248.967 [sci2_noyo_optim:Lap:DepthByLap:Wpt3:A.Waypoint](DEBUG): Initialize WaypointComponent.
2025-03-12T14:22:57.087Z,1741789377.087 [sci2_noyo_optim:Lap:DepthByLap:Wpt3:A.Waypoint] Stopped
2025-03-12T14:22:57.088Z,1741789377.088 [sci2_noyo_optim:Lap:DepthByLap:Wpt3:A.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-03-12T14:22:57.090Z,1741789377.090 [sci2_noyo_optim:Lap:DepthByLap:Wpt3](INFO): Completed sci2_noyo_optim:Lap:DepthByLap:Wpt3
2025-03-12T14:22:57.090Z,1741789377.090 [sci2_noyo_optim:Lap:DepthByLap:Wpt3] Stopped
2025-03-12T14:22:57.090Z,1741789377.090 [sci2_noyo_optim:Lap:DepthByLap:Wpt3](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Lap:DepthByLap:Wpt3
2025-03-12T14:22:57.090Z,1741789377.090 [sci2_noyo_optim:Lap:DepthByLap:Wpt4] Running Loop=1
2025-03-12T14:22:57.092Z,1741789377.092 [sci2_noyo_optim:Lap:DepthByLap:Wpt4](DEBUG): Aggregate::initialize sci2_noyo_optim:Lap:DepthByLap:Wpt4
2025-03-12T14:22:57.093Z,1741789377.093 [sci2_noyo_optim:Lap:DepthByLap:Wpt4:A.Waypoint] Running Loop=1
2025-03-12T14:22:57.093Z,1741789377.093 [sci2_noyo_optim:Lap:DepthByLap:Wpt4:A.Waypoint](DEBUG): Initialize WaypointComponent.
2025-03-12T14:22:57.613Z,1741789377.613 [sci2_noyo_optim:Lap:DepthByLap:Wpt4:A.Waypoint] Stopped
2025-03-12T14:22:57.614Z,1741789377.614 [sci2_noyo_optim:Lap:DepthByLap:Wpt4:A.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-03-12T14:22:57.614Z,1741789377.614 [sci2_noyo_optim:Lap:DepthByLap:Wpt4](INFO): Completed sci2_noyo_optim:Lap:DepthByLap:Wpt4
2025-03-12T14:22:57.614Z,1741789377.614 [sci2_noyo_optim:Lap:DepthByLap:Wpt4] Stopped
2025-03-12T14:22:57.614Z,1741789377.614 [sci2_noyo_optim:Lap:DepthByLap:Wpt4](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Lap:DepthByLap:Wpt4
2025-03-12T14:22:57.614Z,1741789377.614 [sci2_noyo_optim:Lap:DepthByLap:Wpt5] Running Loop=1
2025-03-12T14:22:57.614Z,1741789377.614 [sci2_noyo_optim:Lap:DepthByLap:Wpt5](DEBUG): Aggregate::initialize sci2_noyo_optim:Lap:DepthByLap:Wpt5
2025-03-12T14:22:57.614Z,1741789377.614 [sci2_noyo_optim:Lap:DepthByLap:Wpt5:A.Waypoint] Running Loop=1
2025-03-12T14:22:57.614Z,1741789377.614 [sci2_noyo_optim:Lap:DepthByLap:Wpt5:A.Waypoint](DEBUG): Initialize WaypointComponent.
2025-03-12T14:22:57.931Z,1741789377.931 [sci2_noyo_optim:Lap:DepthByLap:Wpt5:A.Waypoint] Stopped
2025-03-12T14:22:57.931Z,1741789377.931 [sci2_noyo_optim:Lap:DepthByLap:Wpt5:A.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-03-12T14:22:57.931Z,1741789377.931 [sci2_noyo_optim:Lap:DepthByLap:Wpt5](INFO): Completed sci2_noyo_optim:Lap:DepthByLap:Wpt5
2025-03-12T14:22:57.932Z,1741789377.932 [sci2_noyo_optim:Lap:DepthByLap:Wpt5] Stopped
2025-03-12T14:22:57.932Z,1741789377.932 [sci2_noyo_optim:Lap:DepthByLap:Wpt5](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Lap:DepthByLap:Wpt5
2025-03-12T14:22:57.932Z,1741789377.932 [sci2_noyo_optim:Lap:DepthByLap:Wpt6] Running Loop=1
2025-03-12T14:22:57.932Z,1741789377.932 [sci2_noyo_optim:Lap:DepthByLap:Wpt6](DEBUG): Aggregate::initialize sci2_noyo_optim:Lap:DepthByLap:Wpt6
2025-03-12T14:22:57.932Z,1741789377.932 [sci2_noyo_optim:Lap:DepthByLap:Wpt6:A.Waypoint] Running Loop=1
2025-03-12T14:22:57.932Z,1741789377.932 [sci2_noyo_optim:Lap:DepthByLap:Wpt6:A.Waypoint](DEBUG): Initialize WaypointComponent.
2025-03-12T14:22:58.589Z,1741789378.589 [sci2_noyo_optim:Lap:DepthByLap:Wpt6:A.Waypoint] Stopped
2025-03-12T14:22:58.589Z,1741789378.589 [sci2_noyo_optim:Lap:DepthByLap:Wpt6:A.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-03-12T14:22:58.589Z,1741789378.589 [sci2_noyo_optim:Lap:DepthByLap:Wpt6](INFO): Completed sci2_noyo_optim:Lap:DepthByLap:Wpt6
2025-03-12T14:22:58.589Z,1741789378.589 [sci2_noyo_optim:Lap:DepthByLap:Wpt6] Stopped
2025-03-12T14:22:58.589Z,1741789378.589 [sci2_noyo_optim:Lap:DepthByLap:Wpt6](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Lap:DepthByLap:Wpt6
2025-03-12T14:22:58.589Z,1741789378.589 [sci2_noyo_optim:Lap:DepthByLap:Wpt7] Running Loop=1
2025-03-12T14:22:58.589Z,1741789378.589 [sci2_noyo_optim:Lap:DepthByLap:Wpt7](DEBUG): Aggregate::initialize sci2_noyo_optim:Lap:DepthByLap:Wpt7
2025-03-12T14:22:58.590Z,1741789378.590 [sci2_noyo_optim:Lap:DepthByLap:Wpt7:A.Waypoint] Running Loop=1
2025-03-12T14:22:58.590Z,1741789378.590 [sci2_noyo_optim:Lap:DepthByLap:Wpt7:A.Waypoint](DEBUG): Initialize WaypointComponent.
2025-03-12T14:22:58.935Z,1741789378.935 [sci2_noyo_optim:Lap:DepthByLap:Wpt7:A.Waypoint] Stopped
2025-03-12T14:22:58.935Z,1741789378.935 [sci2_noyo_optim:Lap:DepthByLap:Wpt7:A.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-03-12T14:22:58.935Z,1741789378.935 [sci2_noyo_optim:Lap:DepthByLap:Wpt7](INFO): Completed sci2_noyo_optim:Lap:DepthByLap:Wpt7
2025-03-12T14:22:58.935Z,1741789378.935 [sci2_noyo_optim:Lap:DepthByLap:Wpt7] Stopped
2025-03-12T14:22:58.935Z,1741789378.935 [sci2_noyo_optim:Lap:DepthByLap:Wpt7](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Lap:DepthByLap:Wpt7
2025-03-12T14:22:58.936Z,1741789378.936 [sci2_noyo_optim:Lap:DepthByLap:Wpt8] Running Loop=1
2025-03-12T14:22:58.936Z,1741789378.936 [sci2_noyo_optim:Lap:DepthByLap:Wpt8](DEBUG): Aggregate::initialize sci2_noyo_optim:Lap:DepthByLap:Wpt8
2025-03-12T14:22:58.936Z,1741789378.936 [sci2_noyo_optim:Lap:DepthByLap:Wpt8:A.Waypoint] Running Loop=1
2025-03-12T14:22:58.936Z,1741789378.936 [sci2_noyo_optim:Lap:DepthByLap:Wpt8:A.Waypoint](DEBUG): Initialize WaypointComponent.
2025-03-12T14:22:59.272Z,1741789379.272 [sci2_noyo_optim:Lap:DepthByLap:Wpt8:A.Waypoint] Stopped
2025-03-12T14:22:59.272Z,1741789379.272 [sci2_noyo_optim:Lap:DepthByLap:Wpt8:A.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-03-12T14:22:59.273Z,1741789379.273 [sci2_noyo_optim:Lap:DepthByLap:Wpt8](INFO): Completed sci2_noyo_optim:Lap:DepthByLap:Wpt8
2025-03-12T14:22:59.273Z,1741789379.273 [sci2_noyo_optim:Lap:DepthByLap:Wpt8] Stopped
2025-03-12T14:22:59.273Z,1741789379.273 [sci2_noyo_optim:Lap:DepthByLap:Wpt8](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Lap:DepthByLap:Wpt8
2025-03-12T14:22:59.273Z,1741789379.273 [sci2_noyo_optim:Lap:DepthByLap:Leg2] Running Loop=1
2025-03-12T14:22:59.273Z,1741789379.273 [sci2_noyo_optim:Lap:DepthByLap:Leg2](DEBUG): Aggregate::initialize sci2_noyo_optim:Lap:DepthByLap:Leg2
2025-03-12T14:22:59.273Z,1741789379.273 [sci2_noyo_optim:Lap:DepthByLap:Leg2:A] Running Loop=1
2025-03-12T14:22:59.660Z,1741789379.660 [sci2_noyo_optim:Lap:DepthByLap:Leg2] Stopped
2025-03-12T14:22:59.660Z,1741789379.660 [sci2_noyo_optim:Lap:DepthByLap:Leg2](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Lap:DepthByLap:Leg2
2025-03-12T14:22:59.660Z,1741789379.660 [sci2_noyo_optim:Lap:DepthByLap:Leg2:A] Stopped
2025-03-12T14:22:59.660Z,1741789379.660 [sci2_noyo_optim:Lap:DepthByLap:Leg3] Running Loop=1
2025-03-12T14:22:59.660Z,1741789379.660 [sci2_noyo_optim:Lap:DepthByLap:Leg3](DEBUG): Aggregate::initialize sci2_noyo_optim:Lap:DepthByLap:Leg3
2025-03-12T14:22:59.660Z,1741789379.660 [sci2_noyo_optim:Lap:DepthByLap:Leg3:A] Running Loop=1
2025-03-12T14:23:00.055Z,1741789380.055 [sci2_noyo_optim:Lap:DepthByLap:Leg3] Stopped
2025-03-12T14:23:00.056Z,1741789380.056 [sci2_noyo_optim:Lap:DepthByLap:Leg3](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Lap:DepthByLap:Leg3
2025-03-12T14:23:00.056Z,1741789380.056 [sci2_noyo_optim:Lap:DepthByLap:Leg3:A] Stopped
2025-03-12T14:23:00.056Z,1741789380.056 [sci2_noyo_optim:Lap:DepthByLap:Leg4] Running Loop=1
2025-03-12T14:23:00.056Z,1741789380.056 [sci2_noyo_optim:Lap:DepthByLap:Leg4](DEBUG): Aggregate::initialize sci2_noyo_optim:Lap:DepthByLap:Leg4
2025-03-12T14:23:00.056Z,1741789380.056 [sci2_noyo_optim:Lap:DepthByLap:Leg4:A] Running Loop=1
2025-03-12T14:23:00.493Z,1741789380.493 [sci2_noyo_optim:Lap:DepthByLap:Leg4] Stopped
2025-03-12T14:23:00.493Z,1741789380.493 [sci2_noyo_optim:Lap:DepthByLap:Leg4](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Lap:DepthByLap:Leg4
2025-03-12T14:23:00.493Z,1741789380.493 [sci2_noyo_optim:Lap:DepthByLap:Leg4:A] Stopped
2025-03-12T14:23:00.493Z,1741789380.493 [sci2_noyo_optim:Lap:DepthByLap:Leg5] Running Loop=1
2025-03-12T14:23:00.493Z,1741789380.493 [sci2_noyo_optim:Lap:DepthByLap:Leg5](DEBUG): Aggregate::initialize sci2_noyo_optim:Lap:DepthByLap:Leg5
2025-03-12T14:23:00.493Z,1741789380.493 [sci2_noyo_optim:Lap:DepthByLap:Leg5:A] Running Loop=1
2025-03-12T14:23:01.020Z,1741789381.020 [sci2_noyo_optim:Lap:DepthByLap:Leg5] Stopped
2025-03-12T14:23:01.020Z,1741789381.020 [sci2_noyo_optim:Lap:DepthByLap:Leg5](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Lap:DepthByLap:Leg5
2025-03-12T14:23:01.021Z,1741789381.021 [sci2_noyo_optim:Lap:DepthByLap:Leg5:A] Stopped
2025-03-12T14:23:01.021Z,1741789381.021 [sci2_noyo_optim:Lap:DepthByLap:Leg6] Running Loop=1
2025-03-12T14:23:01.021Z,1741789381.021 [sci2_noyo_optim:Lap:DepthByLap:Leg6](DEBUG): Aggregate::initialize sci2_noyo_optim:Lap:DepthByLap:Leg6
2025-03-12T14:23:01.022Z,1741789381.022 [sci2_noyo_optim:Lap:DepthByLap:Leg6:A] Running Loop=1
2025-03-12T14:23:01.421Z,1741789381.421 [sci2_noyo_optim:Lap:DepthByLap:Leg6] Stopped
2025-03-12T14:23:01.421Z,1741789381.421 [sci2_noyo_optim:Lap:DepthByLap:Leg6](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Lap:DepthByLap:Leg6
2025-03-12T14:23:01.421Z,1741789381.421 [sci2_noyo_optim:Lap:DepthByLap:Leg6:A] Stopped
2025-03-12T14:23:01.421Z,1741789381.421 [sci2_noyo_optim:Lap:DepthByLap:Leg7] Running Loop=1
2025-03-12T14:23:01.421Z,1741789381.421 [sci2_noyo_optim:Lap:DepthByLap:Leg7](DEBUG): Aggregate::initialize sci2_noyo_optim:Lap:DepthByLap:Leg7
2025-03-12T14:23:01.421Z,1741789381.421 [sci2_noyo_optim:Lap:DepthByLap:Leg7:A] Running Loop=1
2025-03-12T14:23:01.911Z,1741789381.911 [sci2_noyo_optim:Lap:DepthByLap:Leg7] Stopped
2025-03-12T14:23:01.911Z,1741789381.911 [sci2_noyo_optim:Lap:DepthByLap:Leg7](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Lap:DepthByLap:Leg7
2025-03-12T14:23:01.911Z,1741789381.911 [sci2_noyo_optim:Lap:DepthByLap:Leg7:A] Stopped
2025-03-12T14:23:01.911Z,1741789381.911 [sci2_noyo_optim:Lap:DepthByLap:Leg8] Running Loop=1
2025-03-12T14:23:01.911Z,1741789381.911 [sci2_noyo_optim:Lap:DepthByLap:Leg8](DEBUG): Aggregate::initialize sci2_noyo_optim:Lap:DepthByLap:Leg8
2025-03-12T14:23:01.911Z,1741789381.911 [sci2_noyo_optim:Lap:DepthByLap:Leg8:A] Running Loop=1
2025-03-12T14:23:02.234Z,1741789382.234 [sci2_noyo_optim:Lap:DepthByLap:Leg8] Stopped
2025-03-12T14:23:02.234Z,1741789382.234 [sci2_noyo_optim:Lap:DepthByLap:Leg8](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Lap:DepthByLap:Leg8
2025-03-12T14:23:02.234Z,1741789382.234 [sci2_noyo_optim:Lap:DepthByLap:Leg8:A] Stopped
2025-03-12T14:23:02.234Z,1741789382.234 [sci2_noyo_optim:Lap:DepthByLap](INFO): Completed sci2_noyo_optim:Lap:DepthByLap
2025-03-12T14:23:02.234Z,1741789382.234 [sci2_noyo_optim:Lap:DepthByLap] Stopped
2025-03-12T14:23:02.235Z,1741789382.234 [sci2_noyo_optim:Lap:DepthByLap](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Lap:DepthByLap
2025-03-12T14:23:02.235Z,1741789382.235 [sci2_noyo_optim:Lap:DepthByLeg] Running Loop=1
2025-03-12T14:23:02.235Z,1741789382.235 [sci2_noyo_optim:Lap:DepthByLeg](DEBUG): Aggregate::initialize sci2_noyo_optim:Lap:DepthByLeg
2025-03-12T14:23:02.235Z,1741789382.235 [sci2_noyo_optim:Lap:DepthByLeg:Leg1] Running Loop=1
2025-03-12T14:23:02.235Z,1741789382.235 [sci2_noyo_optim:Lap:DepthByLeg:Leg1](DEBUG): Aggregate::initialize sci2_noyo_optim:Lap:DepthByLeg:Leg1
2025-03-12T14:23:02.235Z,1741789382.235 [sci2_noyo_optim:Lap:DepthByLeg:Leg1:A] Running Loop=1
2025-03-12T14:23:02.640Z,1741789382.640 [sci2_noyo_optim:Lap:DepthByLeg] Stopped
2025-03-12T14:23:02.640Z,1741789382.640 [sci2_noyo_optim:Lap:DepthByLeg](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Lap:DepthByLeg
2025-03-12T14:23:02.641Z,1741789382.641 [sci2_noyo_optim:Lap:DepthByLeg:Leg1] Stopped
2025-03-12T14:23:02.641Z,1741789382.641 [sci2_noyo_optim:Lap:DepthByLeg:Leg1](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Lap:DepthByLeg:Leg1
2025-03-12T14:23:02.641Z,1741789382.641 [sci2_noyo_optim:Lap:DepthByLeg:Leg1:A] Stopped
2025-03-12T14:23:02.641Z,1741789382.641 [sci2_noyo_optim:Lap](INFO): Completed sci2_noyo_optim:Lap
2025-03-12T14:23:02.641Z,1741789382.641 [sci2_noyo_optim:Lap] Stopped
2025-03-12T14:23:02.641Z,1741789382.641 [sci2_noyo_optim:Lap](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Lap
2025-03-12T14:23:02.641Z,1741789382.641 [sci2_noyo_optim:Lap:Dive] Stopped
2025-03-12T14:23:02.641Z,1741789382.641 [sci2_noyo_optim:Lap:Dive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Lap:Dive
2025-03-12T14:23:02.641Z,1741789382.641 [sci2_noyo_optim:Lap:Dive:A] Stopped
2025-03-12T14:23:02.641Z,1741789382.641 [sci2_noyo_optim:Lap:Dive:A](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Lap:Dive:A
2025-03-12T14:23:02.642Z,1741789382.642 [sci2_noyo_optim:Lap](INFO): Running loop #3
2025-03-12T14:23:02.642Z,1741789382.642 [sci2_noyo_optim:Lap] Running Loop=3
2025-03-12T14:23:02.642Z,1741789382.642 [sci2_noyo_optim:Lap](DEBUG): Aggregate::initialize sci2_noyo_optim:Lap
2025-03-12T14:23:02.642Z,1741789382.642 [sci2_noyo_optim:Lap:Dive] Running Loop=1
2025-03-12T14:23:02.642Z,1741789382.642 [sci2_noyo_optim:Lap:Dive](DEBUG): Aggregate::initialize sci2_noyo_optim:Lap:Dive
2025-03-12T14:23:02.642Z,1741789382.642 [sci2_noyo_optim:Lap:Dive:A] Running Loop=1
2025-03-12T14:23:02.642Z,1741789382.642 [sci2_noyo_optim:Lap:Dive:A](DEBUG): Aggregate::initialize sci2_noyo_optim:Lap:Dive:A
2025-03-12T14:23:02.643Z,1741789382.643 [sci2_noyo_optim:Lap:DepthByLap] Running Loop=1
2025-03-12T14:23:02.643Z,1741789382.643 [sci2_noyo_optim:Lap:DepthByLap](DEBUG): Aggregate::initialize sci2_noyo_optim:Lap:DepthByLap
2025-03-12T14:23:02.643Z,1741789382.643 [sci2_noyo_optim:Lap:DepthByLap:A] Running Loop=1
2025-03-12T14:23:03.059Z,1741789383.059 [sci2_noyo_optim:Lap:DepthByLap:A] Stopped
2025-03-12T14:23:03.059Z,1741789383.059 [sci2_noyo_optim:Lap:DepthByLap:Wpt1] Running Loop=1
2025-03-12T14:23:03.059Z,1741789383.059 [sci2_noyo_optim:Lap:DepthByLap:Wpt1](DEBUG): Aggregate::initialize sci2_noyo_optim:Lap:DepthByLap:Wpt1
2025-03-12T14:23:03.059Z,1741789383.059 [sci2_noyo_optim:Lap:DepthByLap:Wpt1:A.Waypoint] Running Loop=1
2025-03-12T14:23:03.059Z,1741789383.059 [sci2_noyo_optim:Lap:DepthByLap:Wpt1:A.Waypoint](DEBUG): Initialize WaypointComponent.
2025-03-12T14:23:03.060Z,1741789383.060 [sci2_noyo_optim:Lap:DepthByLap:Wpt1:A.Waypoint](IMPORTANT): Navigating to waypoint: 36.797001,-121.847000
2025-03-12T14:35:45.695Z,1741790145.695 [CTD_Seabird](ERROR): Failed to parse device response: .50
2025-03-12T14:36:02.103Z,1741790162.103 [BPC1](ERROR): BPC1A: No match for serial number FFFF in BPC1A's battery stick inventory (sticks 1-31 in onboard configuration file).
2025-03-12T14:40:14.513Z,1741790414.513 [BPC1](INFO): Calculating totals. Valid battery stick count: 49. Valid reserve battery stick count: 5.
2025-03-12T14:40:14.516Z,1741790414.516 [BPC1](FAULT): Failed to receive data from 2 sticks prior to timeout. Will not retry this scan cycle. Missing stick IDs are: 21, 24.
2025-03-12T14:54:21.098Z,1741791261.098 [sci2_noyo_optim:SurfaceComms] Running Loop=1
2025-03-12T14:54:21.098Z,1741791261.098 [sci2_noyo_optim:SurfaceComms](DEBUG): Aggregate::initialize sci2_noyo_optim:SurfaceComms
2025-03-12T14:54:21.098Z,1741791261.098 [sci2_noyo_optim:SurfaceComms:A] Running Loop=1
2025-03-12T14:54:21.099Z,1741791261.099 [sci2_noyo_optim:SurfaceComms:A] Stopped
2025-03-12T14:54:21.099Z,1741791261.099 [sci2_noyo_optim:SurfaceComms:B] Running Loop=1
2025-03-12T14:54:21.099Z,1741791261.099 [sci2_noyo_optim:SurfaceComms:B](DEBUG): Aggregate::initialize sci2_noyo_optim:SurfaceComms:B
2025-03-12T14:54:21.477Z,1741791261.477 [sci2_noyo_optim:Lap:Dive] Stopped
2025-03-12T14:54:21.477Z,1741791261.477 [sci2_noyo_optim:Lap:Dive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Lap:Dive
2025-03-12T14:54:21.478Z,1741791261.478 [sci2_noyo_optim:Lap:Dive:A] Stopped
2025-03-12T14:54:21.478Z,1741791261.478 [sci2_noyo_optim:Lap:Dive:A](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Lap:Dive:A
2025-03-12T14:54:21.479Z,1741791261.479 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow] Stopped
2025-03-12T14:54:21.479Z,1741791261.479 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepthSlow
2025-03-12T14:54:21.479Z,1741791261.479 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:A.SetSpeed] Stopped
2025-03-12T14:54:21.479Z,1741791261.479 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:A.SetSpeed](DEBUG): Uninitialize.
2025-03-12T14:54:21.479Z,1741791261.479 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:B] Stopped
2025-03-12T14:54:21.479Z,1741791261.479 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:C.Buoyancy] Stopped
2025-03-12T14:54:21.479Z,1741791261.479 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-03-12T14:54:21.479Z,1741791261.479 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:D.Pitch] Stopped
2025-03-12T14:54:21.482Z,1741791261.482 [sci2_noyo_optim:NeedComms] Running Loop=1
2025-03-12T14:54:21.482Z,1741791261.482 [sci2_noyo_optim:NeedComms](DEBUG): Aggregate::initialize sci2_noyo_optim:NeedComms
2025-03-12T14:54:21.482Z,1741791261.482 [sci2_noyo_optim:NeedComms:B.GoToSurface] Running Loop=1
2025-03-12T14:54:21.482Z,1741791261.482 [sci2_noyo_optim:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-03-12T14:54:21.483Z,1741791261.483 [sci2_noyo_optim:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-03-12T14:54:21.483Z,1741791261.483 [sci2_noyo_optim:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-03-12T14:54:21.484Z,1741791261.484 [sci2_noyo_optim:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-03-12T14:54:21.484Z,1741791261.484 [sci2_noyo_optim:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-03-12T14:54:21.484Z,1741791261.484 [sci2_noyo_optim:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-03-12T14:54:21.484Z,1741791261.484 [sci2_noyo_optim:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-03-12T14:54:21.485Z,1741791261.485 [sci2_noyo_optim:NeedComms:A] Running Loop=1
2025-03-12T14:54:21.487Z,1741791261.487 [sci2_noyo_optim:NeedComms:A](INFO): last time_fix was:  1741787659.000000 second since 1970/01/01T00:00:00Z 
2025-03-12T14:54:21.487Z,1741791261.487 [sci2_noyo_optim:NeedComms:A] Stopped
2025-03-12T14:54:44.527Z,1741791284.527 [sci2_noyo_optim:DiveCmd:MaintainDepth] Running Loop=1
2025-03-12T14:54:44.527Z,1741791284.527 [sci2_noyo_optim:DiveCmd:MaintainDepth](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepth
2025-03-12T14:54:44.527Z,1741791284.527 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive] Running Loop=1
2025-03-12T14:54:44.528Z,1741791284.528 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive
2025-03-12T14:54:44.528Z,1741791284.528 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive] Running Loop=1
2025-03-12T14:54:44.528Z,1741791284.528 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive
2025-03-12T14:54:44.528Z,1741791284.528 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass] Running Loop=1
2025-03-12T14:54:44.528Z,1741791284.528 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass](DEBUG): Initialize.
2025-03-12T14:54:44.528Z,1741791284.528 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed] Running Loop=1
2025-03-12T14:54:44.528Z,1741791284.528 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed](DEBUG): Initialize.
2025-03-12T14:54:44.528Z,1741791284.528 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:B.Pitch] Running Loop=1
2025-03-12T14:54:44.528Z,1741791284.528 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:B.Pitch](DEBUG): Initialize.
2025-03-12T14:56:41.951Z,1741791401.951 [sci2_noyo_optim:NeedComms:C] Running Loop=1
2025-03-12T14:56:42.430Z,1741791402.430 [Waterlinked](INFO): Powering down
2025-03-12T14:56:42.666Z,1741791402.666 [Radio_Surface](INFO): Powering up
2025-03-12T14:56:48.591Z,1741791408.591 [DataOverHttps](INFO): Radio surface powered ON.
2025-03-12T14:57:14.804Z,1741791434.804 [NAL9602](ERROR): Failed to receive proper response when querying signal strength for MT queue check.
2025-03-12T14:57:14.878Z,1741791434.878 [NAL9602](ERROR): received: 
+CSQ:0

OK517, 2, 0, 0, 0

OK
2025-03-12T14:57:18.730Z,1741791438.730 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T14:57:53.871Z,1741791473.871 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T14:58:29.010Z,1741791509.010 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T14:59:04.150Z,1741791544.150 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T14:59:39.291Z,1741791579.291 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T15:00:13.212Z,1741791613.212 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.004384
2025-03-12T15:01:46.696Z,1741791706.696 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2025-03-12T15:01:47.895Z,1741791707.895 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,150146.00,A,3647.99777,N,12152.05297,W,0.544,355.19,120325,,,A*7F
2025-03-12T15:01:47.898Z,1741791707.898 [NAL9602](INFO): GPS fix at 20250312T150146: (36.799963, -121.867549)
2025-03-12T15:01:47.918Z,1741791707.918 [UniversalFixResidualReporter](INFO): Fix residual: 15.3 %DT, over the last 1757.7 m. Residual distance 269.7 m at bearing -167.5 degrees. Fix at (36.8000, -121.8675) with 370.3 m made good.
2025-03-12T15:01:47.934Z,1741791707.934 [sci2_noyo_optim:NeedComms:C] Stopped
2025-03-12T15:01:47.935Z,1741791707.935 [sci2_noyo_optim:NeedComms:D] Running Loop=1
2025-03-12T15:01:57.810Z,1741791717.810 [DataOverHttps](INFO): Sending 94 bytes from file Logs/20250311T232940/Courier0132.lzma
2025-03-12T15:01:58.812Z,1741791718.812 [DataOverHttps](INFO): Moved sent file to Logs/20250311T232940/Courier0132.lzma.bak
2025-03-12T15:01:58.813Z,1741791718.813 [DataOverHttps](INFO): SBD MOMSN=24183679
2025-03-12T15:02:15.428Z,1741791735.428 [DataOverHttps](INFO): Sending 560 bytes from file Logs/20250311T232940/Express0133.lzma
2025-03-12T15:02:16.429Z,1741791736.429 [DataOverHttps](INFO): Moved sent file to Logs/20250311T232940/Express0133.lzma.bak
2025-03-12T15:02:16.429Z,1741791736.429 [DataOverHttps](INFO): SBD MOMSN=24183685
2025-03-12T15:02:17.910Z,1741791737.910 [sci2_noyo_optim:NeedComms:D] Stopped
2025-03-12T15:02:17.911Z,1741791737.911 [sci2_noyo_optim:NeedComms:E] Running Loop=1
2025-03-12T15:02:19.905Z,1741791739.905 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,150218.00,A,3648.00042,N,12152.05467,W,0.350,23.14,120325,,,A*4C
2025-03-12T15:02:19.908Z,1741791739.908 [NAL9602](INFO): GPS fix at 20250312T150218: (36.800007, -121.867578)
2025-03-12T15:02:19.966Z,1741791739.966 [sci2_noyo_optim:NeedComms:E] Stopped
2025-03-12T15:02:19.968Z,1741791739.968 [sci2_noyo_optim:NeedComms](INFO): Completed sci2_noyo_optim:NeedComms
2025-03-12T15:02:19.969Z,1741791739.969 [sci2_noyo_optim:NeedComms] Stopped
2025-03-12T15:02:19.969Z,1741791739.969 [sci2_noyo_optim:NeedComms](DEBUG): Aggregate::uninitialize sci2_noyo_optim:NeedComms
2025-03-12T15:02:19.969Z,1741791739.969 [sci2_noyo_optim:NeedComms:B.GoToSurface] Stopped
2025-03-12T15:02:19.969Z,1741791739.969 [sci2_noyo_optim:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-03-12T15:02:20.373Z,1741791740.373 [sci2_noyo_optim:SurfaceComms:B](INFO): Completed sci2_noyo_optim:SurfaceComms:B
2025-03-12T15:02:20.373Z,1741791740.373 [sci2_noyo_optim:SurfaceComms:B] Stopped
2025-03-12T15:02:20.374Z,1741791740.374 [sci2_noyo_optim:SurfaceComms:B](DEBUG): Aggregate::uninitialize sci2_noyo_optim:SurfaceComms:B
2025-03-12T15:02:20.374Z,1741791740.374 [sci2_noyo_optim:SurfaceComms:C] Running Loop=1
2025-03-12T15:02:20.735Z,1741791740.735 [ElevatorOffsetCalculator](INFO): Removing expired estimator for commanded vars: speed 1.00 m/s, pitch 20.00 deg, mass-position 6.85 mm.
2025-03-12T15:02:20.752Z,1741791740.752 [sci2_noyo_optim:SurfaceComms:C] Stopped
2025-03-12T15:02:20.752Z,1741791740.752 [sci2_noyo_optim:SurfaceComms](INFO): Completed sci2_noyo_optim:SurfaceComms
2025-03-12T15:02:20.752Z,1741791740.752 [sci2_noyo_optim:SurfaceComms] Stopped
2025-03-12T15:02:20.752Z,1741791740.752 [sci2_noyo_optim:SurfaceComms](DEBUG): Aggregate::uninitialize sci2_noyo_optim:SurfaceComms
2025-03-12T15:02:21.155Z,1741791741.155 [sci2_noyo_optim:Lap:Dive] Running Loop=1
2025-03-12T15:02:21.155Z,1741791741.155 [sci2_noyo_optim:Lap:Dive](DEBUG): Aggregate::initialize sci2_noyo_optim:Lap:Dive
2025-03-12T15:02:21.155Z,1741791741.155 [sci2_noyo_optim:Lap:Dive:A] Running Loop=1
2025-03-12T15:02:21.155Z,1741791741.155 [sci2_noyo_optim:Lap:Dive:A](DEBUG): Aggregate::initialize sci2_noyo_optim:Lap:Dive:A
2025-03-12T15:02:21.157Z,1741791741.157 [sci2_noyo_optim:DiveCmd:InitialDive] Running Loop=1
2025-03-12T15:02:21.157Z,1741791741.157 [sci2_noyo_optim:DiveCmd:InitialDive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:InitialDive
2025-03-12T15:02:21.157Z,1741791741.157 [sci2_noyo_optim:DiveCmd:InitialDive:dive] Running Loop=1
2025-03-12T15:02:21.157Z,1741791741.157 [sci2_noyo_optim:DiveCmd:InitialDive:dive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:InitialDive:dive
2025-03-12T15:02:21.158Z,1741791741.158 [sci2_noyo_optim:DiveCmd:InitialDive:dive:A] Running Loop=1
2025-03-12T15:02:21.158Z,1741791741.158 [sci2_noyo_optim:DiveCmd:InitialDive:dive:B] Running Loop=1
2025-03-12T15:02:21.158Z,1741791741.158 [sci2_noyo_optim:DiveCmd:InitialDive:dive:C.Mass] Running Loop=1
2025-03-12T15:02:21.158Z,1741791741.158 [sci2_noyo_optim:DiveCmd:InitialDive:dive:C.Mass](DEBUG): Initialize.
2025-03-12T15:02:21.162Z,1741791741.162 [sci2_noyo_optim:DiveCmd:InitialDive:dive:D] Running Loop=1
2025-03-12T15:02:21.163Z,1741791741.163 [sci2_noyo_optim:DiveCmd:InitialDive:dive:D](INFO): Waiting for  1.000000 min while pumping down to neutral.
2025-03-12T15:02:21.163Z,1741791741.163 [sci2_noyo_optim:DiveCmd:InitialDive:dive:D] Stopped
2025-03-12T15:02:21.163Z,1741791741.163 [sci2_noyo_optim:DiveCmd:InitialDive:dive:E.Wait] Running Loop=1
2025-03-12T15:02:21.163Z,1741791741.163 [sci2_noyo_optim:DiveCmd:InitialDive:dive:E.Wait](DEBUG): Initialize Wait Component.
2025-03-12T15:02:52.622Z,1741791772.622 [NAL9602](INFO): Not Powering down - fast GPS
2025-03-12T15:03:16.557Z,1741791796.557 [ElevatorOffsetCalculator](INFO): New estimator for commanded vars: speed 1.00 m/s, pitch 20.00 deg, mass-position 6.85 mm (1 active estimators).
2025-03-12T15:03:21.826Z,1741791801.826 [sci2_noyo_optim:DiveCmd:InitialDive:dive:E.Wait](INFO): Done Waiting.
2025-03-12T15:03:21.826Z,1741791801.826 [sci2_noyo_optim:DiveCmd:InitialDive:dive:E.Wait] Stopped
2025-03-12T15:03:21.826Z,1741791801.826 [sci2_noyo_optim:DiveCmd:InitialDive:dive:E.Wait](DEBUG): Uninitialize Wait Component.
2025-03-12T15:03:21.827Z,1741791801.827 [sci2_noyo_optim:DiveCmd:InitialDive:dive:F] Running Loop=1
2025-03-12T15:03:22.226Z,1741791802.226 [sci2_noyo_optim:DiveCmd:InitialDive:dive:F](INFO): Moving to  10.000000 m 
2025-03-12T15:03:22.226Z,1741791802.226 [sci2_noyo_optim:DiveCmd:InitialDive:dive:F] Stopped
2025-03-12T15:03:22.227Z,1741791802.227 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth] Running Loop=1
2025-03-12T15:03:22.227Z,1741791802.227 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth
2025-03-12T15:03:22.227Z,1741791802.227 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:A.SetSpeed] Running Loop=1
2025-03-12T15:03:22.227Z,1741791802.227 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:A.SetSpeed](DEBUG): Initialize.
2025-03-12T15:03:22.227Z,1741791802.227 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:B.Pitch] Running Loop=1
2025-03-12T15:03:22.227Z,1741791802.227 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:B.Pitch](DEBUG): Initialize.
2025-03-12T15:03:58.815Z,1741791838.815 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T15:04:01.827Z,1741791841.827 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.243183
2025-03-12T15:04:16.838Z,1741791856.838 [Radio_Surface](INFO): Powering down
2025-03-12T15:04:33.955Z,1741791873.955 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T15:04:34.958Z,1741791874.958 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-03-12T15:06:15.139Z,1741791975.139 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:B.Pitch] Stopped
2025-03-12T15:06:15.140Z,1741791975.140 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth](INFO): Completed sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth
2025-03-12T15:06:15.140Z,1741791975.140 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth] Stopped
2025-03-12T15:06:15.140Z,1741791975.140 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth
2025-03-12T15:06:15.140Z,1741791975.140 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:A.SetSpeed] Stopped
2025-03-12T15:06:15.141Z,1741791975.141 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:A.SetSpeed](DEBUG): Uninitialize.
2025-03-12T15:06:15.141Z,1741791975.141 [sci2_noyo_optim:DiveCmd:InitialDive:dive:H] Running Loop=1
2025-03-12T15:06:15.588Z,1741791975.588 [sci2_noyo_optim:DiveCmd:InitialDive:dive:H] Stopped
2025-03-12T15:06:15.590Z,1741791975.590 [sci2_noyo_optim:DiveCmd:InitialDive:dive](INFO): Completed sci2_noyo_optim:DiveCmd:InitialDive:dive
2025-03-12T15:06:15.590Z,1741791975.590 [sci2_noyo_optim:DiveCmd:InitialDive:dive] Stopped
2025-03-12T15:06:15.590Z,1741791975.590 [sci2_noyo_optim:DiveCmd:InitialDive:dive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:InitialDive:dive
2025-03-12T15:06:15.590Z,1741791975.590 [sci2_noyo_optim:DiveCmd:InitialDive:dive:A] Stopped
2025-03-12T15:06:15.594Z,1741791975.594 [sci2_noyo_optim:DiveCmd:InitialDive:dive:B] Stopped
2025-03-12T15:06:15.594Z,1741791975.594 [sci2_noyo_optim:DiveCmd:InitialDive:dive:C.Mass] Stopped
2025-03-12T15:06:15.594Z,1741791975.594 [sci2_noyo_optim:DiveCmd:InitialDive:dive:C.Mass](DEBUG): Uninitialize.
2025-03-12T15:06:15.595Z,1741791975.595 [sci2_noyo_optim:DiveCmd:InitialDive](INFO): Completed sci2_noyo_optim:DiveCmd:InitialDive
2025-03-12T15:06:15.895Z,1741791975.895 [sci2_noyo_optim:DiveCmd:SettleAtDepth] Running Loop=1
2025-03-12T15:06:15.895Z,1741791975.895 [sci2_noyo_optim:DiveCmd:SettleAtDepth](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:SettleAtDepth
2025-03-12T15:06:15.895Z,1741791975.895 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive] Running Loop=1
2025-03-12T15:06:15.895Z,1741791975.895 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:SettleAtDepth:dive
2025-03-12T15:06:15.896Z,1741791975.896 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:B.Pitch] Running Loop=1
2025-03-12T15:06:15.896Z,1741791975.896 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:B.Pitch](DEBUG): Initialize.
2025-03-12T15:06:15.896Z,1741791975.896 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:A] Running Loop=1
2025-03-12T15:06:15.899Z,1741791975.899 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:A](INFO): Reached  10.122561 m , settling for  3.000000 min 
2025-03-12T15:06:15.899Z,1741791975.899 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:A] Stopped
2025-03-12T15:06:15.899Z,1741791975.899 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:C.Wait] Running Loop=1
2025-03-12T15:06:15.899Z,1741791975.899 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:C.Wait](DEBUG): Initialize Wait Component.
2025-03-12T15:09:16.548Z,1741792156.548 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:C.Wait](INFO): Done Waiting.
2025-03-12T15:09:16.548Z,1741792156.548 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:C.Wait] Stopped
2025-03-12T15:09:16.548Z,1741792156.548 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:C.Wait](DEBUG): Uninitialize Wait Component.
2025-03-12T15:09:16.549Z,1741792156.549 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:D] Running Loop=1
2025-03-12T15:09:17.067Z,1741792157.067 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:D] Stopped
2025-03-12T15:09:17.068Z,1741792157.068 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive](INFO): Completed sci2_noyo_optim:DiveCmd:SettleAtDepth:dive
2025-03-12T15:09:17.068Z,1741792157.068 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive] Stopped
2025-03-12T15:09:17.068Z,1741792157.068 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:SettleAtDepth:dive
2025-03-12T15:09:17.068Z,1741792157.068 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:B.Pitch] Stopped
2025-03-12T15:09:17.068Z,1741792157.068 [sci2_noyo_optim:DiveCmd:SettleAtDepth](INFO): Completed sci2_noyo_optim:DiveCmd:SettleAtDepth
2025-03-12T15:10:23.464Z,1741792223.464 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow] Running Loop=1
2025-03-12T15:10:23.464Z,1741792223.464 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepthSlow
2025-03-12T15:10:23.464Z,1741792223.464 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:A.SetSpeed] Running Loop=1
2025-03-12T15:10:23.464Z,1741792223.464 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:A.SetSpeed](DEBUG): Initialize.
2025-03-12T15:10:23.464Z,1741792223.464 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:B] Running Loop=1
2025-03-12T15:10:23.464Z,1741792223.464 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:C.Buoyancy] Running Loop=1
2025-03-12T15:10:23.464Z,1741792223.464 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:C.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-03-12T15:10:23.464Z,1741792223.464 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:D.Pitch] Running Loop=1
2025-03-12T15:10:23.464Z,1741792223.464 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:D.Pitch](DEBUG): Initialize.
2025-03-12T15:10:23.465Z,1741792223.465 [sci2_noyo_optim:DiveCmd:MaintainDepth] Stopped
2025-03-12T15:10:23.466Z,1741792223.466 [sci2_noyo_optim:DiveCmd:MaintainDepth](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepth
2025-03-12T15:10:23.466Z,1741792223.466 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive] Stopped
2025-03-12T15:10:23.470Z,1741792223.470 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive
2025-03-12T15:10:23.470Z,1741792223.470 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive] Stopped
2025-03-12T15:10:23.470Z,1741792223.470 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive
2025-03-12T15:10:23.470Z,1741792223.470 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass] Stopped
2025-03-12T15:10:23.470Z,1741792223.470 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass](DEBUG): Uninitialize.
2025-03-12T15:10:23.470Z,1741792223.470 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed] Stopped
2025-03-12T15:10:23.470Z,1741792223.470 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed](DEBUG): Uninitialize.
2025-03-12T15:10:23.471Z,1741792223.471 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:B.Pitch] Stopped
2025-03-12T15:16:07.783Z,1741792567.783 [Waterlinked](ERROR): only read 0 of 1 data item for BIT error. Device response::TS,24052WE,    +0,    +0,    +0,V
2025-03-12T15:16:25.883Z,1741792585.883 [CTD_Seabird](ERROR): Failed to parse device response: 24
2025-03-12T15:19:27.805Z,1741792767.805 [Waterlinked](ERROR): only read 0 of 1 data item for BIT error. Device response::TS,24052713180823, 0.0, +0.0,   0.0,1+0,V
2025-03-12T15:21:16.335Z,1741792876.335 [BPC1](INFO): Calculating totals. Valid battery stick count: 51. Valid reserve battery stick count: 5.
2025-03-12T15:21:16.343Z,1741792876.343 [BPC1](FAULT): Failed to receive data from 3 sticks prior to timeout. Will not retry this scan cycle. Missing stick IDs are: 20, 21, 24.
2025-03-12T15:25:04.104Z,1741793104.104 [Waterlinked](ERROR): only read 0 of 1 data item for BIT error. Device response::TS,24052713234452, 0.0, +0.  0
2025-03-12T15:28:27.821Z,1741793307.821 [Waterlinked](ERROR): only read 0 of 1 data item for altitude. Device response::BD,       +0.00,       +    +0.00,   0.00,  0.00
2025-03-12T15:29:13.017Z,1741793353.017 [Waterlinked](ERROR): only read 0 of 1 data item for BIT error. Device response::TS,24052713275325, 0.0, +0.0,   00,  0
2025-03-12T15:46:01.111Z,1741794361.111 [Waterlinked](ERROR): only read 3 of 5 data items. Device response::BI,       +0,    +0,    +0,V
2025-03-12T15:55:47.964Z,1741794947.964 [Waterlinked](ERROR): only read 0 of 1 data item for BIT error. Device response::TS,24052713542789, 0.0, +0.0,   .0,  0
2025-03-12T15:58:51.241Z,1741795131.241 [Waterlinked](ERROR): only read 0 of 1 data item for BIT error. Device response::TS,24052713573109, 0.0, +0.0,   0.0,1475.0    +0,    +0,V
2025-03-12T16:02:18.471Z,1741795338.471 [BPC1](INFO): Calculating totals. Valid battery stick count: 49. Valid reserve battery stick count: 5.
2025-03-12T16:02:18.475Z,1741795338.475 [BPC1](FAULT): Failed to receive data from 3 sticks prior to timeout. Will not retry this scan cycle. Missing stick IDs are: 20, 21, 24.
2025-03-12T16:02:20.231Z,1741795340.231 [sci2_noyo_optim:SurfaceComms] Running Loop=1
2025-03-12T16:02:20.231Z,1741795340.231 [sci2_noyo_optim:SurfaceComms](DEBUG): Aggregate::initialize sci2_noyo_optim:SurfaceComms
2025-03-12T16:02:20.231Z,1741795340.231 [sci2_noyo_optim:SurfaceComms:A] Running Loop=1
2025-03-12T16:02:20.232Z,1741795340.232 [sci2_noyo_optim:SurfaceComms:A] Stopped
2025-03-12T16:02:20.232Z,1741795340.232 [sci2_noyo_optim:SurfaceComms:B] Running Loop=1
2025-03-12T16:02:20.232Z,1741795340.232 [sci2_noyo_optim:SurfaceComms:B](DEBUG): Aggregate::initialize sci2_noyo_optim:SurfaceComms:B
2025-03-12T16:02:20.618Z,1741795340.618 [sci2_noyo_optim:Lap:Dive] Stopped
2025-03-12T16:02:20.618Z,1741795340.618 [sci2_noyo_optim:Lap:Dive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Lap:Dive
2025-03-12T16:02:20.618Z,1741795340.618 [sci2_noyo_optim:Lap:Dive:A] Stopped
2025-03-12T16:02:20.619Z,1741795340.619 [sci2_noyo_optim:Lap:Dive:A](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Lap:Dive:A
2025-03-12T16:02:20.619Z,1741795340.619 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow] Stopped
2025-03-12T16:02:20.620Z,1741795340.620 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepthSlow
2025-03-12T16:02:20.620Z,1741795340.620 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:A.SetSpeed] Stopped
2025-03-12T16:02:20.620Z,1741795340.620 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:A.SetSpeed](DEBUG): Uninitialize.
2025-03-12T16:02:20.620Z,1741795340.620 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:B] Stopped
2025-03-12T16:02:20.620Z,1741795340.620 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:C.Buoyancy] Stopped
2025-03-12T16:02:20.620Z,1741795340.620 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-03-12T16:02:20.620Z,1741795340.620 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:D.Pitch] Stopped
2025-03-12T16:02:20.622Z,1741795340.622 [sci2_noyo_optim:NeedComms] Running Loop=1
2025-03-12T16:02:20.622Z,1741795340.622 [sci2_noyo_optim:NeedComms](DEBUG): Aggregate::initialize sci2_noyo_optim:NeedComms
2025-03-12T16:02:20.622Z,1741795340.622 [sci2_noyo_optim:NeedComms:B.GoToSurface] Running Loop=1
2025-03-12T16:02:20.622Z,1741795340.622 [sci2_noyo_optim:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-03-12T16:02:20.623Z,1741795340.623 [sci2_noyo_optim:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-03-12T16:02:20.623Z,1741795340.623 [sci2_noyo_optim:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-03-12T16:02:20.624Z,1741795340.624 [sci2_noyo_optim:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-03-12T16:02:20.624Z,1741795340.624 [sci2_noyo_optim:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-03-12T16:02:20.624Z,1741795340.624 [sci2_noyo_optim:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-03-12T16:02:20.625Z,1741795340.625 [sci2_noyo_optim:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-03-12T16:02:20.625Z,1741795340.625 [sci2_noyo_optim:NeedComms:A] Running Loop=1
2025-03-12T16:02:20.627Z,1741795340.627 [sci2_noyo_optim:NeedComms:A](INFO): last time_fix was:  1741791738.000000 second since 1970/01/01T00:00:00Z 
2025-03-12T16:02:20.627Z,1741795340.627 [sci2_noyo_optim:NeedComms:A] Stopped
2025-03-12T16:02:48.601Z,1741795368.601 [sci2_noyo_optim:DiveCmd:MaintainDepth] Running Loop=1
2025-03-12T16:02:48.602Z,1741795368.602 [sci2_noyo_optim:DiveCmd:MaintainDepth](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepth
2025-03-12T16:02:48.602Z,1741795368.602 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive] Running Loop=1
2025-03-12T16:02:48.602Z,1741795368.602 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive
2025-03-12T16:02:48.602Z,1741795368.602 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive] Running Loop=1
2025-03-12T16:02:48.602Z,1741795368.602 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive
2025-03-12T16:02:48.602Z,1741795368.602 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass] Running Loop=1
2025-03-12T16:02:48.602Z,1741795368.602 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass](DEBUG): Initialize.
2025-03-12T16:02:48.603Z,1741795368.603 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed] Running Loop=1
2025-03-12T16:02:48.603Z,1741795368.603 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed](DEBUG): Initialize.
2025-03-12T16:02:48.603Z,1741795368.603 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:B.Pitch] Running Loop=1
2025-03-12T16:02:48.603Z,1741795368.603 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:B.Pitch](DEBUG): Initialize.
2025-03-12T16:04:47.759Z,1741795487.759 [sci2_noyo_optim:NeedComms:C] Running Loop=1
2025-03-12T16:04:48.266Z,1741795488.266 [Waterlinked](INFO): Powering down
2025-03-12T16:04:48.490Z,1741795488.490 [Radio_Surface](INFO): Powering up
2025-03-12T16:04:54.047Z,1741795494.047 [DataOverHttps](INFO): Radio surface powered ON.
2025-03-12T16:05:20.533Z,1741795520.533 [NAL9602](ERROR): Failed to receive proper response when querying signal strength for MT queue check.
2025-03-12T16:05:20.610Z,1741795520.610 [NAL9602](ERROR): received: 
+CSQ:0

OK517, 2, 0, 0, 0

OK
2025-03-12T16:05:24.171Z,1741795524.171 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T16:05:59.310Z,1741795559.310 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T16:06:34.450Z,1741795594.450 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T16:07:09.606Z,1741795629.606 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T16:07:44.746Z,1741795664.746 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T16:08:18.581Z,1741795698.581 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.005104
2025-03-12T16:09:51.624Z,1741795791.624 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2025-03-12T16:09:52.829Z,1741795792.829 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,160951.00,A,3648.05012,N,12151.21131,W,0.447,7.34,120325,,,A*7F
2025-03-12T16:09:52.839Z,1741795792.839 [NAL9602](INFO): GPS fix at 20250312T160951: (36.800835, -121.853522)
2025-03-12T16:09:52.852Z,1741795792.852 [UniversalFixResidualReporter](INFO): Fix residual: 30.1 %DT, over the last 1769.0 m. Residual distance 533.2 m at bearing 135.6 degrees. Fix at (36.8008, -121.8535) with 1254.9 m made good.
2025-03-12T16:09:52.858Z,1741795792.858 [sci2_noyo_optim:NeedComms:C] Stopped
2025-03-12T16:09:52.859Z,1741795792.859 [sci2_noyo_optim:NeedComms:D] Running Loop=1
2025-03-12T16:10:01.182Z,1741795801.182 [DataOverHttps](INFO): Sending 94 bytes from file Logs/20250311T232940/Courier0135.lzma
2025-03-12T16:10:02.184Z,1741795802.184 [DataOverHttps](INFO): Moved sent file to Logs/20250311T232940/Courier0135.lzma.bak
2025-03-12T16:10:02.185Z,1741795802.185 [DataOverHttps](INFO): SBD MOMSN=24183907
2025-03-12T16:10:18.619Z,1741795818.619 [DataOverHttps](INFO): Sending 513 bytes from file Logs/20250311T232940/Express0136.lzma
2025-03-12T16:10:19.620Z,1741795819.620 [DataOverHttps](INFO): Moved sent file to Logs/20250311T232940/Express0136.lzma.bak
2025-03-12T16:10:19.621Z,1741795819.621 [DataOverHttps](INFO): SBD MOMSN=24183910
2025-03-12T16:10:21.150Z,1741795821.150 [sci2_noyo_optim:NeedComms:D] Stopped
2025-03-12T16:10:21.150Z,1741795821.150 [sci2_noyo_optim:NeedComms:E] Running Loop=1
2025-03-12T16:10:23.125Z,1741795823.125 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,161022.00,A,3648.05264,N,12151.21273,W,0.369,8.12,120325,,,A*75
2025-03-12T16:10:23.128Z,1741795823.128 [NAL9602](INFO): GPS fix at 20250312T161022: (36.800877, -121.853545)
2025-03-12T16:10:23.175Z,1741795823.175 [sci2_noyo_optim:NeedComms:E] Stopped
2025-03-12T16:10:23.176Z,1741795823.176 [sci2_noyo_optim:NeedComms](INFO): Completed sci2_noyo_optim:NeedComms
2025-03-12T16:10:23.176Z,1741795823.176 [sci2_noyo_optim:NeedComms] Stopped
2025-03-12T16:10:23.176Z,1741795823.176 [sci2_noyo_optim:NeedComms](DEBUG): Aggregate::uninitialize sci2_noyo_optim:NeedComms
2025-03-12T16:10:23.176Z,1741795823.176 [sci2_noyo_optim:NeedComms:B.GoToSurface] Stopped
2025-03-12T16:10:23.176Z,1741795823.176 [sci2_noyo_optim:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-03-12T16:10:23.651Z,1741795823.651 [sci2_noyo_optim:SurfaceComms:B](INFO): Completed sci2_noyo_optim:SurfaceComms:B
2025-03-12T16:10:23.651Z,1741795823.651 [sci2_noyo_optim:SurfaceComms:B] Stopped
2025-03-12T16:10:23.651Z,1741795823.651 [sci2_noyo_optim:SurfaceComms:B](DEBUG): Aggregate::uninitialize sci2_noyo_optim:SurfaceComms:B
2025-03-12T16:10:23.785Z,1741795823.785 [sci2_noyo_optim:SurfaceComms:C] Running Loop=1
2025-03-12T16:10:23.977Z,1741795823.977 [sci2_noyo_optim:SurfaceComms:C] Stopped
2025-03-12T16:10:23.978Z,1741795823.978 [sci2_noyo_optim:SurfaceComms](INFO): Completed sci2_noyo_optim:SurfaceComms
2025-03-12T16:10:23.978Z,1741795823.978 [sci2_noyo_optim:SurfaceComms] Stopped
2025-03-12T16:10:23.986Z,1741795823.986 [sci2_noyo_optim:SurfaceComms](DEBUG): Aggregate::uninitialize sci2_noyo_optim:SurfaceComms
2025-03-12T16:10:24.431Z,1741795824.431 [sci2_noyo_optim:Lap:Dive] Running Loop=1
2025-03-12T16:10:24.431Z,1741795824.431 [sci2_noyo_optim:Lap:Dive](DEBUG): Aggregate::initialize sci2_noyo_optim:Lap:Dive
2025-03-12T16:10:24.432Z,1741795824.432 [sci2_noyo_optim:Lap:Dive:A] Running Loop=1
2025-03-12T16:10:24.432Z,1741795824.432 [sci2_noyo_optim:Lap:Dive:A](DEBUG): Aggregate::initialize sci2_noyo_optim:Lap:Dive:A
2025-03-12T16:10:24.434Z,1741795824.434 [sci2_noyo_optim:DiveCmd:InitialDive] Running Loop=1
2025-03-12T16:10:24.434Z,1741795824.434 [sci2_noyo_optim:DiveCmd:InitialDive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:InitialDive
2025-03-12T16:10:24.434Z,1741795824.434 [sci2_noyo_optim:DiveCmd:InitialDive:dive] Running Loop=1
2025-03-12T16:10:24.442Z,1741795824.442 [sci2_noyo_optim:DiveCmd:InitialDive:dive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:InitialDive:dive
2025-03-12T16:10:24.442Z,1741795824.442 [sci2_noyo_optim:DiveCmd:InitialDive:dive:A] Running Loop=1
2025-03-12T16:10:24.442Z,1741795824.442 [sci2_noyo_optim:DiveCmd:InitialDive:dive:B] Running Loop=1
2025-03-12T16:10:24.442Z,1741795824.442 [sci2_noyo_optim:DiveCmd:InitialDive:dive:C.Mass] Running Loop=1
2025-03-12T16:10:24.442Z,1741795824.442 [sci2_noyo_optim:DiveCmd:InitialDive:dive:C.Mass](DEBUG): Initialize.
2025-03-12T16:10:24.443Z,1741795824.443 [sci2_noyo_optim:DiveCmd:InitialDive:dive:D] Running Loop=1
2025-03-12T16:10:24.443Z,1741795824.443 [sci2_noyo_optim:DiveCmd:InitialDive:dive:D](INFO): Waiting for  1.000000 min while pumping down to neutral.
2025-03-12T16:10:24.443Z,1741795824.443 [sci2_noyo_optim:DiveCmd:InitialDive:dive:D] Stopped
2025-03-12T16:10:24.443Z,1741795824.443 [sci2_noyo_optim:DiveCmd:InitialDive:dive:E.Wait] Running Loop=1
2025-03-12T16:10:24.443Z,1741795824.443 [sci2_noyo_optim:DiveCmd:InitialDive:dive:E.Wait](DEBUG): Initialize Wait Component.
2025-03-12T16:10:55.692Z,1741795855.692 [NAL9602](INFO): Not Powering down - fast GPS
2025-03-12T16:11:24.828Z,1741795884.828 [sci2_noyo_optim:DiveCmd:InitialDive:dive:E.Wait](INFO): Done Waiting.
2025-03-12T16:11:24.828Z,1741795884.828 [sci2_noyo_optim:DiveCmd:InitialDive:dive:E.Wait] Stopped
2025-03-12T16:11:24.828Z,1741795884.828 [sci2_noyo_optim:DiveCmd:InitialDive:dive:E.Wait](DEBUG): Uninitialize Wait Component.
2025-03-12T16:11:24.829Z,1741795884.829 [sci2_noyo_optim:DiveCmd:InitialDive:dive:F] Running Loop=1
2025-03-12T16:11:25.423Z,1741795885.423 [sci2_noyo_optim:DiveCmd:InitialDive:dive:F](INFO): Moving to  10.000000 m 
2025-03-12T16:11:25.423Z,1741795885.423 [sci2_noyo_optim:DiveCmd:InitialDive:dive:F] Stopped
2025-03-12T16:11:25.423Z,1741795885.423 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth] Running Loop=1
2025-03-12T16:11:25.423Z,1741795885.423 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth
2025-03-12T16:11:25.423Z,1741795885.423 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:A.SetSpeed] Running Loop=1
2025-03-12T16:11:25.423Z,1741795885.423 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:A.SetSpeed](DEBUG): Initialize.
2025-03-12T16:11:25.423Z,1741795885.423 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:B.Pitch] Running Loop=1
2025-03-12T16:11:25.424Z,1741795885.424 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:B.Pitch](DEBUG): Initialize.
2025-03-12T16:11:26.303Z,1741795886.303 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T16:11:31.325Z,1741795891.325 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.252785
2025-03-12T16:11:53.418Z,1741795913.418 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-03-12T16:11:53.642Z,1741795913.642 [Radio_Surface](INFO): Powering down
2025-03-12T16:13:45.665Z,1741796025.665 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:B.Pitch] Stopped
2025-03-12T16:13:45.667Z,1741796025.667 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth](INFO): Completed sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth
2025-03-12T16:13:45.667Z,1741796025.667 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth] Stopped
2025-03-12T16:13:45.668Z,1741796025.668 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth
2025-03-12T16:13:45.668Z,1741796025.668 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:A.SetSpeed] Stopped
2025-03-12T16:13:45.668Z,1741796025.668 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:A.SetSpeed](DEBUG): Uninitialize.
2025-03-12T16:13:45.668Z,1741796025.668 [sci2_noyo_optim:DiveCmd:InitialDive:dive:H] Running Loop=1
2025-03-12T16:13:46.049Z,1741796026.049 [sci2_noyo_optim:DiveCmd:InitialDive:dive:H] Stopped
2025-03-12T16:13:46.056Z,1741796026.056 [sci2_noyo_optim:DiveCmd:InitialDive:dive](INFO): Completed sci2_noyo_optim:DiveCmd:InitialDive:dive
2025-03-12T16:13:46.056Z,1741796026.056 [sci2_noyo_optim:DiveCmd:InitialDive:dive] Stopped
2025-03-12T16:13:46.056Z,1741796026.056 [sci2_noyo_optim:DiveCmd:InitialDive:dive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:InitialDive:dive
2025-03-12T16:13:46.056Z,1741796026.056 [sci2_noyo_optim:DiveCmd:InitialDive:dive:A] Stopped
2025-03-12T16:13:46.057Z,1741796026.057 [sci2_noyo_optim:DiveCmd:InitialDive:dive:B] Stopped
2025-03-12T16:13:46.057Z,1741796026.057 [sci2_noyo_optim:DiveCmd:InitialDive:dive:C.Mass] Stopped
2025-03-12T16:13:46.057Z,1741796026.057 [sci2_noyo_optim:DiveCmd:InitialDive:dive:C.Mass](DEBUG): Uninitialize.
2025-03-12T16:13:46.057Z,1741796026.057 [sci2_noyo_optim:DiveCmd:InitialDive](INFO): Completed sci2_noyo_optim:DiveCmd:InitialDive
2025-03-12T16:13:46.436Z,1741796026.436 [sci2_noyo_optim:DiveCmd:SettleAtDepth] Running Loop=1
2025-03-12T16:13:46.436Z,1741796026.436 [sci2_noyo_optim:DiveCmd:SettleAtDepth](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:SettleAtDepth
2025-03-12T16:13:46.436Z,1741796026.436 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive] Running Loop=1
2025-03-12T16:13:46.436Z,1741796026.436 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:SettleAtDepth:dive
2025-03-12T16:13:46.436Z,1741796026.436 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:B.Pitch] Running Loop=1
2025-03-12T16:13:46.436Z,1741796026.436 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:B.Pitch](DEBUG): Initialize.
2025-03-12T16:13:46.436Z,1741796026.436 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:A] Running Loop=1
2025-03-12T16:13:46.437Z,1741796026.437 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:A](INFO): Reached  10.078305 m , settling for  3.000000 min 
2025-03-12T16:13:46.438Z,1741796026.438 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:A] Stopped
2025-03-12T16:13:46.438Z,1741796026.438 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:C.Wait] Running Loop=1
2025-03-12T16:13:46.438Z,1741796026.438 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:C.Wait](DEBUG): Initialize Wait Component.
2025-03-12T16:14:44.453Z,1741796084.453 [CTD_Seabird](ERROR): Failed to parse device response: 12.00.86
2025-03-12T16:16:47.186Z,1741796207.186 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:C.Wait](INFO): Done Waiting.
2025-03-12T16:16:47.187Z,1741796207.187 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:C.Wait] Stopped
2025-03-12T16:16:47.187Z,1741796207.187 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:C.Wait](DEBUG): Uninitialize Wait Component.
2025-03-12T16:16:47.188Z,1741796207.188 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:D] Running Loop=1
2025-03-12T16:16:47.547Z,1741796207.547 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:D] Stopped
2025-03-12T16:16:47.547Z,1741796207.547 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive](INFO): Completed sci2_noyo_optim:DiveCmd:SettleAtDepth:dive
2025-03-12T16:16:47.547Z,1741796207.547 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive] Stopped
2025-03-12T16:16:47.547Z,1741796207.547 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:SettleAtDepth:dive
2025-03-12T16:16:47.547Z,1741796207.547 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:B.Pitch] Stopped
2025-03-12T16:16:47.548Z,1741796207.548 [sci2_noyo_optim:DiveCmd:SettleAtDepth](INFO): Completed sci2_noyo_optim:DiveCmd:SettleAtDepth
2025-03-12T16:16:54.727Z,1741796214.727 [sci2_noyo_optim:StandardEnvelopes:A.AltitudeEnvelope](IMPORTANT): Altitude envelope ACTIVE
2025-03-12T16:18:55.004Z,1741796335.004 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow] Running Loop=1
2025-03-12T16:18:55.004Z,1741796335.004 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepthSlow
2025-03-12T16:18:55.004Z,1741796335.004 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:A.SetSpeed] Running Loop=1
2025-03-12T16:18:55.004Z,1741796335.004 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:A.SetSpeed](DEBUG): Initialize.
2025-03-12T16:18:55.004Z,1741796335.004 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:B] Running Loop=1
2025-03-12T16:18:55.004Z,1741796335.004 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:C.Buoyancy] Running Loop=1
2025-03-12T16:18:55.004Z,1741796335.004 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:C.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-03-12T16:18:55.004Z,1741796335.004 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:D.Pitch] Running Loop=1
2025-03-12T16:18:55.005Z,1741796335.005 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:D.Pitch](DEBUG): Initialize.
2025-03-12T16:18:55.006Z,1741796335.006 [sci2_noyo_optim:DiveCmd:MaintainDepth] Stopped
2025-03-12T16:18:55.006Z,1741796335.006 [sci2_noyo_optim:DiveCmd:MaintainDepth](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepth
2025-03-12T16:18:55.006Z,1741796335.006 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive] Stopped
2025-03-12T16:18:55.006Z,1741796335.006 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive
2025-03-12T16:18:55.006Z,1741796335.006 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive] Stopped
2025-03-12T16:18:55.006Z,1741796335.006 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive
2025-03-12T16:18:55.007Z,1741796335.007 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass] Stopped
2025-03-12T16:18:55.007Z,1741796335.007 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass](DEBUG): Uninitialize.
2025-03-12T16:18:55.007Z,1741796335.007 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed] Stopped
2025-03-12T16:18:55.007Z,1741796335.007 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed](DEBUG): Uninitialize.
2025-03-12T16:18:55.007Z,1741796335.007 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:B.Pitch] Stopped
2025-03-12T16:23:49.042Z,1741796629.042 [Waterlinked](ERROR): only read 0 of 1 data item for BIT error. Device response::TS,24052713145256, 0.   +0,    +0,    +0,    +0,V
2025-03-12T16:28:18.921Z,1741796898.921 [Waterlinked](ERROR): only read 0 of 1 data item for altitude. Device response::BD,       +0.00,       +0.00,       +0.    +0,    +0,V
2025-03-12T16:33:12.041Z,1741797192.041 [sci2_noyo_optim:Lap:DepthByLap:Wpt1:A.Waypoint](IMPORTANT): Reached waypoint: 36.797001,-121.847000
2025-03-12T16:33:12.041Z,1741797192.041 [sci2_noyo_optim:Lap:DepthByLap:Wpt1:A.Waypoint] Stopped
2025-03-12T16:33:12.041Z,1741797192.041 [sci2_noyo_optim:Lap:DepthByLap:Wpt1:A.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-03-12T16:33:12.041Z,1741797192.041 [sci2_noyo_optim:Lap:DepthByLap:Wpt1](INFO): Completed sci2_noyo_optim:Lap:DepthByLap:Wpt1
2025-03-12T16:33:12.041Z,1741797192.041 [sci2_noyo_optim:Lap:DepthByLap:Wpt1] Stopped
2025-03-12T16:33:12.041Z,1741797192.041 [sci2_noyo_optim:Lap:DepthByLap:Wpt1](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Lap:DepthByLap:Wpt1
2025-03-12T16:33:12.041Z,1741797192.041 [sci2_noyo_optim:Lap:DepthByLap:Wpt2] Running Loop=1
2025-03-12T16:33:12.042Z,1741797192.042 [sci2_noyo_optim:Lap:DepthByLap:Wpt2](DEBUG): Aggregate::initialize sci2_noyo_optim:Lap:DepthByLap:Wpt2
2025-03-12T16:33:12.042Z,1741797192.042 [sci2_noyo_optim:Lap:DepthByLap:Wpt2:A.Waypoint] Running Loop=1
2025-03-12T16:33:12.042Z,1741797192.042 [sci2_noyo_optim:Lap:DepthByLap:Wpt2:A.Waypoint](DEBUG): Initialize WaypointComponent.
2025-03-12T16:33:12.043Z,1741797192.043 [sci2_noyo_optim:Lap:DepthByLap:Wpt2:A.Waypoint](IMPORTANT): Navigating to waypoint: 36.797050,-121.877693
2025-03-12T16:43:19.996Z,1741797799.996 [BPC1](INFO): Calculating totals. Valid battery stick count: 49. Valid reserve battery stick count: 5.
2025-03-12T16:43:20.004Z,1741797800.004 [BPC1](FAULT): Failed to receive data from 4 sticks prior to timeout. Will not retry this scan cycle. Missing stick IDs are: 18, 20, 21, 24.
2025-03-12T16:45:16.494Z,1741797916.494 [Waterlinked](ERROR): only read 1 of 5 data items. Device response::BI,    +.00
2025-03-12T16:48:56.745Z,1741798136.745 [Waterlinked](ERROR): only read 3 of 5 data items. Device response::BI,   +0,    +0,    +0,V
2025-03-12T16:54:42.588Z,1741798482.588 [BPC1](ERROR): BPC1B: No match for serial number 1717 in BPC1B's battery stick inventory (sticks 32-62 in onboard configuration file).
2025-03-12T17:04:04.003Z,1741799044.003 [Waterlinked](ERROR): only read 0 of 1 data item for altitude. Device response::BD,       +0 0.00,  0.00
2025-03-12T17:04:04.839Z,1741799044.839 [CTD_Seabird](ERROR): Failed to parse device response: 34.90,3.68380,2323.00
2025-03-12T17:07:42.132Z,1741799262.132 [Waterlinked](ERROR): only read 0 of 1 data item for BIT error. Device response::TS,24050,    +0,V
2025-03-12T17:10:23.261Z,1741799423.261 [sci2_noyo_optim:SurfaceComms] Running Loop=1
2025-03-12T17:10:23.261Z,1741799423.261 [sci2_noyo_optim:SurfaceComms](DEBUG): Aggregate::initialize sci2_noyo_optim:SurfaceComms
2025-03-12T17:10:23.261Z,1741799423.261 [sci2_noyo_optim:SurfaceComms:A] Running Loop=1
2025-03-12T17:10:23.262Z,1741799423.262 [sci2_noyo_optim:SurfaceComms:A] Stopped
2025-03-12T17:10:23.262Z,1741799423.262 [sci2_noyo_optim:SurfaceComms:B] Running Loop=1
2025-03-12T17:10:23.262Z,1741799423.262 [sci2_noyo_optim:SurfaceComms:B](DEBUG): Aggregate::initialize sci2_noyo_optim:SurfaceComms:B
2025-03-12T17:10:23.653Z,1741799423.653 [sci2_noyo_optim:Lap:Dive] Stopped
2025-03-12T17:10:23.653Z,1741799423.653 [sci2_noyo_optim:Lap:Dive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Lap:Dive
2025-03-12T17:10:23.653Z,1741799423.653 [sci2_noyo_optim:Lap:Dive:A] Stopped
2025-03-12T17:10:23.653Z,1741799423.653 [sci2_noyo_optim:Lap:Dive:A](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Lap:Dive:A
2025-03-12T17:10:23.654Z,1741799423.654 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow] Stopped
2025-03-12T17:10:23.655Z,1741799423.655 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepthSlow
2025-03-12T17:10:23.655Z,1741799423.655 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:A.SetSpeed] Stopped
2025-03-12T17:10:23.655Z,1741799423.655 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:A.SetSpeed](DEBUG): Uninitialize.
2025-03-12T17:10:23.655Z,1741799423.655 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:B] Stopped
2025-03-12T17:10:23.655Z,1741799423.655 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:C.Buoyancy] Stopped
2025-03-12T17:10:23.655Z,1741799423.655 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-03-12T17:10:23.655Z,1741799423.655 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:D.Pitch] Stopped
2025-03-12T17:10:23.658Z,1741799423.658 [sci2_noyo_optim:NeedComms] Running Loop=1
2025-03-12T17:10:23.658Z,1741799423.658 [sci2_noyo_optim:NeedComms](DEBUG): Aggregate::initialize sci2_noyo_optim:NeedComms
2025-03-12T17:10:23.658Z,1741799423.658 [sci2_noyo_optim:NeedComms:B.GoToSurface] Running Loop=1
2025-03-12T17:10:23.658Z,1741799423.658 [sci2_noyo_optim:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-03-12T17:10:23.659Z,1741799423.659 [sci2_noyo_optim:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-03-12T17:10:23.659Z,1741799423.659 [sci2_noyo_optim:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-03-12T17:10:23.660Z,1741799423.660 [sci2_noyo_optim:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-03-12T17:10:23.660Z,1741799423.660 [sci2_noyo_optim:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-03-12T17:10:23.660Z,1741799423.660 [sci2_noyo_optim:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-03-12T17:10:23.661Z,1741799423.661 [sci2_noyo_optim:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-03-12T17:10:23.661Z,1741799423.661 [sci2_noyo_optim:NeedComms:A] Running Loop=1
2025-03-12T17:10:23.664Z,1741799423.664 [sci2_noyo_optim:NeedComms:A](INFO): last time_fix was:  1741795822.000000 second since 1970/01/01T00:00:00Z 
2025-03-12T17:10:23.664Z,1741799423.664 [sci2_noyo_optim:NeedComms:A] Stopped
2025-03-12T17:10:49.111Z,1741799449.111 [sci2_noyo_optim:DiveCmd:MaintainDepth] Running Loop=1
2025-03-12T17:10:49.111Z,1741799449.111 [sci2_noyo_optim:DiveCmd:MaintainDepth](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepth
2025-03-12T17:10:49.111Z,1741799449.111 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive] Running Loop=1
2025-03-12T17:10:49.111Z,1741799449.111 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive
2025-03-12T17:10:49.111Z,1741799449.111 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive] Running Loop=1
2025-03-12T17:10:49.111Z,1741799449.111 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive
2025-03-12T17:10:49.111Z,1741799449.111 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass] Running Loop=1
2025-03-12T17:10:49.112Z,1741799449.112 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass](DEBUG): Initialize.
2025-03-12T17:10:49.112Z,1741799449.112 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed] Running Loop=1
2025-03-12T17:10:49.112Z,1741799449.112 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed](DEBUG): Initialize.
2025-03-12T17:10:49.112Z,1741799449.112 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:B.Pitch] Running Loop=1
2025-03-12T17:10:49.112Z,1741799449.112 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:B.Pitch](DEBUG): Initialize.
2025-03-12T17:12:47.307Z,1741799567.307 [sci2_noyo_optim:NeedComms:C] Running Loop=1
2025-03-12T17:12:47.750Z,1741799567.750 [Waterlinked](INFO): Powering down
2025-03-12T17:12:47.951Z,1741799567.951 [Radio_Surface](INFO): Powering up
2025-03-12T17:12:53.571Z,1741799573.571 [DataOverHttps](INFO): Radio surface powered ON.
2025-03-12T17:13:23.698Z,1741799603.698 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T17:13:58.846Z,1741799638.846 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T17:14:34.002Z,1741799674.002 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T17:15:09.142Z,1741799709.142 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T17:15:44.282Z,1741799744.282 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T17:16:18.229Z,1741799778.229 [DataOverHttps](IMPORTANT): SBD MTMSN=20250312T171616
2025-03-12T17:16:18.236Z,1741799778.236 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.006891
2025-03-12T17:16:26.982Z,1741799786.982 [DataOverHttps](INFO): Received command: sched asap "load Science/sci2_noyo_optim.tl;set sci2_noyo_optim.MissionTimeout 3 h;set sci2_noyo_optim.NeedCommsTime 60 min;set sci2_noyo_optim.Depth1 90 m;set sci2_noyo_optim.Depth2 90 m;set sci2_noyo_optim.Depth3 200 m" 32l7d 1 4
2025-03-12T17:16:27.055Z,1741799787.055 [CommandExec](IMPORTANT): got command schedule asap "load Science/sci2_noyo_optim.tl;set sci2_noyo_optim.MissionTimeout 3 h;set sci2_noyo_optim.NeedCommsTime 60 min;set sci2_noyo_optim.Depth1 90 m;set sci2_noyo_optim.Depth2 90 m;set sci2_noyo_optim.Depth3 200 m" 32l7d 1 4.000000
2025-03-12T17:16:27.056Z,1741799787.056 [CommandExec](IMPORTANT): Scheduling command #1 of 4 with id=32l7d
2025-03-12T17:16:27.057Z,1741799787.057 [CommandExec](IMPORTANT): Scheduled #14 (#1 of 4 with id='32l7d'): "load Science/sci2_noyo_optim.tl;set sci2_noyo_optim.MissionTimeout 3 h;set sci2_noyo_optim.NeedCommsTime 60 min;set sci2_noyo_optim.Depth1 90 m;set sci2_noyo_optim.Depth2 90 m;set sci2_noyo_optim.Depth3 200 m", ASAP
2025-03-12T17:16:27.984Z,1741799787.984 [DataOverHttps](IMPORTANT): SBD MTMSN=20250312T171626
2025-03-12T17:16:38.822Z,1741799798.822 [DataOverHttps](INFO): Received command: sched asap "set sci2_noyo_optim.Lat1 36.79509 degree;set sci2_noyo_optim.Lon1 -121.864 degree;set sci2_noyo_optim.Lat2 36.79482 degree;set sci2_noyo_optim.Lon2 -121.88413 degree;set sci2_noyo_optim.Lat3 36.79465 degree" 32l7d 2 4
2025-03-12T17:16:38.835Z,1741799798.835 [CommandExec](IMPORTANT): got command schedule asap "set sci2_noyo_optim.Lat1 36.79509 degree;set sci2_noyo_optim.Lon1 -121.864 degree;set sci2_noyo_optim.Lat2 36.79482 degree;set sci2_noyo_optim.Lon2 -121.88413 degree;set sci2_noyo_optim.Lat3 36.79465 degree" 32l7d 2 4.000000
2025-03-12T17:16:38.836Z,1741799798.836 [CommandExec](IMPORTANT): Scheduling command #2 of 4 with id=32l7d
2025-03-12T17:16:38.837Z,1741799798.837 [CommandExec](IMPORTANT): Scheduled #15 (#2 of 4 with id='32l7d'): "set sci2_noyo_optim.Lat1 36.79509 degree;set sci2_noyo_optim.Lon1 -121.864 degree;set sci2_noyo_optim.Lat2 36.79482 degree;set sci2_noyo_optim.Lon2 -121.88413 degree;set sci2_noyo_optim.Lat3 36.79465 degree", ASAP
2025-03-12T17:16:42.836Z,1741799802.836 [DataOverHttps](IMPORTANT): SBD MTMSN=20250312T171641
2025-03-12T17:16:51.918Z,1741799811.918 [DataOverHttps](INFO): Received command: sched asap "set sci2_noyo_optim.Lon3 -121.9037 degree;set sci2_noyo_optim.ApproachDepth 10 m;set sci2_noyo_optim.SlowSpeed 0.4 m/s;set sci2_noyo_optim.MinAltitude 10 m;set sci2_noyo_optim.MaxDepth 210 m" 32l7d 3 4
2025-03-12T17:16:51.996Z,1741799811.996 [CommandExec](IMPORTANT): got command schedule asap "set sci2_noyo_optim.Lon3 -121.9037 degree;set sci2_noyo_optim.ApproachDepth 10 m;set sci2_noyo_optim.SlowSpeed 0.4 m/s;set sci2_noyo_optim.MinAltitude 10 m;set sci2_noyo_optim.MaxDepth 210 m" 32l7d 3 4.000000
2025-03-12T17:16:51.996Z,1741799811.996 [CommandExec](IMPORTANT): Scheduling command #3 of 4 with id=32l7d
2025-03-12T17:16:51.997Z,1741799811.997 [CommandExec](IMPORTANT): Scheduled #16 (#3 of 4 with id='32l7d'): "set sci2_noyo_optim.Lon3 -121.9037 degree;set sci2_noyo_optim.ApproachDepth 10 m;set sci2_noyo_optim.SlowSpeed 0.4 m/s;set sci2_noyo_optim.MinAltitude 10 m;set sci2_noyo_optim.MaxDepth 210 m", ASAP
2025-03-12T17:16:52.920Z,1741799812.920 [DataOverHttps](IMPORTANT): SBD MTMSN=20250312T171651
2025-03-12T17:17:00.926Z,1741799820.926 [DataOverHttps](INFO): Received command: sched asap "set sci2_noyo_optim:PowerOnly.SampleLoad1 1 bool;run" 32l7d 4 4
2025-03-12T17:17:00.977Z,1741799820.977 [CommandExec](IMPORTANT): got command schedule asap "set sci2_noyo_optim:PowerOnly.SampleLoad1 1 bool;run" 32l7d 4 4.000000
2025-03-12T17:17:00.978Z,1741799820.978 [CommandExec](IMPORTANT): Scheduling command #4 of 4 with id=32l7d
2025-03-12T17:17:00.979Z,1741799820.979 [CommandExec](IMPORTANT): Scheduled #17 (#4 of 4 with id='32l7d'): "set sci2_noyo_optim:PowerOnly.SampleLoad1 1 bool;run", ASAP
2025-03-12T17:17:01.128Z,1741799821.128 [CommandExec](IMPORTANT): got command load ./Missions/Science/sci2_noyo_optim.tl
2025-03-12T17:17:01.129Z,1741799821.129 [MissionManager](INFO): Uninitializing Mission sci2_noyo_optim
2025-03-12T17:17:01.129Z,1741799821.129 [sci2_noyo_optim] Stopped
2025-03-12T17:17:01.129Z,1741799821.129 [sci2_noyo_optim](DEBUG): Aggregate::uninitialize sci2_noyo_optim
2025-03-12T17:17:01.129Z,1741799821.129 [sci2_noyo_optim:Science] Stopped
2025-03-12T17:17:01.129Z,1741799821.129 [sci2_noyo_optim:Science](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science
2025-03-12T17:17:01.129Z,1741799821.129 [sci2_noyo_optim:Science:B] Stopped
2025-03-12T17:17:01.129Z,1741799821.129 [sci2_noyo_optim:Science:C] Stopped
2025-03-12T17:17:01.130Z,1741799821.130 [sci2_noyo_optim:Science:E] Stopped
2025-03-12T17:17:01.130Z,1741799821.130 [sci2_noyo_optim:Science:OceanCurrent] Stopped
2025-03-12T17:17:01.130Z,1741799821.130 [sci2_noyo_optim:Science:OceanCurrent](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:OceanCurrent
2025-03-12T17:17:01.130Z,1741799821.130 [sci2_noyo_optim:Science:OceanCurrent:A.] Stopped
2025-03-12T17:17:01.131Z,1741799821.131 [sci2_noyo_optim:StandardEnvelopes] Stopped
2025-03-12T17:17:01.131Z,1741799821.131 [sci2_noyo_optim:StandardEnvelopes](DEBUG): Aggregate::uninitialize sci2_noyo_optim:StandardEnvelopes
2025-03-12T17:17:01.131Z,1741799821.131 [sci2_noyo_optim:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-03-12T17:17:01.131Z,1741799821.131 [sci2_noyo_optim:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-03-12T17:17:01.131Z,1741799821.131 [sci2_noyo_optim:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-03-12T17:17:01.131Z,1741799821.131 [sci2_noyo_optim:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-03-12T17:17:01.131Z,1741799821.131 [sci2_noyo_optim:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-03-12T17:17:01.131Z,1741799821.131 [sci2_noyo_optim:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-03-12T17:17:01.131Z,1741799821.131 [sci2_noyo_optim:NeedComms] Stopped
2025-03-12T17:17:01.131Z,1741799821.131 [sci2_noyo_optim:NeedComms](DEBUG): Aggregate::uninitialize sci2_noyo_optim:NeedComms
2025-03-12T17:17:01.131Z,1741799821.131 [sci2_noyo_optim:NeedComms:B.GoToSurface] Stopped
2025-03-12T17:17:01.131Z,1741799821.131 [sci2_noyo_optim:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-03-12T17:17:01.132Z,1741799821.132 [sci2_noyo_optim:NeedComms:C] Stopped
2025-03-12T17:17:01.132Z,1741799821.132 [sci2_noyo_optim:BackseatDriver] Stopped
2025-03-12T17:17:01.132Z,1741799821.132 [sci2_noyo_optim:BackseatDriver](DEBUG): Aggregate::uninitialize sci2_noyo_optim:BackseatDriver
2025-03-12T17:17:01.132Z,1741799821.132 [sci2_noyo_optim:BackseatDriver:A.BackseatDriver] Stopped
2025-03-12T17:17:01.132Z,1741799821.132 [sci2_noyo_optim:J] Stopped
2025-03-12T17:17:01.132Z,1741799821.132 [sci2_noyo_optim:PowerOnly] Stopped
2025-03-12T17:17:01.132Z,1741799821.132 [sci2_noyo_optim:PowerOnly](DEBUG): Aggregate::uninitialize sci2_noyo_optim:PowerOnly
2025-03-12T17:17:01.132Z,1741799821.132 [sci2_noyo_optim:PowerOnly:B] Stopped
2025-03-12T17:17:01.133Z,1741799821.133 [sci2_noyo_optim:PowerOnly:E.Wait] Stopped
2025-03-12T17:17:01.133Z,1741799821.133 [sci2_noyo_optim:PowerOnly:E.Wait](DEBUG): Uninitialize Wait Component.
2025-03-12T17:17:01.133Z,1741799821.133 [sci2_noyo_optim:L] Stopped
2025-03-12T17:17:01.133Z,1741799821.133 [sci2_noyo_optim:N] Stopped
2025-03-12T17:17:01.133Z,1741799821.133 [sci2_noyo_optim:O.Buoyancy] Stopped
2025-03-12T17:17:01.133Z,1741799821.133 [sci2_noyo_optim:O.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-03-12T17:17:01.133Z,1741799821.133 [sci2_noyo_optim:SurfaceComms] Stopped
2025-03-12T17:17:01.133Z,1741799821.133 [sci2_noyo_optim:SurfaceComms](DEBUG): Aggregate::uninitialize sci2_noyo_optim:SurfaceComms
2025-03-12T17:17:01.133Z,1741799821.133 [sci2_noyo_optim:SurfaceComms:B] Stopped
2025-03-12T17:17:01.134Z,1741799821.134 [sci2_noyo_optim:SurfaceComms:B](DEBUG): Aggregate::uninitialize sci2_noyo_optim:SurfaceComms:B
2025-03-12T17:17:01.134Z,1741799821.134 [sci2_noyo_optim:DiveCmd] Stopped
2025-03-12T17:17:01.134Z,1741799821.134 [sci2_noyo_optim:DiveCmd](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd
2025-03-12T17:17:01.134Z,1741799821.134 [sci2_noyo_optim:DiveCmd:InitialDive] Stopped
2025-03-12T17:17:01.134Z,1741799821.134 [sci2_noyo_optim:DiveCmd:InitialDive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:InitialDive
2025-03-12T17:17:01.135Z,1741799821.135 [sci2_noyo_optim:DiveCmd:SettleAtDepth] Stopped
2025-03-12T17:17:01.135Z,1741799821.135 [sci2_noyo_optim:DiveCmd:SettleAtDepth](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:SettleAtDepth
2025-03-12T17:17:01.135Z,1741799821.135 [sci2_noyo_optim:DiveCmd:MaintainDepth] Stopped
2025-03-12T17:17:01.135Z,1741799821.135 [sci2_noyo_optim:DiveCmd:MaintainDepth](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepth
2025-03-12T17:17:01.135Z,1741799821.135 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive] Stopped
2025-03-12T17:17:01.135Z,1741799821.135 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive
2025-03-12T17:17:01.135Z,1741799821.135 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive] Stopped
2025-03-12T17:17:01.135Z,1741799821.135 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive
2025-03-12T17:17:01.135Z,1741799821.135 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass] Stopped
2025-03-12T17:17:01.135Z,1741799821.135 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass](DEBUG): Uninitialize.
2025-03-12T17:17:01.135Z,1741799821.135 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed] Stopped
2025-03-12T17:17:01.135Z,1741799821.135 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed](DEBUG): Uninitialize.
2025-03-12T17:17:01.136Z,1741799821.136 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:B.Pitch] Stopped
2025-03-12T17:17:01.136Z,1741799821.136 [sci2_noyo_optim:Lap] Stopped
2025-03-12T17:17:01.136Z,1741799821.136 [sci2_noyo_optim:Lap](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Lap
2025-03-12T17:17:01.136Z,1741799821.136 [sci2_noyo_optim:Lap:DepthByLap] Stopped
2025-03-12T17:17:01.136Z,1741799821.136 [sci2_noyo_optim:Lap:DepthByLap](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Lap:DepthByLap
2025-03-12T17:17:01.136Z,1741799821.136 [sci2_noyo_optim:Lap:DepthByLap:Wpt2] Stopped
2025-03-12T17:17:01.136Z,1741799821.136 [sci2_noyo_optim:Lap:DepthByLap:Wpt2](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Lap:DepthByLap:Wpt2
2025-03-12T17:17:01.136Z,1741799821.136 [sci2_noyo_optim:Lap:DepthByLap:Wpt2:A.Waypoint] Stopped
2025-03-12T17:17:01.136Z,1741799821.136 [sci2_noyo_optim:Lap:DepthByLap:Wpt2:A.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-03-12T17:17:01.521Z,1741799821.521 [MissionManager](INFO): Loading Mission from file: ./Missions/Science/sci2_noyo_optim.tl
2025-03-12T17:17:01.521Z,1741799821.521 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Science/sci2_noyo_optim.tl
2025-03-12T17:17:01.570Z,1741799821.570 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Science/sci2_noyo_optim.tl
2025-03-12T17:17:01.594Z,1741799821.594 [WetLabsBB2FL](INFO): Powering down
2025-03-12T17:17:03.039Z,1741799823.039 [BackseatComponent](INFO): Sent LCM shutdown request.
2025-03-12T17:17:03.040Z,1741799823.040 [BackseatComponent](INFO): Shutdown requested. Waiting (18.00 sec to power down.).
2025-03-12T17:17:06.960Z,1741799826.960 [MissionManager](DEBUG): TethyslAPI: ./Missions/Science/sci2_noyo_optim.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Mission Id="sci2_noyo_optim">
    <DefineArg Name="MissionTimeout">
        <Units:hour />
        <Value>2</Value>
    </DefineArg>
    <DefineArg Name="NeedCommsTime">
        <Units:minute />
        <Value>60</Value>
    </DefineArg>
    <DefineArg Name="Depth1">
        <Units:meter />
        <Value>35</Value>
    </DefineArg>
    <DefineArg Name="Depth2">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Depth3">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Depth4">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Depth5">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Depth6">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Depth7">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Depth8">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="DepthPerLeg">
        <False />
    </DefineArg>
    <DefineArg Name="Repeat">
        <Units:count />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="Lat1">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lat2">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lat3">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lat4">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lat5">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lat6">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lat7">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lat8">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lon1">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lon2">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lon3">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lon4">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lon5">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lon6">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lon7">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lon8">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="FastSpeed">
        <Units:meter_per_second />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="ApproachDepth">
        <Units:meter />
        <Value>30</Value>
    </DefineArg>
    <DefineArg Name="ApproachSpeed">
        <Units:meter_per_second />
        <Value>0.7</Value>
    </DefineArg>
    <DefineArg Name="ApproachDepthRate">
        <Units:meter_per_second />
        <Value>0.05</Value>
    </DefineArg>
    <DefineArg Name="ApproachPitchLimit">
        <Units:degree />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="ApproachDepthTimeout">
        <Units:minute />
        <Value>15</Value>
    </DefineArg>
    <DefineArg Name="ApproachSettleTimePreDive">
        <Units:minute />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="ApproachSettleTimePostDive">
        <Units:minute />
        <Value>3</Value>
    </DefineArg>
    <DefineArg Name="kpDepth">
        <Units:radian_per_meter />
        <Value>0.07</Value>
    </DefineArg>
    <DefineArg Name="SlowSpeed">
        <Units:meter_per_second />
        <Value>0.25</Value>
    </DefineArg>
    <DefineArg Name="DepthDeviationSlow">
        <Units:meter />
        <Value>3</Value>
    </DefineArg>
    <DefineArg Name="BuoyancyNeutral">
        <Control:VerticalControl.buoyancyNeutral />
    </DefineArg>
    <DefineArg Name="MassDefault">
        <Control:VerticalControl.massDefault />
    </DefineArg>
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>2</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>50</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:kilometer />
        <Value>2</Value>
    </DefineArg>
    <DefineOutput Name="DiveMode">
        <Units:count />
        <Value>0</Value>
    </DefineOutput>
    <DefineOutput Name="DoingComms">
        <Units:count />
        <Value>0</Value>
    </DefineOutput>
    <DefineOutput Name="InitialDive">
        <Units:count />
        <Value>1</Value>
    </DefineOutput>
    <DefineOutput Name="SettleAtDepth">
        <Units:count />
        <Value>2</Value>
    </DefineOutput>
    <DefineOutput Name="MaintainDepth">
        <Units:count />
        <Value>3</Value>
    </DefineOutput>
    <DefineOutput Name="LegDepth">
        <Arg Name="Depth1" />
    </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="MissionTimeout" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="NeedComms:WaitForPitchUp" />
        <Units:minute />
        <Value>0</Value>
    </Assign>
    <Insert Filename="Insert/BackseatDriver.tl" />
    <Assign>
        <Parallel />
        <Arg Name="BackseatDriver:EnableBackseat" />
        <True />
    </Assign>
    <Insert Filename="Insert/PowerOnly.tl" />
    <Assign>
        <Parallel />
        <Arg Name="PowerOnly:SampleLoad1" />
        <True />
    </Assign>
    <Assign>
        <Sequence />
        <Sensor:MultiRay.lightModeCommand />
        <Units:count />
        <Value>2</Value>
    </Assign>
    <ReadData Strategy="MinError">
        <While>
            <Sensor:MultiRay.loadAtStartup />
        </While>
        <Sensor:MultiRay.lightModeLog />
    </ReadData>
    <Guidance:Buoyancy>
        <Parallel />
        <Setting>
            <Guidance:Buoyancy.position />
            <Arg Name="BuoyancyNeutral" />
        </Setting>
    </Guidance:Buoyancy>
    <Aggregate Id="SurfaceComms">
        <When>
            <Called />
            <Or>
                <Elapsed>
                    <Universal:time_fix />
                </Elapsed>
                <Gt>
                    <Arg Name="NeedCommsTime" />
                </Gt>
            </Or>
        </When>
        <Assign>
            <Sequence />
            <Arg Name="DiveMode" />
            <Arg Name="DoingComms" />
        </Assign>
        <Call RefId="NeedComms" />
        <Assign>
            <Sequence />
            <Arg Name="DiveMode" />
            <Arg Name="InitialDive" />
        </Assign>
    </Aggregate>
    <Aggregate Id="DiveCmd">
        <When>
            <Called />
        </When>
        <Aggregate Id="InitialDive">
            <While>
                <Arg Name="DiveMode" />
                <Eq>
                    <Arg Name="InitialDive" />
                </Eq>
            </While>
            <Aggregate Id="dive">
                <Sequence />
                <Assign>
                    <Parallel />
                    <Control:VerticalControl.pitchLimit />
                    <Arg Name="ApproachPitchLimit" />
                </Assign>
                <Assign>
                    <Parallel />
                    <Control:VerticalControl.kpDepth />
                    <Arg Name="kpDepth" />
                </Assign>
                <Guidance:Mass>
                    <Parallel />
                    <Setting>
                        <Guidance:Mass.position />
                        <Arg Name="MassDefault" />
                    </Setting>
                </Guidance:Mass>
                <Syslog Severity="Info">
                    Waiting for 
                    <Arg Name="ApproachSettleTimePreDive" />
                    <Units:minute />
                    while pumping down to neutral.
                </Syslog>
                <Guidance:Wait>
                    <Sequence />
                    <Setting>
                        <Guidance:Wait.duration />
                        <Arg Name="ApproachSettleTimePreDive" />
                    </Setting>
                </Guidance:Wait>
                <Syslog>
                    Moving to 
                    <Arg Name="ApproachDepth" />
                    <Units:meter />
                </Syslog>
                <Aggregate Id="ApproachDepth">
                    <Sequence />
                    <Guidance:SetSpeed>
                        <Parallel />
                        <Setting>
                            <Guidance:SetSpeed.speed />
                            <Arg Name="ApproachSpeed" />
                        </Setting>
                    </Guidance:SetSpeed>
                    <Guidance:Pitch>
                        <Sequence />
                        <Timeout Duration="ApproachDepthTimeout">
                            <Syslog Severity="Important">
                                Timed out while trying to reach target depth at current depth of 
                                <Universal:depth />
                                <Units:meter />
                            </Syslog>
                            <Guidance:Execute>
                                <Sequence />
                                <Setting>
                                    <Guidance:Execute.command />
                                    <String>stop</String>
                                </Setting>
                            </Guidance:Execute>
                        </Timeout>
                        <Setting>
                            <Guidance:Pitch.depth />
                            <Arg Name="ApproachDepth" />
                        </Setting>
                        <Setting>
                            <Guidance:Pitch.depthRate />
                            <Arg Name="ApproachDepthRate" />
                        </Setting>
                    </Guidance:Pitch>
                </Aggregate>
                <Assign>
                    <Sequence />
                    <Arg Name="DiveMode" />
                    <Arg Name="SettleAtDepth" />
                </Assign>
            </Aggregate>
        </Aggregate>
        <Aggregate Id="SettleAtDepth">
            <While>
                <Arg Name="DiveMode" />
                <Eq>
                    <Arg Name="SettleAtDepth" />
                </Eq>
            </While>
            <Aggregate Id="dive">
                <Sequence />
                <Syslog Severity="Info">
                    Reached 
                    <Universal:depth />
                    <Units:meter />
                    , settling for 
                    <Arg Name="ApproachSettleTimePostDive" />
                    <Units:minute />
                </Syslog>
                <Guidance:Pitch>
                    <Parallel />
                    <Setting>
                        <Guidance:Pitch.depth />
                        <Arg Name="LegDepth" />
                    </Setting>
                </Guidance:Pitch>
                <Guidance:Wait>
                    <Sequence />
                    <Setting>
                        <Guidance:Wait.duration />
                        <Arg Name="ApproachSettleTimePostDive" />
                    </Setting>
                </Guidance:Wait>
                <Assign>
                    <Sequence />
                    <Arg Name="DiveMode" />
                    <Arg Name="MaintainDepth" />
                </Assign>
            </Aggregate>
        </Aggregate>
        <Aggregate Id="MaintainDepth">
            <While>
                <Arg Name="DiveMode" />
                <Eq>
                    <Arg Name="MaintainDepth" />
                </Eq>
                <And>
                    <Universal:depth />
                    <Gt>
                        <Arg Name="LegDepth" />
                        <Add>
                            <Arg Name="DepthDeviationSlow" />
                        </Add>
                    </Gt>
                </And>
                <Or>
                    <Universal:depth />
                    <Lt>
                        <Arg Name="LegDepth" />
                        <Sub>
                            <Arg Name="DepthDeviationSlow" />
                        </Sub>
                    </Lt>
                </Or>
            </While>
            <Aggregate Id="dive">
                <Parallel />
                <Aggregate Id="ThrusterDive">
                    <While>
                        <Arg Name="FastSpeed" />
                        <Gt>
                            <Units:meter_per_second />
                            <Value>0.0</Value>
                        </Gt>
                    </While>
                    <Guidance:Mass>
                        <Parallel />
                        <Setting>
                            <Guidance:Mass.position />
                            <Arg Name="MassDefault" />
                        </Setting>
                    </Guidance:Mass>
                    <Guidance:SetSpeed>
                        <Parallel />
                        <Setting>
                            <Guidance:SetSpeed.speed />
                            <Arg Name="FastSpeed" />
                        </Setting>
                    </Guidance:SetSpeed>
                </Aggregate>
                <Guidance:Pitch>
                    <Parallel />
                    <Setting>
                        <Guidance:Pitch.depth />
                        <Arg Name="LegDepth" />
                    </Setting>
                </Guidance:Pitch>
            </Aggregate>
        </Aggregate>
        <Aggregate Id="MaintainDepthSlow">
            <While>
                <Not>
                    <IsNaN>
                        <Arg Name="SlowSpeed" />
                    </IsNaN>
                </Not>
                <And>
                    <Arg Name="DiveMode" />
                    <Eq>
                        <Arg Name="MaintainDepth" />
                    </Eq>
                </And>
                <And>
                    <Universal:depth />
                    <Le>
                        <Arg Name="LegDepth" />
                        <Add>
                            <Arg Name="DepthDeviationSlow" />
                        </Add>
                    </Le>
                </And>
                <And>
                    <Universal:depth />
                    <Ge>
                        <Arg Name="LegDepth" />
                        <Sub>
                            <Arg Name="DepthDeviationSlow" />
                        </Sub>
                    </Ge>
                </And>
            </While>
            <Guidance:SetSpeed>
                <Parallel />
                <Setting>
                    <Guidance:SetSpeed.speed />
                    <Arg Name="SlowSpeed" />
                </Setting>
            </Guidance:SetSpeed>
            <Assign>
                <Parallel />
                <Control:VerticalControl.depthDeadband />
                <Arg Name="DepthDeviationSlow" />
                <Add>
                    <Units:meter />
                    <Value>3</Value>
                </Add>
            </Assign>
            <Guidance:Buoyancy>
                <Parallel />
                <Setting>
                    <Guidance:Buoyancy.position />
                    <Units:cubic_centimeter />
                    <Value>NaN</Value>
                </Setting>
            </Guidance:Buoyancy>
            <Guidance:Pitch>
                <Parallel />
                <Setting>
                    <Guidance:Pitch.depth />
                    <Arg Name="LegDepth" />
                </Setting>
            </Guidance:Pitch>
        </Aggregate>
    </Aggregate>
    <Call RefId="SurfaceComms" Id="StartingMission" />
    <Aggregate Id="Lap">
        <Sequence Repeat="Repeat" />
        <Aggregate Id="Dive">
            <While>
                <Not>
                    <Arg Name="DiveMode" />
                    <Eq>
                        <Arg Name="DoingComms" />
                    </Eq>
                </Not>
            </While>
            <Call RefId="DiveCmd" />
        </Aggregate>
        <Aggregate Id="DepthByLap">
            <Sequence />
            <Break>
                <Arg Name="DepthPerLeg" />
            </Break>
            <Assign>
                <Sequence />
                <Arg Name="LegDepth" />
                <Arg Name="Depth1" />
            </Assign>
            <Aggregate Id="Wpt1">
                <Sequence />
                <Guidance:Waypoint>
                    <Sequence />
                    <Setting>
                        <Guidance:Waypoint.latitude />
                        <Arg Name="Lat1" />
                    </Setting>
                    <Setting>
                        <Guidance:Waypoint.longitude />
                        <Arg Name="Lon1" />
                    </Setting>
                </Guidance:Waypoint>
            </Aggregate>
            <Aggregate Id="Wpt2">
                <Sequence />
                <Guidance:Waypoint>
                    <Sequence />
                    <Setting>
                        <Guidance:Waypoint.latitude />
                        <Arg Name="Lat2" />
                    </Setting>
                    <Setting>
                        <Guidance:Waypoint.longitude />
                        <Arg Name="Lon2" />
                    </Setting>
                </Guidance:Waypoint>
            </Aggregate>
            <Aggregate Id="Wpt3">
                <Sequence />
                <Guidance:Waypoint>
                    <Sequence />
                    <Setting>
                        <Guidance:Waypoint.latitude />
                        <Arg Name="Lat3" />
                    </Setting>
                    <Setting>
                        <Guidance:Waypoint.longitude />
                        <Arg Name="Lon3" />
                    </Setting>
                </Guidance:Waypoint>
            </Aggregate>
            <Aggregate Id="Wpt4">
                <Sequence />
                <Guidance:Waypoint>
                    <Sequence />
                    <Setting>
                        <Guidance:Waypoint.latitude />
                        <Arg Name="Lat4" />
                    </Setting>
                    <Setting>
                        <Guidance:Waypoint.longitude />
                        <Arg Name="Lon4" />
                    </Setting>
                </Guidance:Waypoint>
            </Aggregate>
            <Aggregate Id="Wpt5">
                <Sequence />
                <Guidance:Waypoint>
                    <Sequence />
                    <Setting>
                        <Guidance:Waypoint.latitude />
                        <Arg Name="Lat5" />
                    </Setting>
                    <Setting>
                        <Guidance:Waypoint.longitude />
                        <Arg Name="Lon5" />
                    </Setting>
                </Guidance:Waypoint>
            </Aggregate>
            <Aggregate Id="Wpt6">
                <Sequence />
                <Guidance:Waypoint>
                    <Sequence />
                    <Setting>
                        <Guidance:Waypoint.latitude />
                        <Arg Name="Lat6" />
                    </Setting>
                    <Setting>
                        <Guidance:Waypoint.longitude />
                        <Arg Name="Lon6" />
                    </Setting>
                </Guidance:Waypoint>
            </Aggregate>
            <Aggregate Id="Wpt7">
                <Sequence />
                <Guidance:Waypoint>
                    <Sequence />
                    <Setting>
                        <Guidance:Waypoint.latitude />
                        <Arg Name="Lat7" />
                    </Setting>
                    <Setting>
                        <Guidance:Waypoint.longitude />
                        <Arg Name="Lon7" />
                    </Setting>
                </Guidance:Waypoint>
            </Aggregate>
            <Aggregate Id="Wpt8">
                <Sequence />
                <Guidance:Waypoint>
                    <Sequence />
                    <Setting>
                        <Guidance:Waypoint.latitude />
                        <Arg Name="Lat8" />
                    </Setting>
                    <Setting>
                        <Guidance:Waypoint.longitude />
                        <Arg Name="Lon8" />
                    </Setting>
                </Guidance:Waypoint>
            </Aggregate>
            <Aggregate Id="Leg2">
                <Sequence />
                <Break>
                    <IsNaN>
                        <Arg Name="Depth2" />
                    </IsNaN>
                </Break>
                <Syslog Severity="Important">
                    Transiting waypoints at depth 
                    <Arg Name="Depth2" />
                    <Units:meter />
                </Syslog>
                <Assign>
                    <Sequence />
                    <Arg Name="LegDepth" />
                    <Arg Name="Depth2" />
                </Assign>
                <Aggregate Id="Wpt1">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat1" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon1" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt2">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat2" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon2" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt3">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat3" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon3" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt4">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat4" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon4" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt5">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat5" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon5" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt6">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat6" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon6" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt7">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat7" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon7" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt8">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat8" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon8" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
            </Aggregate>
            <Aggregate Id="Leg3">
                <Sequence />
                <Break>
                    <IsNaN>
                        <Arg Name="Depth3" />
                    </IsNaN>
                </Break>
                <Syslog Severity="Important">
                    Transiting waypoints at depth 
                    <Arg Name="Depth3" />
                    <Units:meter />
                </Syslog>
                <Assign>
                    <Sequence />
                    <Arg Name="LegDepth" />
                    <Arg Name="Depth3" />
                </Assign>
                <Aggregate Id="Wpt1">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat1" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon1" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt2">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat2" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon2" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt3">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat3" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon3" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt4">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat4" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon4" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt5">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat5" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon5" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt6">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat6" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon6" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt7">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat7" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon7" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt8">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat8" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon8" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
            </Aggregate>
            <Aggregate Id="Leg4">
                <Sequence />
                <Break>
                    <IsNaN>
                        <Arg Name="Depth4" />
                    </IsNaN>
                </Break>
                <Syslog Severity="Important">
                    Transiting waypoints at depth 
                    <Arg Name="Depth4" />
                    <Units:meter />
                </Syslog>
                <Assign>
                    <Sequence />
                    <Arg Name="LegDepth" />
                    <Arg Name="Depth4" />
                </Assign>
                <Aggregate Id="Wpt1">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat1" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon1" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt2">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat2" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon2" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt3">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat3" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon3" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt4">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat4" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon4" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt5">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat5" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon5" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt6">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat6" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon6" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt7">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat7" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon7" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt8">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat8" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon8" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
            </Aggregate>
            <Aggregate Id="Leg5">
                <Sequence />
                <Break>
                    <IsNaN>
                        <Arg Name="Depth5" />
                    </IsNaN>
                </Break>
                <Syslog Severity="Important">
                    Transiting waypoints at depth 
                    <Arg Name="Depth5" />
                    <Units:meter />
                </Syslog>
                <Assign>
                    <Sequence />
                    <Arg Name="LegDepth" />
                    <Arg Name="Depth5" />
                </Assign>
                <Aggregate Id="Wpt1">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat1" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon1" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt2">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat2" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon2" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt3">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat3" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon3" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt4">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat4" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon4" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt5">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat5" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon5" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt6">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat6" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon6" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt7">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat7" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon7" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt8">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat8" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon8" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
            </Aggregate>
            <Aggregate Id="Leg6">
                <Sequence />
                <Break>
                    <IsNaN>
                        <Arg Name="Depth6" />
                    </IsNaN>
                </Break>
                <Syslog Severity="Important">
                    Transiting waypoints at depth 
                    <Arg Name="Depth6" />
                    <Units:meter />
                </Syslog>
                <Assign>
                    <Sequence />
                    <Arg Name="LegDepth" />
                    <Arg Name="Depth6" />
                </Assign>
                <Aggregate Id="Wpt1">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat1" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon1" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt2">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat2" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon2" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt3">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat3" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon3" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt4">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat4" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon4" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt5">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat5" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon5" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt6">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat6" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon6" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt7">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat7" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon7" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt8">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat8" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon8" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
            </Aggregate>
            <Aggregate Id="Leg7">
                <Sequence />
                <Break>
                    <IsNaN>
                        <Arg Name="Depth7" />
                    </IsNaN>
                </Break>
                <Syslog Severity="Important">
                    Transiting waypoints at depth 
                    <Arg Name="Depth7" />
                    <Units:meter />
                </Syslog>
                <Assign>
                    <Sequence />
                    <Arg Name="LegDepth" />
                    <Arg Name="Depth7" />
                </Assign>
                <Aggregate Id="Wpt1">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat1" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon1" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt2">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat2" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon2" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt3">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat3" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon3" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt4">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat4" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon4" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt5">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat5" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon5" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt6">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat6" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon6" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt7">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat7" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon7" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt8">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat8" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon8" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
            </Aggregate>
            <Aggregate Id="Leg8">
                <Sequence />
                <Break>
                    <IsNaN>
                        <Arg Name="Depth8" />
                    </IsNaN>
                </Break>
                <Syslog Severity="Important">
                    Transiting waypoints at depth 
                    <Arg Name="Depth8" />
                    <Units:meter />
                </Syslog>
                <Assign>
                    <Sequence />
                    <Arg Name="LegDepth" />
                    <Arg Name="Depth8" />
                </Assign>
                <Aggregate Id="Wpt1">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat1" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon1" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt2">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat2" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon2" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt3">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat3" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon3" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt4">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat4" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon4" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt5">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat5" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon5" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt6">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat6" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon6" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt7">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat7" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon7" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt8">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat8" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon8" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
            </Aggregate>
        </Aggregate>
        <Aggregate Id="DepthByLeg">
            <Sequence />
            <Break>
                <Not>
                    <Arg Name="DepthPerLeg" />
                </Not>
            </Break>
            <Aggregate Id="Leg1">
                <Sequence />
                <Assign>
                    <Sequence />
                    <Arg Name="LegDepth" />
                    <Arg Name="Depth1" />
                </Assign>
                <Guidance:Waypoint>
                    <Sequence />
                    <Setting>
                        <Guidance:Waypoint.latitude />
                        <Arg Name="Lat1" />
                    </Setting>
                    <Setting>
                        <Guidance:Waypoint.longitude />
                        <Arg Name="Lon1" />
                    </Setting>
                </Guidance:Waypoint>
            </Aggregate>
            <Aggregate Id="Leg2">
                <Sequence />
                <Break>
                    <IsNaN>
                        <Arg Name="Depth2" />
                    </IsNaN>
                </Break>
                <Syslog Severity="Info">
                    Transiting to next waypoint at depth 
                    <Arg Name="Depth2" />
                    <Units:meter />
                </Syslog>
                <Assign>
                    <Sequence />
                    <Arg Name="LegDepth" />
                    <Arg Name="Depth2" />
                </Assign>
                <Aggregate Id="Wpt2">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat2" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon2" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
            </Aggregate>
            <Aggregate Id="Leg3">
                <Sequence />
                <Break>
                    <IsNaN>
                        <Arg Name="Depth3" />
                    </IsNaN>
                </Break>
                <Syslog Severity="Info">
                    Transiting to next waypoint at depth 
                    <Arg Name="Depth3" />
                    <Units:meter />
                </Syslog>
                <Assign>
                    <Sequence />
                    <Arg Name="LegDepth" />
                    <Arg Name="Depth3" />
                </Assign>
                <Aggregate Id="Wpt3">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat3" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon3" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
            </Aggregate>
            <Aggregate Id="Leg4">
                <Sequence />
                <Break>
                    <IsNaN>
                        <Arg Name="Depth4" />
                    </IsNaN>
                </Break>
                <Syslog Severity="Info">
                    Transiting to next waypoint at depth 
                    <Arg Name="Depth4" />
                    <Units:meter />
                </Syslog>
                <Assign>
                    <Sequence />
                    <Arg Name="LegDepth" />
                    <Arg Name="Depth4" />
                </Assign>
                <Aggregate Id="Wpt4">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat4" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon4" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
            </Aggregate>
            <Aggregate Id="Leg5">
                <Sequence />
                <Break>
                    <IsNaN>
                        <Arg Name="Depth5" />
                    </IsNaN>
                </Break>
                <Syslog Severity="Info">
                    Transiting to next waypoint at depth 
                    <Arg Name="Depth5" />
                    <Units:meter />
                </Syslog>
                <Assign>
                    <Sequence />
                    <Arg Name="LegDepth" />
                    <Arg Name="Depth5" />
                </Assign>
                <Aggregate Id="Wpt5">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat5" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon5" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
            </Aggregate>
            <Aggregate Id="Leg6">
                <Sequence />
                <Break>
                    <IsNaN>
                        <Arg Name="Depth6" />
                    </IsNaN>
                </Break>
                <Syslog Severity="Info">
                    Transiting to next waypoint at depth 
                    <Arg Name="Depth6" />
                    <Units:meter />
                </Syslog>
                <Assign>
                    <Sequence />
                    <Arg Name="LegDepth" />
                    <Arg Name="Depth6" />
                </Assign>
                <Aggregate Id="Wpt6">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat6" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon6" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
            </Aggregate>
            <Aggregate Id="Leg7">
                <Sequence />
                <Break>
                    <IsNaN>
                        <Arg Name="Depth7" />
                    </IsNaN>
                </Break>
                <Syslog Severity="Info">
                    Transiting to next waypoint at depth 
                    <Arg Name="Depth7" />
                    <Units:meter />
                </Syslog>
                <Assign>
                    <Sequence />
                    <Arg Name="LegDepth" />
                    <Arg Name="Depth7" />
                </Assign>
                <Aggregate Id="Wpt7">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat7" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon7" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
            </Aggregate>
            <Aggregate Id="Leg8">
                <Sequence />
                <Break>
                    <IsNaN>
                        <Arg Name="Depth8" />
                    </IsNaN>
                </Break>
                <Syslog Severity="Info">
                    Transiting to next waypoint at depth 
                    <Arg Name="Depth8" />
                    <Units:meter />
                </Syslog>
                <Assign>
                    <Sequence />
                    <Arg Name="LegDepth" />
                    <Arg Name="Depth8" />
                </Assign>
                <Aggregate Id="Wpt8">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat8" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon8" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
            </Aggregate>
        </Aggregate>
    </Aggregate>
</Mission>

2025-03-12T17:17:06.985Z,1741799826.985 [MissionManager](INFO): DefineArg sci2_noyo_optim.MissionTimeout = 2.000000 h
2025-03-12T17:17:06.990Z,1741799826.990 [MissionManager](INFO): DefineArg sci2_noyo_optim.NeedCommsTime = 60.000000 min
2025-03-12T17:17:06.992Z,1741799826.992 [MissionManager](INFO): DefineArg sci2_noyo_optim.Depth1 = 35.000000 m
2025-03-12T17:17:07.011Z,1741799827.011 [MissionManager](INFO): DefineArg sci2_noyo_optim.Depth2 = nan m
2025-03-12T17:17:07.013Z,1741799827.013 [MissionManager](INFO): DefineArg sci2_noyo_optim.Depth3 = nan m
2025-03-12T17:17:07.015Z,1741799827.015 [MissionManager](INFO): DefineArg sci2_noyo_optim.Depth4 = nan m
2025-03-12T17:17:07.018Z,1741799827.018 [MissionManager](INFO): DefineArg sci2_noyo_optim.Depth5 = nan m
2025-03-12T17:17:07.032Z,1741799827.032 [MissionManager](INFO): DefineArg sci2_noyo_optim.Depth6 = nan m
2025-03-12T17:17:07.039Z,1741799827.039 [MissionManager](INFO): DefineArg sci2_noyo_optim.Depth7 = nan m
2025-03-12T17:17:07.042Z,1741799827.042 [MissionManager](INFO): DefineArg sci2_noyo_optim.Depth8 = nan m
2025-03-12T17:17:07.052Z,1741799827.052 [MissionManager](INFO): DefineArg sci2_noyo_optim.DepthPerLeg = 0 bool
2025-03-12T17:17:07.059Z,1741799827.059 [MissionManager](INFO): DefineArg sci2_noyo_optim.Repeat = 1.000000 count
2025-03-12T17:17:07.061Z,1741799827.061 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lat1 = nan arcdeg
2025-03-12T17:17:07.063Z,1741799827.063 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lat2 = nan arcdeg
2025-03-12T17:17:07.066Z,1741799827.066 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lat3 = nan arcdeg
2025-03-12T17:17:07.073Z,1741799827.073 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lat4 = nan arcdeg
2025-03-12T17:17:07.087Z,1741799827.087 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lat5 = nan arcdeg
2025-03-12T17:17:07.089Z,1741799827.089 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lat6 = nan arcdeg
2025-03-12T17:17:07.096Z,1741799827.096 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lat7 = nan arcdeg
2025-03-12T17:17:07.106Z,1741799827.106 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lat8 = nan arcdeg
2025-03-12T17:17:07.108Z,1741799827.108 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lon1 = nan arcdeg
2025-03-12T17:17:07.115Z,1741799827.115 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lon2 = nan arcdeg
2025-03-12T17:17:07.117Z,1741799827.117 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lon3 = nan arcdeg
2025-03-12T17:17:07.124Z,1741799827.124 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lon4 = nan arcdeg
2025-03-12T17:17:07.134Z,1741799827.134 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lon5 = nan arcdeg
2025-03-12T17:17:07.136Z,1741799827.136 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lon6 = nan arcdeg
2025-03-12T17:17:07.143Z,1741799827.143 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lon7 = nan arcdeg
2025-03-12T17:17:07.145Z,1741799827.145 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lon8 = nan arcdeg
2025-03-12T17:17:07.152Z,1741799827.152 [MissionManager](INFO): DefineArg sci2_noyo_optim.FastSpeed = 1.000000 m/s
2025-03-12T17:17:07.163Z,1741799827.163 [MissionManager](INFO): DefineArg sci2_noyo_optim.ApproachDepth = 30.000000 m
2025-03-12T17:17:07.165Z,1741799827.165 [MissionManager](INFO): DefineArg sci2_noyo_optim.ApproachSpeed = 0.700000 m/s
2025-03-12T17:17:07.182Z,1741799827.182 [MissionManager](INFO): DefineArg sci2_noyo_optim.ApproachDepthRate = 0.050000 m/s
2025-03-12T17:17:07.185Z,1741799827.185 [MissionManager](INFO): DefineArg sci2_noyo_optim.ApproachPitchLimit = 20.000000 arcdeg
2025-03-12T17:17:07.231Z,1741799827.231 [MissionManager](INFO): DefineArg sci2_noyo_optim.ApproachDepthTimeout = 15.000000 min
2025-03-12T17:17:07.234Z,1741799827.234 [MissionManager](INFO): DefineArg sci2_noyo_optim.ApproachSettleTimePreDive = 1.000000 min
2025-03-12T17:17:07.244Z,1741799827.244 [MissionManager](INFO): DefineArg sci2_noyo_optim.ApproachSettleTimePostDive = 3.000000 min
2025-03-12T17:17:07.259Z,1741799827.259 [MissionManager](INFO): DefineArg sci2_noyo_optim.kpDepth = 0.070000 rad/m
2025-03-12T17:17:07.261Z,1741799827.261 [MissionManager](INFO): DefineArg sci2_noyo_optim.SlowSpeed = 0.250000 m/s
2025-03-12T17:17:07.276Z,1741799827.276 [MissionManager](INFO): DefineArg sci2_noyo_optim.DepthDeviationSlow = 3.000000 m
2025-03-12T17:17:07.285Z,1741799827.285 [MissionManager](INFO): DefineArg sci2_noyo_optim.BuoyancyNeutral = 373.087250 cc
2025-03-12T17:17:07.288Z,1741799827.288 [MissionManager](INFO): DefineArg sci2_noyo_optim.MassDefault = 0.684636 cm
2025-03-12T17:17:07.295Z,1741799827.295 [MissionManager](INFO): DefineArg sci2_noyo_optim.MinAltitude = 2.000000 m
2025-03-12T17:17:07.297Z,1741799827.297 [MissionManager](INFO): DefineArg sci2_noyo_optim.MaxDepth = 50.000000 m
2025-03-12T17:17:07.315Z,1741799827.315 [MissionManager](INFO): DefineArg sci2_noyo_optim.MinOffshore = 2.000000 km
2025-03-12T17:17:07.317Z,1741799827.317 [MissionManager](INFO): DefineOutput sci2_noyo_optim.DiveMode = 0.000000 count
2025-03-12T17:17:07.328Z,1741799827.328 [MissionManager](INFO): DefineOutput sci2_noyo_optim.DoingComms = 0.000000 count
2025-03-12T17:17:07.335Z,1741799827.335 [MissionManager](INFO): DefineOutput sci2_noyo_optim.InitialDive = 1.000000 count
2025-03-12T17:17:07.343Z,1741799827.343 [MissionManager](INFO): DefineOutput sci2_noyo_optim.SettleAtDepth = 2.000000 count
2025-03-12T17:17:07.346Z,1741799827.346 [MissionManager](INFO): DefineOutput sci2_noyo_optim.MaintainDepth = 3.000000 count
2025-03-12T17:17:07.360Z,1741799827.360 [MissionManager](INFO): DefineOutput sci2_noyo_optim.LegDepth = 35.000000 m
2025-03-12T17:17:07.361Z,1741799827.361 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/Science.tl
2025-03-12T17:17:07.361Z,1741799827.361 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/Science.tl
2025-03-12T17:17:07.369Z,1741799827.369 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/Science.tl
2025-03-12T17:17:10.321Z,1741799830.321 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/Science.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="Science">
    <DefineArg Name="PeakDetectChlActive">
        <False />
    </DefineArg>
    <DefineArg Name="EdgeDetectChlActive">
        <False />
    </DefineArg>
    <DefineArg Name="TimeWindowPeakReport">
        <Units:minute />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="HighestChlPeakReportActive">
        <False />
    </DefineArg>
    <DefineArg Name="HighestSaltPeakReportActive">
        <False />
    </DefineArg>
    <DefineArg Name="HighestOilPeakReportActive">
        <False />
    </DefineArg>
    <DefineArg Name="PatchTracking">
        <False />
    </DefineArg>
    <DefineArg Name="FilterWidthHorizontal">
        <Units:count />
        <Value>3</Value>
    </DefineArg>
    <DefineArg Name="NumProfilesSlidingwindow">
        <Units:count />
        <Value>100</Value>
    </DefineArg>
    <DefineArg Name="OffPeakFractionHorizontal">
        <Units:percent />
        <Value>80</Value>
    </DefineArg>
    <DefineArg Name="PeakDetectNO3Active">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectOilActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectFDOMActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectSalinityActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreLMavgROIActive">
        <False />
    </DefineArg>
    <DefineArg Name="EdgeDetectPlanktivoreLMavgROIActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreHMavgROIActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreDiatomsActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreDinoflagellatesActive">
        <False />
    </DefineArg>
    <DefineArg Name="UpwardDerivativeOfTemperatureActive">
        <False />
    </DefineArg>
    <DefineArg Name="EnabledAanderaaO2">
        <Science:Aanderaa_O2.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledNeilBrown">
        <Science:CTD_NeilBrown.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledSeabird">
        <Science:CTD_Seabird.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledWetLabsBB2FL">
        <Science:WetLabsBB2FL.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledWetLabsSeaOWL_UV_A">
        <Science:WetLabsSeaOWL_UV_A.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledWetLabsUBAT">
        <Science:WetLabsUBAT.loadAtStartup />
    </DefineArg>
    <DefineArg Name="LowPassWindowLength">
        <Units:count />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="MedianFilterLen">
        <Units:count />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="ShallowBound">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="DeepBound">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="DepChangeThreshForAttitudeFlip">
        <Units:meter />
        <Value>2.0</Value>
    </DefineArg>
    <DefineArg Name="OffPeakFractionVertical">
        <Units:percent />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="ChlPeakThresh">
        <Units:microgram_per_liter />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="ChlThreshTriggerActive">
        <False />
    </DefineArg>
    <DefineArg Name="ChlLowerThresh">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="ChlUpperThresh">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="NumProfilesThresh">
        <Units:count />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="PlanktivoreLMavgROIPeakThresh">
        <Units:count_per_second />
        <Value>0</Value>
    </DefineArg>
    <DefineOutput Name="GoDown">
        <True />
    </DefineOutput>
    <DefineOutput Name="PeakChl">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChl">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChlDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChlTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChlLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChlLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3">
        <Units:micromole_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3Depth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3Latitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3Longitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOil">
        <Units:kilogram_per_cubic_meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOilDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOilLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOilLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOM">
        <Units:part_per_billion />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSalt">
        <Units:practical_salinity_unit />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROI">
        <Units:count_per_second />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROIDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROITemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROILatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROILongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROI">
        <Units:count_per_second />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROIDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROITemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROILatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROILongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROI">
        <Units:count_per_second />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROIDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROITemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROILatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROILongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatoms">
        <Units:count_per_milliliter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellates">
        <Units:count_per_milliliter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChl">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlDistance">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSalt">
        <Units:practical_salinity_unit />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltDistance">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOil">
        <Units:practical_salinity_unit />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilDistance">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="TriggeredOnChl">
        <False />
    </DefineOutput>
    <DefineOutput Name="ChlTriggering">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <Parallel />
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledAanderaaO2" />
        </While>
        <Universal:mass_concentration_of_oxygen_in_sea_water />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledNeilBrown" />
            <Or>
                <Arg Name="EnabledSeabird" />
            </Or>
        </While>
        <Universal:sea_water_temperature />
        <Universal:sea_water_salinity />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledSeabird" />
        </While>
        <Science:CTD_Seabird.sea_water_temperature />
        <Science:CTD_Seabird.sea_water_salinity />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledNeilBrown" />
            <Or>
                <Arg Name="EnabledSeabird" />
            </Or>
            <And>
                <Arg Name="UpwardDerivativeOfTemperatureActive" />
            </And>
        </While>
        <Universal:upward_derivative_of_sea_water_temperature />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledWetLabsBB2FL" />
            <Or>
                <Arg Name="PeakDetectChlActive" />
            </Or>
        </While>
        <Universal:mass_concentration_of_chlorophyll_in_sea_water />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledWetLabsUBAT" />
        </While>
        <Science:WetLabsUBAT.average_bioluminescence />
    </ReadData>
    <ReadData Id="Read_Oil" Strategy="MinError">
        <While>
            <Arg Name="EnabledWetLabsSeaOWL_UV_A" />
            <Or>
                <Arg Name="PeakDetectOilActive" />
            </Or>
        </While>
        <Universal:mass_concentration_of_petroleum_hydrocarbons_in_sea_water />
    </ReadData>
    <Aggregate Id="OceanCurrent">
        <Sequence />
        <Estimation:CurrentEstimator>
            <Parallel />
        </Estimation:CurrentEstimator>
    </Aggregate>
    <Aggregate Id="PeakDetectChl">
        <While>
            <Arg Name="PeakDetectChlActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:mass_concentration_of_chlorophyll_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakChl">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakChlDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakChlTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakChlLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakChlLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakChl" />
            <Arg Name="PeakChlDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="EdgeDetectChl">
        <While>
            <Arg Name="EdgeDetectChlActive" />
        </While>
        <Syslog Severity="Debug">EdgeDetectVsDepth</Syslog>
        <Trigger:EdgeDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:EdgeDetectVsDepth.detect />
                <Universal:mass_concentration_of_chlorophyll_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFraction />
                <Arg Name="OffPeakFractionVertical" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.peakThresh />
                <Arg Name="ChlPeakThresh" />
            </Setting>
            <OutputArg Name="GoDown">
                <Trigger:EdgeDetectVsDepth.goDown />
            </OutputArg>
            <OutputArg Name="PeakChl">
                <Trigger:EdgeDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakChlDepth">
                <Trigger:EdgeDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakChlTemperature">
                <Trigger:EdgeDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakChlLatitude">
                <Trigger:EdgeDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakChlLongitude">
                <Trigger:EdgeDetectVsDepth.peakLongitude />
            </OutputArg>
            <OutputArg Name="EdgeChl">
                <Trigger:EdgeDetectVsDepth.edgeDetect />
            </OutputArg>
            <OutputArg Name="EdgeChlDepth">
                <Trigger:EdgeDetectVsDepth.edgeDepth />
            </OutputArg>
            <OutputArg Name="EdgeChlTemperature">
                <Trigger:EdgeDetectVsDepth.edgeTemperature />
            </OutputArg>
            <OutputArg Name="EdgeChlLatitude">
                <Trigger:EdgeDetectVsDepth.edgeLatitude />
            </OutputArg>
            <OutputArg Name="EdgeChlLongitude">
                <Trigger:EdgeDetectVsDepth.edgeLongitude />
            </OutputArg>
        </Trigger:EdgeDetectVsDepth>
        <Syslog Severity="Info">
            GoDown, ChlPeakThresh, PeakChl, PeakChlDepth, EdgeChl, EdgeChlDepth = 
            <Arg Name="GoDown" />
            <Units:bool />
            , 
            <Arg Name="ChlPeakThresh" />
            <Units:microgram_per_liter />
            , 
            <Arg Name="PeakChl" />
            <Units:microgram_per_liter />
            , 
            <Arg Name="PeakChlDepth" />
            <Units:meter />
            , 
            <Arg Name="EdgeChl" />
            <Units:microgram_per_liter />
            , 
            <Arg Name="EdgeChlDepth" />
            <Units:meter />
        </Syslog>
        <SendData Service="Express">
            <Arg Name="PeakChl" />
            <Arg Name="PeakChlDepth" />
            <Arg Name="EdgeChl" />
            <Arg Name="EdgeChlDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="HighestChlPeakReport">
        <While>
            <Arg Name="HighestChlPeakReportActive" />
        </While>
        <Trigger:PeakDetectHorizontal>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectHorizontal.detectFrom />
                <Arg Name="PeakChl" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.depthFrom />
                <Arg Name="PeakChlDepth" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.latitudeFrom />
                <Arg Name="PeakChlLatitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.longitudeFrom />
                <Arg Name="PeakChlLongitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.patchTracking />
                <Arg Name="PatchTracking" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.filterWidth />
                <Arg Name="FilterWidthHorizontal" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.numProfilesSlidingwindow />
                <Arg Name="NumProfilesSlidingwindow" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.offPeakFraction />
                <Arg Name="OffPeakFractionHorizontal" />
            </Setting>
            <OutputArg Name="PatchChl">
                <Trigger:PeakDetectHorizontal.peakDetect />
            </OutputArg>
            <OutputArg Name="PatchChlDepth">
                <Trigger:PeakDetectHorizontal.peakDepth />
            </OutputArg>
            <OutputArg Name="PatchChlLatitude">
                <Trigger:PeakDetectHorizontal.peakLatitude />
            </OutputArg>
            <OutputArg Name="PatchChlLongitude">
                <Trigger:PeakDetectHorizontal.peakLongitude />
            </OutputArg>
            <OutputArg Name="PatchChlDistance">
                <Trigger:PeakDetectHorizontal.peakDistance />
            </OutputArg>
        </Trigger:PeakDetectHorizontal>
    </Aggregate>
    <Aggregate Id="PeakDetectNO3">
        <While>
            <Arg Name="PeakDetectNO3Active" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:mole_concentration_of_nitrate_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <OutputArg Name="PeakNO3">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakNO3Depth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakNO3Latitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakNO3Longitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakNO3" />
            <Arg Name="PeakNO3Depth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectOil">
        <While>
            <Arg Name="PeakDetectOilActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:mass_concentration_of_petroleum_hydrocarbons_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <OutputArg Name="PeakOil">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakOilDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakOilLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakOilLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakOil" />
            <Arg Name="PeakOilDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="HighestOilPeakReport">
        <While>
            <Arg Name="HighestOilPeakReportActive" />
        </While>
        <Trigger:PeakDetectHorizontal>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectHorizontal.detectFrom />
                <Arg Name="PeakOil" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.depthFrom />
                <Arg Name="PeakOilDepth" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.latitudeFrom />
                <Arg Name="PeakOilLatitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.longitudeFrom />
                <Arg Name="PeakOilLongitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.patchTracking />
                <Arg Name="PatchTracking" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.filterWidth />
                <Arg Name="FilterWidthHorizontal" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.numProfilesSlidingwindow />
                <Arg Name="NumProfilesSlidingwindow" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.offPeakFraction />
                <Arg Name="OffPeakFractionHorizontal" />
            </Setting>
            <OutputArg Name="PatchOil">
                <Trigger:PeakDetectHorizontal.peakDetect />
            </OutputArg>
            <OutputArg Name="PatchOilDepth">
                <Trigger:PeakDetectHorizontal.peakDepth />
            </OutputArg>
            <OutputArg Name="PatchOilLatitude">
                <Trigger:PeakDetectHorizontal.peakLatitude />
            </OutputArg>
            <OutputArg Name="PatchOilLongitude">
                <Trigger:PeakDetectHorizontal.peakLongitude />
            </OutputArg>
            <OutputArg Name="PatchOilDistance">
                <Trigger:PeakDetectHorizontal.peakDistance />
            </OutputArg>
        </Trigger:PeakDetectHorizontal>
    </Aggregate>
    <Aggregate Id="PeakDetectFDOM">
        <While>
            <Arg Name="PeakDetectFDOMActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:concentration_of_colored_dissolved_organic_matter_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <OutputArg Name="PeakFDOM">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakFDOMDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakFDOMTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakFDOMLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakFDOMLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakFDOM" />
            <Arg Name="PeakFDOMDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectSalinity">
        <While>
            <Arg Name="PeakDetectSalinityActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:sea_water_salinity />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakSalt">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakSaltDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakSaltTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakSaltLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakSaltLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakSalt" />
            <Arg Name="PeakSaltDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="HighestSaltPeakReport">
        <While>
            <Arg Name="HighestSaltPeakReportActive" />
        </While>
        <Trigger:PeakDetectHorizontal>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectHorizontal.detectFrom />
                <Arg Name="PeakSalt" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.depthFrom />
                <Arg Name="PeakSaltDepth" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.latitudeFrom />
                <Arg Name="PeakSaltLatitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.longitudeFrom />
                <Arg Name="PeakSaltLongitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.patchTracking />
                <Arg Name="PatchTracking" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.filterWidth />
                <Arg Name="FilterWidthHorizontal" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.numProfilesSlidingwindow />
                <Arg Name="NumProfilesSlidingwindow" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.offPeakFraction />
                <Arg Name="OffPeakFractionHorizontal" />
            </Setting>
            <OutputArg Name="PatchSalt">
                <Trigger:PeakDetectHorizontal.peakDetect />
            </OutputArg>
            <OutputArg Name="PatchSaltDepth">
                <Trigger:PeakDetectHorizontal.peakDepth />
            </OutputArg>
            <OutputArg Name="PatchSaltLatitude">
                <Trigger:PeakDetectHorizontal.peakLatitude />
            </OutputArg>
            <OutputArg Name="PatchSaltLongitude">
                <Trigger:PeakDetectHorizontal.peakLongitude />
            </OutputArg>
            <OutputArg Name="PatchSaltDistance">
                <Trigger:PeakDetectHorizontal.peakDistance />
            </OutputArg>
        </Trigger:PeakDetectHorizontal>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreLMavgROI">
        <While>
            <Arg Name="PeakDetectPlanktivoreLMavgROIActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_LM_AvgRois</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreLMavgROI">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROIDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROITemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROILatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROILongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreLMavgROI" />
            <Arg Name="PeakPlanktivoreLMavgROIDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="EdgeDetectPlanktivoreLMavgROI">
        <While>
            <Arg Name="EdgeDetectPlanktivoreLMavgROIActive" />
        </While>
        <Syslog Severity="Debug">EdgeDetectVsDepth</Syslog>
        <Trigger:EdgeDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:EdgeDetectVsDepth.detect />
                <String>_.planktivore_LM_AvgRois</String>
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFraction />
                <Arg Name="OffPeakFractionVertical" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.peakThresh />
                <Arg Name="PlanktivoreLMavgROIPeakThresh" />
            </Setting>
            <OutputArg Name="GoDown">
                <Trigger:EdgeDetectVsDepth.goDown />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROI">
                <Trigger:EdgeDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROIDepth">
                <Trigger:EdgeDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROITemperature">
                <Trigger:EdgeDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROILatitude">
                <Trigger:EdgeDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROILongitude">
                <Trigger:EdgeDetectVsDepth.peakLongitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROI">
                <Trigger:EdgeDetectVsDepth.edgeDetect />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROIDepth">
                <Trigger:EdgeDetectVsDepth.edgeDepth />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROITemperature">
                <Trigger:EdgeDetectVsDepth.edgeTemperature />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROILatitude">
                <Trigger:EdgeDetectVsDepth.edgeLatitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROILongitude">
                <Trigger:EdgeDetectVsDepth.edgeLongitude />
            </OutputArg>
        </Trigger:EdgeDetectVsDepth>
        <Syslog Severity="Important">
            GoDown, PlanktivoreLMavgROIPeakThresh, PeakPlanktivoreLMavgROI, PeakPlanktivoreLMavgROIDepth, EdgePlanktivoreLMavgROI, EdgePlanktivoreLMavgROIDepth = 
            <Arg Name="GoDown" />
            <Units:bool />
            , 
            <Arg Name="PlanktivoreLMavgROIPeakThresh" />
            <Units:microgram_per_liter />
            , 
            <Arg Name="PeakPlanktivoreLMavgROI" />
            <Units:microgram_per_liter />
            , 
            <Arg Name="PeakPlanktivoreLMavgROIDepth" />
            <Units:meter />
            , 
            <Arg Name="EdgePlanktivoreLMavgROI" />
            <Units:microgram_per_liter />
            , 
            <Arg Name="EdgePlanktivoreLMavgROIDepth" />
            <Units:meter />
        </Syslog>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreLMavgROI" />
            <Arg Name="PeakPlanktivoreLMavgROIDepth" />
            <Arg Name="EdgePlanktivoreLMavgROI" />
            <Arg Name="EdgePlanktivoreLMavgROIDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreHMavgROI">
        <While>
            <Arg Name="PeakDetectPlanktivoreHMavgROIActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_HM_AvgRois</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreHMavgROI">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROIDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROITemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROILatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROILongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreHMavgROI" />
            <Arg Name="PeakPlanktivoreHMavgROIDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreDiatoms">
        <While>
            <Arg Name="PeakDetectPlanktivoreDiatomsActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_diatoms</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreDiatoms">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreDiatoms" />
            <Arg Name="PeakPlanktivoreDiatomsDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreDinoflagellates">
        <While>
            <Arg Name="PeakDetectPlanktivoreDinoflagellatesActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_dinoflagellates</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreDinoflagellates">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreDinoflagellates" />
            <Arg Name="PeakPlanktivoreDinoflagellatesDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="ChlThreshTrigger">
        <While>
            <Arg Name="ChlThreshTriggerActive" />
        </While>
        <Trigger:ValueDetect>
            <Sequence />
            <Setting>
                <Trigger:ValueDetect.detect />
                <Arg Name="PeakChl" />
            </Setting>
            <Setting>
                <Trigger:ValueDetect.lowerThreshold />
                <Arg Name="ChlLowerThresh" />
            </Setting>
            <Setting>
                <Trigger:ValueDetect.upperThreshold />
                <Arg Name="ChlUpperThresh" />
            </Setting>
            <Setting>
                <Trigger:ValueDetect.numProfilesThreshold />
                <Arg Name="NumProfilesThresh" />
            </Setting>
            <OutputArg Name="ChlTriggering">
                <Trigger:ValueDetect.outputValue />
            </OutputArg>
        </Trigger:ValueDetect>
        <Assign>
            <Sequence />
            <Arg Name="TriggeredOnChl" />
            <True />
        </Assign>
        <Syslog Severity="Important">
            Triggered. PeakChl values on 
            <Arg Name="NumProfilesThresh" />
            <Units:count />
             consecutive yo-yo profiles fall in [
            <Arg Name="ChlLowerThresh" />
            <Units:microgram_per_liter />
            <Arg Name="ChlUpperThresh" />
            <Units:microgram_per_liter />
            ] (NaN bound is ignored).
        </Syslog>
    </Aggregate>
</Aggregate>

2025-03-12T17:17:10.355Z,1741799830.355 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.PeakDetectChlActive = 0 bool
2025-03-12T17:17:10.357Z,1741799830.357 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.EdgeDetectChlActive = 0 bool
2025-03-12T17:17:10.359Z,1741799830.359 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.TimeWindowPeakReport = nan min
2025-03-12T17:17:10.361Z,1741799830.361 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.HighestChlPeakReportActive = 0 bool
2025-03-12T17:17:10.363Z,1741799830.363 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.HighestSaltPeakReportActive = 0 bool
2025-03-12T17:17:10.365Z,1741799830.365 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.HighestOilPeakReportActive = 0 bool
2025-03-12T17:17:10.367Z,1741799830.367 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.PatchTracking = 0 bool
2025-03-12T17:17:10.370Z,1741799830.370 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.FilterWidthHorizontal = 3.000000 count
2025-03-12T17:17:10.372Z,1741799830.372 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.NumProfilesSlidingwindow = 100.000000 count
2025-03-12T17:17:10.404Z,1741799830.404 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.OffPeakFractionHorizontal = 80.000000 %
2025-03-12T17:17:10.406Z,1741799830.406 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.PeakDetectNO3Active = 0 bool
2025-03-12T17:17:10.408Z,1741799830.408 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.PeakDetectOilActive = 0 bool
2025-03-12T17:17:10.410Z,1741799830.410 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.PeakDetectFDOMActive = 0 bool
2025-03-12T17:17:10.412Z,1741799830.412 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.PeakDetectSalinityActive = 0 bool
2025-03-12T17:17:10.427Z,1741799830.427 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.PeakDetectPlanktivoreLMavgROIActive = 0 bool
2025-03-12T17:17:10.429Z,1741799830.429 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.EdgeDetectPlanktivoreLMavgROIActive = 0 bool
2025-03-12T17:17:10.447Z,1741799830.447 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.PeakDetectPlanktivoreHMavgROIActive = 0 bool
2025-03-12T17:17:10.449Z,1741799830.449 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.PeakDetectPlanktivoreDiatomsActive = 0 bool
2025-03-12T17:17:10.457Z,1741799830.457 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.PeakDetectPlanktivoreDinoflagellatesActive = 0 bool
2025-03-12T17:17:10.483Z,1741799830.483 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2025-03-12T17:17:10.485Z,1741799830.485 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.EnabledAanderaaO2 = 0 bool
2025-03-12T17:17:10.496Z,1741799830.496 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.EnabledNeilBrown = 0 bool
2025-03-12T17:17:10.507Z,1741799830.507 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.EnabledSeabird = 1 bool
2025-03-12T17:17:10.510Z,1741799830.510 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.EnabledWetLabsBB2FL = 1 bool
2025-03-12T17:17:10.525Z,1741799830.525 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.EnabledWetLabsSeaOWL_UV_A = 0 bool
2025-03-12T17:17:10.544Z,1741799830.544 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.EnabledWetLabsUBAT = 0 bool
2025-03-12T17:17:10.551Z,1741799830.551 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.LowPassWindowLength = 20.000000 count
2025-03-12T17:17:10.553Z,1741799830.553 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.MedianFilterLen = 5.000000 count
2025-03-12T17:17:10.559Z,1741799830.559 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.ShallowBound = nan m
2025-03-12T17:17:10.562Z,1741799830.562 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.DeepBound = nan m
2025-03-12T17:17:10.572Z,1741799830.572 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.DepChangeThreshForAttitudeFlip = 2.000000 m
2025-03-12T17:17:10.579Z,1741799830.579 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.OffPeakFractionVertical = nan %
2025-03-12T17:17:10.581Z,1741799830.581 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.ChlPeakThresh = 0.000000 ug/l
2025-03-12T17:17:10.584Z,1741799830.584 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.ChlThreshTriggerActive = 0 bool
2025-03-12T17:17:10.598Z,1741799830.598 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.ChlLowerThresh = nan ug/l
2025-03-12T17:17:10.600Z,1741799830.600 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.ChlUpperThresh = nan ug/l
2025-03-12T17:17:10.618Z,1741799830.618 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.NumProfilesThresh = 5.000000 count
2025-03-12T17:17:10.621Z,1741799830.621 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.PlanktivoreLMavgROIPeakThresh = 0.000000 count/s
2025-03-12T17:17:10.628Z,1741799830.628 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.GoDown = 1 bool
2025-03-12T17:17:10.639Z,1741799830.639 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakChl = nan ug/l
2025-03-12T17:17:10.641Z,1741799830.641 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakChlDepth = nan m
2025-03-12T17:17:10.648Z,1741799830.648 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakChlTemperature = nan degC
2025-03-12T17:17:10.655Z,1741799830.655 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakChlLatitude = nan arcdeg
2025-03-12T17:17:10.657Z,1741799830.657 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakChlLongitude = nan arcdeg
2025-03-12T17:17:10.668Z,1741799830.668 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.EdgeChl = nan ug/l
2025-03-12T17:17:10.674Z,1741799830.674 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.EdgeChlDepth = nan m
2025-03-12T17:17:10.677Z,1741799830.677 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.EdgeChlTemperature = nan degC
2025-03-12T17:17:10.688Z,1741799830.688 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.EdgeChlLatitude = nan arcdeg
2025-03-12T17:17:10.695Z,1741799830.695 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.EdgeChlLongitude = nan arcdeg
2025-03-12T17:17:10.697Z,1741799830.697 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakNO3 = nan umol/l
2025-03-12T17:17:10.704Z,1741799830.704 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakNO3Depth = nan m
2025-03-12T17:17:10.718Z,1741799830.718 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakNO3Latitude = nan arcdeg
2025-03-12T17:17:10.721Z,1741799830.721 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakNO3Longitude = nan arcdeg
2025-03-12T17:17:10.727Z,1741799830.727 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakOil = nan kg/m3
2025-03-12T17:17:10.730Z,1741799830.730 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakOilDepth = nan m
2025-03-12T17:17:10.736Z,1741799830.736 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakOilLatitude = nan arcdeg
2025-03-12T17:17:10.739Z,1741799830.739 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakOilLongitude = nan arcdeg
2025-03-12T17:17:10.741Z,1741799830.741 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakFDOM = nan ppb
2025-03-12T17:17:10.752Z,1741799830.752 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakFDOMDepth = nan m
2025-03-12T17:17:10.759Z,1741799830.759 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakFDOMTemperature = nan degC
2025-03-12T17:17:10.762Z,1741799830.762 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakFDOMLatitude = nan arcdeg
2025-03-12T17:17:10.776Z,1741799830.776 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakFDOMLongitude = nan arcdeg
2025-03-12T17:17:10.803Z,1741799830.803 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakSalt = nan psu
2025-03-12T17:17:10.805Z,1741799830.805 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakSaltDepth = nan m
2025-03-12T17:17:10.812Z,1741799830.812 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakSaltTemperature = nan degC
2025-03-12T17:17:10.821Z,1741799830.821 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakSaltLatitude = nan arcdeg
2025-03-12T17:17:10.833Z,1741799830.833 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakSaltLongitude = nan arcdeg
2025-03-12T17:17:10.871Z,1741799830.871 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreLMavgROI = nan count/s
2025-03-12T17:17:10.874Z,1741799830.874 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreLMavgROIDepth = nan m
2025-03-12T17:17:10.900Z,1741799830.900 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreLMavgROITemperature = nan degC
2025-03-12T17:17:10.915Z,1741799830.915 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreLMavgROILatitude = nan arcdeg
2025-03-12T17:17:10.917Z,1741799830.917 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreLMavgROILongitude = nan arcdeg
2025-03-12T17:17:10.932Z,1741799830.932 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.EdgePlanktivoreLMavgROI = nan count/s
2025-03-12T17:17:10.935Z,1741799830.935 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.EdgePlanktivoreLMavgROIDepth = nan m
2025-03-12T17:17:10.950Z,1741799830.950 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.EdgePlanktivoreLMavgROITemperature = nan degC
2025-03-12T17:17:10.956Z,1741799830.956 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.EdgePlanktivoreLMavgROILatitude = nan arcdeg
2025-03-12T17:17:10.960Z,1741799830.960 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.EdgePlanktivoreLMavgROILongitude = nan arcdeg
2025-03-12T17:17:10.975Z,1741799830.975 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreHMavgROI = nan count/s
2025-03-12T17:17:10.978Z,1741799830.978 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreHMavgROIDepth = nan m
2025-03-12T17:17:10.989Z,1741799830.989 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreHMavgROITemperature = nan degC
2025-03-12T17:17:10.996Z,1741799830.996 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreHMavgROILatitude = nan arcdeg
2025-03-12T17:17:11.003Z,1741799831.003 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreHMavgROILongitude = nan arcdeg
2025-03-12T17:17:11.005Z,1741799831.005 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreDiatoms = nan count/ml
2025-03-12T17:17:11.020Z,1741799831.020 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreDiatomsDepth = nan m
2025-03-12T17:17:11.028Z,1741799831.028 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreDiatomsTemperature = nan degC
2025-03-12T17:17:11.047Z,1741799831.047 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreDiatomsLatitude = nan arcdeg
2025-03-12T17:17:11.049Z,1741799831.049 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreDiatomsLongitude = nan arcdeg
2025-03-12T17:17:11.056Z,1741799831.056 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreDinoflagellates = nan count/ml
2025-03-12T17:17:11.067Z,1741799831.067 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreDinoflagellatesDepth = nan m
2025-03-12T17:17:11.069Z,1741799831.069 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreDinoflagellatesTemperature = nan degC
2025-03-12T17:17:11.077Z,1741799831.077 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreDinoflagellatesLatitude = nan arcdeg
2025-03-12T17:17:11.080Z,1741799831.080 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreDinoflagellatesLongitude = nan arcdeg
2025-03-12T17:17:11.091Z,1741799831.091 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchChl = nan ug/l
2025-03-12T17:17:11.093Z,1741799831.093 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchChlDepth = nan m
2025-03-12T17:17:11.100Z,1741799831.100 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchChlLatitude = nan arcdeg
2025-03-12T17:17:11.110Z,1741799831.110 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchChlLongitude = nan arcdeg
2025-03-12T17:17:11.113Z,1741799831.113 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchChlDistance = nan m
2025-03-12T17:17:11.123Z,1741799831.123 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchSalt = nan psu
2025-03-12T17:17:11.130Z,1741799831.130 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchSaltDepth = nan m
2025-03-12T17:17:11.133Z,1741799831.133 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchSaltLatitude = nan arcdeg
2025-03-12T17:17:11.135Z,1741799831.135 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchSaltLongitude = nan arcdeg
2025-03-12T17:17:11.146Z,1741799831.146 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchSaltDistance = nan m
2025-03-12T17:17:11.149Z,1741799831.149 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchOil = nan psu
2025-03-12T17:17:11.159Z,1741799831.159 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchOilDepth = nan m
2025-03-12T17:17:11.162Z,1741799831.162 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchOilLatitude = nan arcdeg
2025-03-12T17:17:11.168Z,1741799831.168 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchOilLongitude = nan arcdeg
2025-03-12T17:17:11.172Z,1741799831.172 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchOilDistance = nan m
2025-03-12T17:17:11.174Z,1741799831.174 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.TriggeredOnChl = 0 bool
2025-03-12T17:17:11.188Z,1741799831.188 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.ChlTriggering = nan ug/l
2025-03-12T17:17:11.279Z,1741799831.279 [sci2_noyo_optim:Science:PeakDetectChl:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-03-12T17:17:11.321Z,1741799831.321 [sci2_noyo_optim:Science:EdgeDetectChl:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-03-12T17:17:11.404Z,1741799831.404 [sci2_noyo_optim:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-03-12T17:17:11.439Z,1741799831.439 [sci2_noyo_optim:Science:PeakDetectNO3:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-03-12T17:17:11.467Z,1741799831.467 [sci2_noyo_optim:Science:PeakDetectOil:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-03-12T17:17:11.494Z,1741799831.494 [sci2_noyo_optim:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-03-12T17:17:11.524Z,1741799831.524 [sci2_noyo_optim:Science:PeakDetectFDOM:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-03-12T17:17:11.545Z,1741799831.545 [sci2_noyo_optim:Science:PeakDetectSalinity:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-03-12T17:17:11.568Z,1741799831.568 [sci2_noyo_optim:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-03-12T17:17:11.599Z,1741799831.599 [sci2_noyo_optim:Science:PeakDetectPlanktivoreLMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-03-12T17:17:11.629Z,1741799831.629 [sci2_noyo_optim:Science:EdgeDetectPlanktivoreLMavgROI:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-03-12T17:17:11.705Z,1741799831.705 [sci2_noyo_optim:Science:PeakDetectPlanktivoreHMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-03-12T17:17:11.741Z,1741799831.741 [sci2_noyo_optim:Science:PeakDetectPlanktivoreDiatoms:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-03-12T17:17:11.754Z,1741799831.754 [sci2_noyo_optim:Science:PeakDetectPlanktivoreDinoflagellates:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-03-12T17:17:11.766Z,1741799831.766 [sci2_noyo_optim:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Construct ValueDetect.
2025-03-12T17:17:11.773Z,1741799831.773 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-03-12T17:17:11.773Z,1741799831.773 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-03-12T17:17:11.775Z,1741799831.775 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-03-12T17:17:11.859Z,1741799831.859 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/StandardEnvelopes.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="StandardEnvelopes">
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="MaxDepthIgnore">
        <Units:meter />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>200</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:meter />
        <Value>2000</Value>
    </DefineArg>
    <Parallel />
    <Guidance:AltitudeEnvelope>
        <Parallel />
        <Setting>
            <Guidance:AltitudeEnvelope.minAltitude />
            <Arg Name="MinAltitude" />
        </Setting>
        <Setting>
            <Guidance:AltitudeEnvelope.maxDepthIgnore />
            <Arg Name="MaxDepthIgnore" />
        </Setting>
    </Guidance:AltitudeEnvelope>
    <Guidance:DepthEnvelope>
        <Parallel />
        <Setting>
            <Guidance:DepthEnvelope.maxDepth />
            <Arg Name="MaxDepth" />
        </Setting>
    </Guidance:DepthEnvelope>
    <Guidance:OffshoreEnvelope>
        <Parallel />
        <Setting>
            <Guidance:OffshoreEnvelope.minOffshore />
            <Arg Name="MinOffshore" />
        </Setting>
    </Guidance:OffshoreEnvelope>
</Aggregate>

2025-03-12T17:17:11.863Z,1741799831.863 [MissionManager](INFO): DefineArg sci2_noyo_optim:StandardEnvelopes.MinAltitude = 5.000000 m
2025-03-12T17:17:11.865Z,1741799831.865 [MissionManager](INFO): DefineArg sci2_noyo_optim:StandardEnvelopes.MaxDepthIgnore = 0.000000 m
2025-03-12T17:17:11.868Z,1741799831.868 [MissionManager](INFO): DefineArg sci2_noyo_optim:StandardEnvelopes.MaxDepth = 200.000000 m
2025-03-12T17:17:11.870Z,1741799831.870 [MissionManager](INFO): DefineArg sci2_noyo_optim:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-03-12T17:17:11.871Z,1741799831.871 [sci2_noyo_optim:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-03-12T17:17:11.877Z,1741799831.877 [sci2_noyo_optim:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-03-12T17:17:11.908Z,1741799831.908 [sci2_noyo_optim:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-03-12T17:17:11.923Z,1741799831.923 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl
2025-03-12T17:17:11.923Z,1741799831.923 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl
2025-03-12T17:17:11.924Z,1741799831.924 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl
2025-03-12T17:17:12.192Z,1741799832.192 [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>

2025-03-12T17:17:12.204Z,1741799832.204 [MissionManager](INFO): DefineArg sci2_noyo_optim:NeedComms.DiveInterval = 1.000000 h
2025-03-12T17:17:12.209Z,1741799832.209 [MissionManager](INFO): DefineArg sci2_noyo_optim:NeedComms.WaitForPitchUp = 10.000000 min
2025-03-12T17:17:12.214Z,1741799832.214 [MissionManager](INFO): DefineArg sci2_noyo_optim:NeedComms.SurfacePitch = 20.000000 arcdeg
2025-03-12T17:17:12.219Z,1741799832.219 [MissionManager](INFO): DefineArg sci2_noyo_optim:NeedComms.SurfaceDepthRate = nan m/s
2025-03-12T17:17:12.222Z,1741799832.222 [MissionManager](INFO): DefineArg sci2_noyo_optim:NeedComms.SurfaceSpeed = 1.000000 m/s
2025-03-12T17:17:12.227Z,1741799832.227 [MissionManager](INFO): DefineArg sci2_noyo_optim:NeedComms.SurfacingTimeout = 1000.000000 s
2025-03-12T17:17:12.230Z,1741799832.230 [MissionManager](INFO): DefineArg sci2_noyo_optim:NeedComms.GPSTimeout = 7.000000 min
2025-03-12T17:17:12.237Z,1741799832.237 [MissionManager](INFO): DefineArg sci2_noyo_optim:NeedComms.CommsTimeout = 30.000000 min
2025-03-12T17:17:12.275Z,1741799832.275 [sci2_noyo_optim:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2025-03-12T17:17:12.310Z,1741799832.310 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2025-03-12T17:17:12.310Z,1741799832.310 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2025-03-12T17:17:12.311Z,1741799832.311 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2025-03-12T17:17:12.332Z,1741799832.332 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/BackseatDriver.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="BackseatDriver">
    <DefineArg Name="EnableBackseat">
        <False />
    </DefineArg>
    <Parallel />
    <Guidance:BackseatDriver>
        <Sequence />
        <Setting>
            <Guidance:BackseatDriver.powerBackseat />
            <Arg Name="EnableBackseat" />
        </Setting>
    </Guidance:BackseatDriver>
</Aggregate>

2025-03-12T17:17:12.335Z,1741799832.335 [MissionManager](INFO): DefineArg sci2_noyo_optim:BackseatDriver.EnableBackseat = 0 bool
2025-03-12T17:17:12.338Z,1741799832.338 [sci2_noyo_optim:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2025-03-12T17:17:12.342Z,1741799832.342 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2025-03-12T17:17:12.342Z,1741799832.342 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2025-03-12T17:17:12.343Z,1741799832.343 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2025-03-12T17:17:12.509Z,1741799832.509 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/PowerOnly.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="PowerOnly">
    <DefineArg Name="SampleAll">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad1">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad2">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad3">
        <False />
    </DefineArg>
    <DefineArg Name="EnabledPowerOnly">
        <Sensor:PowerOnly.loadAtStartup />
    </DefineArg>
    <Parallel />
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleAll" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.samplePowerOnly />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad1" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad1 />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad2" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad2 />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad3" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad3 />
    </ReadData>
    <Guidance:Wait>
        <Sequence />
        <Setting>
            <Guidance:Wait.duration />
            <Units:hour />
            <Value>99999</Value>
        </Setting>
    </Guidance:Wait>
</Aggregate>

2025-03-12T17:17:12.533Z,1741799832.533 [MissionManager](INFO): DefineArg sci2_noyo_optim:PowerOnly.SampleAll = 0 bool
2025-03-12T17:17:12.543Z,1741799832.543 [MissionManager](INFO): DefineArg sci2_noyo_optim:PowerOnly.SampleLoad1 = 0 bool
2025-03-12T17:17:12.545Z,1741799832.545 [MissionManager](INFO): DefineArg sci2_noyo_optim:PowerOnly.SampleLoad2 = 0 bool
2025-03-12T17:17:12.547Z,1741799832.547 [MissionManager](INFO): DefineArg sci2_noyo_optim:PowerOnly.SampleLoad3 = 0 bool
2025-03-12T17:17:12.550Z,1741799832.550 [MissionManager](INFO): DefineArg sci2_noyo_optim:PowerOnly.EnabledPowerOnly = 1 bool
2025-03-12T17:17:12.565Z,1741799832.565 [sci2_noyo_optim:PowerOnly:E.Wait](DEBUG): Construct Wait.
2025-03-12T17:17:12.585Z,1741799832.585 [sci2_noyo_optim:O.Buoyancy](DEBUG): Construct Buoyancy.
2025-03-12T17:17:12.617Z,1741799832.617 [sci2_noyo_optim:DiveCmd:InitialDive:dive:C.Mass](DEBUG): Construct.
2025-03-12T17:17:12.620Z,1741799832.620 [sci2_noyo_optim:DiveCmd:InitialDive:dive:E.Wait](DEBUG): Construct Wait.
2025-03-12T17:17:12.624Z,1741799832.624 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:A.SetSpeed](DEBUG): Construct.
2025-03-12T17:17:12.627Z,1741799832.627 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:B.Pitch](DEBUG): Construct.
2025-03-12T17:17:12.633Z,1741799832.633 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:B.Pitch:A_Timeout:B.Execute](DEBUG): Construct Execute.
2025-03-12T17:17:12.641Z,1741799832.641 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:B.Pitch](DEBUG): Construct.
2025-03-12T17:17:12.648Z,1741799832.648 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:C.Wait](DEBUG): Construct Wait.
2025-03-12T17:17:12.656Z,1741799832.656 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass](DEBUG): Construct.
2025-03-12T17:17:12.659Z,1741799832.659 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed](DEBUG): Construct.
2025-03-12T17:17:12.661Z,1741799832.661 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:B.Pitch](DEBUG): Construct.
2025-03-12T17:17:12.685Z,1741799832.685 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:A.SetSpeed](DEBUG): Construct.
2025-03-12T17:17:12.689Z,1741799832.689 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:C.Buoyancy](DEBUG): Construct Buoyancy.
2025-03-12T17:17:12.692Z,1741799832.692 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:D.Pitch](DEBUG): Construct.
2025-03-12T17:17:12.704Z,1741799832.704 [sci2_noyo_optim:Lap:DepthByLap:Wpt1:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T17:17:12.710Z,1741799832.710 [sci2_noyo_optim:Lap:DepthByLap:Wpt2:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T17:17:12.715Z,1741799832.715 [sci2_noyo_optim:Lap:DepthByLap:Wpt3:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T17:17:12.731Z,1741799832.731 [sci2_noyo_optim:Lap:DepthByLap:Wpt4:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T17:17:12.737Z,1741799832.737 [sci2_noyo_optim:Lap:DepthByLap:Wpt5:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T17:17:12.743Z,1741799832.743 [sci2_noyo_optim:Lap:DepthByLap:Wpt6:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T17:17:12.749Z,1741799832.749 [sci2_noyo_optim:Lap:DepthByLap:Wpt7:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T17:17:12.755Z,1741799832.755 [sci2_noyo_optim:Lap:DepthByLap:Wpt8:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T17:17:12.764Z,1741799832.764 [sci2_noyo_optim:Lap:DepthByLap:Leg2:Wpt1:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T17:17:12.769Z,1741799832.769 [sci2_noyo_optim:Lap:DepthByLap:Leg2:Wpt2:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T17:17:12.785Z,1741799832.785 [sci2_noyo_optim:Lap:DepthByLap:Leg2:Wpt3:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T17:17:12.791Z,1741799832.791 [sci2_noyo_optim:Lap:DepthByLap:Leg2:Wpt4:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T17:17:12.797Z,1741799832.797 [sci2_noyo_optim:Lap:DepthByLap:Leg2:Wpt5:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T17:17:12.802Z,1741799832.802 [sci2_noyo_optim:Lap:DepthByLap:Leg2:Wpt6:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T17:17:12.808Z,1741799832.808 [sci2_noyo_optim:Lap:DepthByLap:Leg2:Wpt7:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T17:17:12.813Z,1741799832.813 [sci2_noyo_optim:Lap:DepthByLap:Leg2:Wpt8:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T17:17:12.831Z,1741799832.831 [sci2_noyo_optim:Lap:DepthByLap:Leg3:Wpt1:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T17:17:12.838Z,1741799832.838 [sci2_noyo_optim:Lap:DepthByLap:Leg3:Wpt2:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T17:17:12.844Z,1741799832.844 [sci2_noyo_optim:Lap:DepthByLap:Leg3:Wpt3:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T17:17:12.849Z,1741799832.849 [sci2_noyo_optim:Lap:DepthByLap:Leg3:Wpt4:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T17:17:12.895Z,1741799832.895 [sci2_noyo_optim:Lap:DepthByLap:Leg3:Wpt5:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T17:17:12.909Z,1741799832.909 [sci2_noyo_optim:Lap:DepthByLap:Leg3:Wpt6:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T17:17:12.937Z,1741799832.937 [sci2_noyo_optim:Lap:DepthByLap:Leg3:Wpt7:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T17:17:12.954Z,1741799832.954 [sci2_noyo_optim:Lap:DepthByLap:Leg3:Wpt8:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T17:17:12.964Z,1741799832.964 [sci2_noyo_optim:Lap:DepthByLap:Leg4:Wpt1:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T17:17:12.969Z,1741799832.969 [sci2_noyo_optim:Lap:DepthByLap:Leg4:Wpt2:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T17:17:12.976Z,1741799832.976 [sci2_noyo_optim:Lap:DepthByLap:Leg4:Wpt3:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T17:17:13.011Z,1741799833.011 [sci2_noyo_optim:Lap:DepthByLap:Leg4:Wpt4:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T17:17:13.017Z,1741799833.017 [sci2_noyo_optim:Lap:DepthByLap:Leg4:Wpt5:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T17:17:13.023Z,1741799833.023 [sci2_noyo_optim:Lap:DepthByLap:Leg4:Wpt6:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T17:17:13.029Z,1741799833.029 [sci2_noyo_optim:Lap:DepthByLap:Leg4:Wpt7:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T17:17:13.045Z,1741799833.045 [sci2_noyo_optim:Lap:DepthByLap:Leg4:Wpt8:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T17:17:13.056Z,1741799833.056 [sci2_noyo_optim:Lap:DepthByLap:Leg5:Wpt1:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T17:17:13.062Z,1741799833.062 [sci2_noyo_optim:Lap:DepthByLap:Leg5:Wpt2:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T17:17:13.068Z,1741799833.068 [sci2_noyo_optim:Lap:DepthByLap:Leg5:Wpt3:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T17:17:13.073Z,1741799833.073 [sci2_noyo_optim:Lap:DepthByLap:Leg5:Wpt4:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T17:17:13.079Z,1741799833.079 [sci2_noyo_optim:Lap:DepthByLap:Leg5:Wpt5:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T17:17:13.095Z,1741799833.095 [sci2_noyo_optim:Lap:DepthByLap:Leg5:Wpt6:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T17:17:13.101Z,1741799833.101 [sci2_noyo_optim:Lap:DepthByLap:Leg5:Wpt7:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T17:17:13.106Z,1741799833.106 [sci2_noyo_optim:Lap:DepthByLap:Leg5:Wpt8:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T17:17:13.116Z,1741799833.116 [sci2_noyo_optim:Lap:DepthByLap:Leg6:Wpt1:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T17:17:13.121Z,1741799833.121 [sci2_noyo_optim:Lap:DepthByLap:Leg6:Wpt2:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T17:17:13.127Z,1741799833.127 [sci2_noyo_optim:Lap:DepthByLap:Leg6:Wpt3:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T17:17:13.132Z,1741799833.132 [sci2_noyo_optim:Lap:DepthByLap:Leg6:Wpt4:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T17:17:13.149Z,1741799833.149 [sci2_noyo_optim:Lap:DepthByLap:Leg6:Wpt5:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T17:17:13.155Z,1741799833.155 [sci2_noyo_optim:Lap:DepthByLap:Leg6:Wpt6:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T17:17:13.160Z,1741799833.160 [sci2_noyo_optim:Lap:DepthByLap:Leg6:Wpt7:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T17:17:13.166Z,1741799833.166 [sci2_noyo_optim:Lap:DepthByLap:Leg6:Wpt8:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T17:17:13.176Z,1741799833.176 [sci2_noyo_optim:Lap:DepthByLap:Leg7:Wpt1:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T17:17:13.181Z,1741799833.181 [sci2_noyo_optim:Lap:DepthByLap:Leg7:Wpt2:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T17:17:13.197Z,1741799833.197 [sci2_noyo_optim:Lap:DepthByLap:Leg7:Wpt3:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T17:17:13.203Z,1741799833.203 [sci2_noyo_optim:Lap:DepthByLap:Leg7:Wpt4:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T17:17:13.208Z,1741799833.208 [sci2_noyo_optim:Lap:DepthByLap:Leg7:Wpt5:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T17:17:13.214Z,1741799833.214 [sci2_noyo_optim:Lap:DepthByLap:Leg7:Wpt6:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T17:17:13.220Z,1741799833.220 [sci2_noyo_optim:Lap:DepthByLap:Leg7:Wpt7:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T17:17:13.225Z,1741799833.225 [sci2_noyo_optim:Lap:DepthByLap:Leg7:Wpt8:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T17:17:13.235Z,1741799833.235 [sci2_noyo_optim:Lap:DepthByLap:Leg8:Wpt1:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T17:17:13.251Z,1741799833.251 [sci2_noyo_optim:Lap:DepthByLap:Leg8:Wpt2:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T17:17:13.257Z,1741799833.257 [sci2_noyo_optim:Lap:DepthByLap:Leg8:Wpt3:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T17:17:13.285Z,1741799833.285 [sci2_noyo_optim:Lap:DepthByLap:Leg8:Wpt4:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T17:17:13.311Z,1741799833.311 [sci2_noyo_optim:Lap:DepthByLap:Leg8:Wpt5:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T17:17:13.324Z,1741799833.324 [sci2_noyo_optim:Lap:DepthByLap:Leg8:Wpt6:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T17:17:13.346Z,1741799833.346 [sci2_noyo_optim:Lap:DepthByLap:Leg8:Wpt7:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T17:17:13.360Z,1741799833.360 [sci2_noyo_optim:Lap:DepthByLap:Leg8:Wpt8:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T17:17:13.380Z,1741799833.380 [sci2_noyo_optim:Lap:DepthByLeg:Leg1:B.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T17:17:13.395Z,1741799833.395 [sci2_noyo_optim:Lap:DepthByLeg:Leg2:Wpt2:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T17:17:13.407Z,1741799833.407 [sci2_noyo_optim:Lap:DepthByLeg:Leg3:Wpt3:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T17:17:13.417Z,1741799833.417 [sci2_noyo_optim:Lap:DepthByLeg:Leg4:Wpt4:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T17:17:13.427Z,1741799833.427 [sci2_noyo_optim:Lap:DepthByLeg:Leg5:Wpt5:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T17:17:13.436Z,1741799833.436 [sci2_noyo_optim:Lap:DepthByLeg:Leg6:Wpt6:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T17:17:13.446Z,1741799833.446 [sci2_noyo_optim:Lap:DepthByLeg:Leg7:Wpt7:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T17:17:13.464Z,1741799833.464 [sci2_noyo_optim:Lap:DepthByLeg:Leg8:Wpt8:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T17:17:13.560Z,1741799833.560 [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 sci2_noyo_optim {
  """
  Vehicle transits to the specified waypoints at the commanded depth
  (flat-and-level, no yoyos) with science, Optim camera, and multiray
  lights on.
  """

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

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

    Depth1 = 35 meter
      """
      Depth of flat and level flight during the mission for the first transit leg or lap.
      """

    Depth[2..8] = NaN meter
      """
      Depth of flat and level flight during the mission for subsequent transit legs or laps.
      Skipped if NaN.
      """

    DepthPerLeg = false
      """
      Indicates whether additional depths correspond to laps (cycle through all waypoints at
      each depth, default) or legs (use depth for transit leg ending at corresponding waypoint,
      each lap repeats all depths and waypoints).
      """

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

    Lat[1..8] = NaN degree
      """
      Latitude of waypoint {$}. If nan, waypoint is skipped.
      """

    Lon[1..8] = NaN degree
      """
      Longitude of waypoint {$}. If nan, waypoint is skipped.
      """

    FastSpeed = 1 meter_per_second
      """
      Speed while transiting to waypoint.
      """

    ApproachDepth = 30 meter
      """
      Depth for initial descent form the surface.
      """

    ApproachSpeed = 0.7 meter_per_second
      """
      Speed while descending to target depth.
      """

    ApproachDepthRate = 0.05 meter_per_second
      """
      Descent depth rate (Positive depth rate means going down).
      """

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

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

    ApproachSettleTimePreDive = 1 minute
      """
      Time duration for the vehicle to pump down the VBS *BEFORE* leaving the
      surface.
      """

    ApproachSettleTimePostDive = 3 minute
      """
      Time duration for the vehicle to settle *AFTER* reaching the target
      depth.
      """

    kpDepth = 0.07 radian_per_meter
      """
      Dive loop proportional gain (applied only while the vehicle is
      descending to target depth).
      """

    SlowSpeed = 0.25 meter_per_second
      """
      Set this to something other than Nan if slow speed filming with a
      wide depth deadband is desired.
      """

    DepthDeviationSlow = 3 meter
      """
      Allowable +/- deviation from depth during slow flight. Needs a SlowSpeed
      to be set.
      """

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

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

    MinAltitude = 2 meter
      """
      Minimum height above the sea floor for the entire mission.
      """

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

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

  output {
    DiveMode = 0 count
      """
      Mission variable (don't change). The mission sets this variable to
      switch between dive modes. Initialized to DoingComms.
      """

    DoingComms = 0 count
      """
      Mission variable (don't change). The mission will run in this to mode
      when doing surface comms.
      """

    InitialDive = 1 count
      """
      Mission variable (don't change). The mission will run in this mode after
      surface comms are done to dive the vehicle to the approach depth.
      """

    SettleAtDepth = 2 count
      """
      Mission variable (don't change). The mission will run in this mode to
      settle the vehicle at the target depth.
      """

    MaintainDepth = 3 count
      """
      Mission variable (don't change). The mission will run in this mode to
      maintain the vehicle at the target depth.
      """

    LegDepth = Depth1
      """
      Mission variable to track the current depth for the current leg.
      """
  }

  # Mission timeout

  timeout duration=MissionTimeout

  # Science!

  insert Insert/Science.tl {
    """
    Run the science sensors.
    """
  }

  # 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 = MissionTimeout

  assign in sequence NeedComms:WaitForPitchUp = 0 minute

  insert Insert/BackseatDriver.tl
  assign in parallel BackseatDriver:EnableBackseat = true

  insert Insert/PowerOnly.tl
  assign in parallel PowerOnly:SampleLoad1 = true

  assign in sequence Sensor:MultiRay.lightModeCommand = 2 count
  readData strategy="MinError" {
    while ( Sensor:MultiRay.loadAtStartup )

    Sensor:MultiRay.lightModeLog
  }

  behavior Guidance:Buoyancy {
    run in parallel

    set position = BuoyancyNeutral
  }

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

    assign in sequence DiveMode = DoingComms

    call refId="NeedComms"

    assign in sequence DiveMode = InitialDive
  }

  aggregate DiveCmd {
    """
    Called when the vehicle should be underwater. Arbitrates between 4
    dive modes: 1) descend from the surface to initial depth. 2) settle
    at target depth using the VB. 3) cruise at target depth and go slow
    while within depth deviation bounds if a slow speed is set.
    """

    run when ( called )

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

      run while ( DiveMode == InitialDive )

      aggregate dive {
        run in sequence

        assign in parallel Control:VerticalControl.pitchLimit = ApproachPitchLimit

        assign in parallel Control:VerticalControl.kpDepth = kpDepth

        behavior Guidance:Mass {
          run in parallel

          set position = MassDefault
        }

        # behavior Guidance:Buoyancy {
        #   run in parallel

        #   set position = BuoyancyNeutral
        # }

        syslog info "Waiting for "
             + ApproachSettleTimePreDive~minute + "while pumping down to neutral."

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

          run in sequence

          set duration = ApproachSettleTimePreDive
        }

        syslog "Moving to " + ApproachDepth~meter

        aggregate ApproachDepth {
          run in sequence

          behavior Guidance:SetSpeed {
            run in parallel

            set speed = ApproachSpeed
          }

          behavior Guidance:Pitch {
            run in sequence

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

              behavior Guidance:Execute {
                run in sequence

                set command = "stop"
              }
            }

            set depth = ApproachDepth
            set depthRate = ApproachDepthRate
          }
        }

        assign in sequence DiveMode = SettleAtDepth
      }
    }

    aggregate SettleAtDepth {
      """
      Take a few more moments here to make sure the vehicle is settled
      at the target depth.
      """

      run while ( DiveMode == SettleAtDepth )

      aggregate dive {
        run in sequence

        syslog info "Reached " + Universal:depth~meter + ", settling for "
             + ApproachSettleTimePostDive~minute

        behavior Guidance:Pitch {
          run in parallel

          set depth = LegDepth
        }

        behavior Guidance:Wait {
          run in sequence

          set duration = ApproachSettleTimePostDive
        }

        assign in sequence DiveMode = MaintainDepth
      }
    }

    aggregate MaintainDepth {
      """
      Cruise at the target depth.
      """

      run while (
        DiveMode == MaintainDepth
        and ( Universal:depth > ( LegDepth + DepthDeviationSlow ) )
        or ( Universal:depth < ( LegDepth - DepthDeviationSlow ) )
      )

      aggregate dive {
        run in parallel

        aggregate ThrusterDive {
          run while ( FastSpeed > 0.0 meter_per_second )

          behavior Guidance:Mass {
            run in parallel

            set position = MassDefault
          }

          # behavior Guidance:Buoyancy {
          #   run in parallel

          #   set position = BuoyancyNeutral
          # }

          behavior Guidance:SetSpeed {
            run in parallel

            set speed = FastSpeed
          }
        }

        behavior Guidance:Pitch {
          run in parallel

          set depth = LegDepth
        }
      }
    }

    aggregate MaintainDepthSlow {
      """
      Cruise slow at the target depth.
      """

      run while (
        ( not isNaN ( SlowSpeed ) )
        and ( DiveMode == MaintainDepth )
        and ( Universal:depth <= ( LegDepth + DepthDeviationSlow ) )
        and ( Universal:depth >= ( LegDepth - DepthDeviationSlow ) )
      )

      behavior Guidance:SetSpeed {
        run in parallel

        set speed = SlowSpeed
      }

      # Let's make sure the vertical control depth deadband doesn't interfere with our mission
      # level version of the deadband. And we'll add an extra 3m so we don't trigger any
      # faults inside vertical control when attempting to regain the commanded depth.
      assign in parallel Control:VerticalControl.depthDeadband = ( DepthDeviationSlow + 3 m )

      behavior Guidance:Buoyancy {
        run in parallel

        set position = NaN cc
      }

      behavior Guidance:Pitch {
        run in parallel

        set depth = LegDepth
      }
    }
  }

  # Start mission sequence

  call id="StartingMission" refId="SurfaceComms"

  aggregate Lap {
    run in sequence repeat=Repeat

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

      call refId="DiveCmd"
    }

    # Default behavior: Depths correspond to laps
    # Run through all waypoints at each depth
    aggregate DepthByLap {
      run in sequence

      break if ( DepthPerLeg )

      assign in sequence LegDepth = Depth1

      aggregate Wpt1 {
        run in sequence

        behavior Guidance:Waypoint {
          run in sequence

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

      macro $i = 2..8 {
        aggregate Wpt$i {
          run in sequence

          behavior Guidance:Waypoint {
            run in sequence

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

      macro $j = 2..8 {
        aggregate Leg$j {
          run in sequence

          break if ( isNaN ( Depth[$j] ) )

          syslog important "Transiting waypoints at depth " + Depth[$j]~meter
          assign in sequence LegDepth = Depth[$j]

          macro $i = 1..8 {
            aggregate Wpt$i {
              run in sequence

              behavior Guidance:Waypoint {
                run in sequence

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

    # Non-default behavior: depth by leg
    # Transit to waypoint at corresponding depth, repeat per lap
    # (e.g. Transit to waypoint 1 at depth 1, waypoint 2 at depth 2, and so on)
    aggregate DepthByLeg {
      run in sequence

      break if ( not DepthPerLeg )

      aggregate Leg1 {
        run in sequence

        assign in sequence LegDepth = Depth1

        behavior Guidance:Waypoint {
          run in sequence

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

      macro $i = 2..8 {
        aggregate Leg$i {
          run in sequence

          break if ( isNaN ( Depth[$i] ) )

          syslog info "Transiting to next waypoint at depth " + Depth[$i]~meter
          assign in sequence LegDepth = Depth[$i]

          aggregate Wpt$i {
            run in sequence

            behavior Guidance:Waypoint {
              run in sequence

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


2025-03-12T17:17:13.560Z,1741799833.560 [CommandExec](IMPORTANT): Loaded ./Missions/Science/sci2_noyo_optim.tl id=sci2_noyo_optim
2025-03-12T17:17:13.835Z,1741799833.835 [MissionManager](IMPORTANT): Started mission Default
2025-03-12T17:17:13.835Z,1741799833.835 [Default] Running Loop=1
2025-03-12T17:17:13.835Z,1741799833.835 [Default](DEBUG): Aggregate::initialize Default
2025-03-12T17:17:13.835Z,1741799833.835 [Default:B.GoToSurface] Running Loop=1
2025-03-12T17:17:13.835Z,1741799833.835 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-03-12T17:17:13.836Z,1741799833.836 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-03-12T17:17:13.836Z,1741799833.836 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-03-12T17:17:13.836Z,1741799833.836 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-03-12T17:17:13.837Z,1741799833.837 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-03-12T17:17:13.837Z,1741799833.837 [Default:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-03-12T17:17:13.837Z,1741799833.837 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-03-12T17:17:13.837Z,1741799833.837 [Default:A.Wait] Running Loop=1
2025-03-12T17:17:13.838Z,1741799833.838 [Default:A.Wait](DEBUG): Initialize Wait Component.
2025-03-12T17:17:21.195Z,1741799841.195 [BackseatComponent](INFO): Powering down and starting shutdown timer (18.00 sec).
2025-03-12T17:17:21.195Z,1741799841.195 [BackseatComponent](INFO): Unsubscribing from LCM channels.
2025-03-12T17:17:21.195Z,1741799841.195 [LcmUniversalReporter](INFO): Deactivating messaging.
2025-03-12T17:17:24.931Z,1741799844.931 [DAT](INFO): DAT read: Rx Time:17:17:23.9962

2025-03-12T17:17:24.932Z,1741799844.932 [DAT](INFO): Rx dataTimestamp_ set to:1741799844.931281
2025-03-12T17:17:25.435Z,1741799845.435 [DAT](INFO): DAT read: $Error in header

2025-03-12T17:17:25.436Z,1741799845.436 [DAT](INFO): Received a bad header
2025-03-12T17:17:27.043Z,1741799847.043 [Default:A.Wait](INFO): Done Waiting.
2025-03-12T17:17:27.044Z,1741799847.044 [Default:A.Wait] Stopped
2025-03-12T17:17:27.044Z,1741799847.044 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2025-03-12T17:17:27.452Z,1741799847.452 [Default:CheckIn] Running Loop=1
2025-03-12T17:17:27.452Z,1741799847.452 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-03-12T17:17:27.452Z,1741799847.452 [Default:CheckIn:Read_GPS] Running Loop=1
2025-03-12T17:17:51.856Z,1741799871.856 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2025-03-12T17:17:53.722Z,1741799873.722 [CommandExec](IMPORTANT): got command set sci2_noyo_optim.MissionTimeout 3 hour
2025-03-12T17:17:53.723Z,1741799873.723 [CommandExec](IMPORTANT): got command set sci2_noyo_optim.NeedCommsTime 60 minute
2025-03-12T17:17:53.724Z,1741799873.724 [CommandExec](IMPORTANT): got command set sci2_noyo_optim.Depth1 90 meter
2025-03-12T17:17:53.725Z,1741799873.725 [CommandExec](IMPORTANT): got command set sci2_noyo_optim.Depth2 90 meter
2025-03-12T17:17:53.726Z,1741799873.726 [CommandExec](IMPORTANT): got command set sci2_noyo_optim.Depth3 200 meter
2025-03-12T17:17:56.293Z,1741799876.293 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,171755.00,A,3648.12719,N,12151.29944,W,0.933,37.13,120325,,,A*45
2025-03-12T17:17:56.295Z,1741799876.295 [NAL9602](INFO): GPS fix at 20250312T171755: (36.802120, -121.854991)
2025-03-12T17:17:56.336Z,1741799876.336 [UniversalFixResidualReporter](INFO): Fix residual: 35.6 %DT, over the last 1766.8 m. Residual distance 628.3 m at bearing -159.1 degrees. Fix at (36.8021, -121.8550) with 188.8 m made good.
2025-03-12T17:17:56.336Z,1741799876.336 [Default:CheckIn:Read_GPS] Stopped
2025-03-12T17:17:56.336Z,1741799876.336 [Default:CheckIn:Read_Iridium] Running Loop=1
2025-03-12T17:18:07.894Z,1741799887.894 [DataOverHttps](INFO): Sending 94 bytes from file Logs/20250311T232940/Courier0138.lzma
2025-03-12T17:18:08.896Z,1741799888.897 [DataOverHttps](INFO): Moved sent file to Logs/20250311T232940/Courier0138.lzma.bak
2025-03-12T17:18:08.897Z,1741799888.897 [DataOverHttps](INFO): SBD MOMSN=24184241
2025-03-12T17:18:24.595Z,1741799904.595 [CommandExec](IMPORTANT): got command set sci2_noyo_optim.Lat1 36.79509 degree
2025-03-12T17:18:24.596Z,1741799904.596 [CommandExec](IMPORTANT): got command set sci2_noyo_optim.Lon1 -121.864 degree
2025-03-12T17:18:24.596Z,1741799904.596 [CommandExec](IMPORTANT): got command set sci2_noyo_optim.Lat2 36.79482 degree
2025-03-12T17:18:24.597Z,1741799904.597 [CommandExec](IMPORTANT): got command set sci2_noyo_optim.Lon2 -121.88413 degree
2025-03-12T17:18:24.598Z,1741799904.598 [CommandExec](IMPORTANT): got command set sci2_noyo_optim.Lat3 36.79465 degree
2025-03-12T17:18:28.755Z,1741799908.755 [NAL9602](INFO): Not Powering down - fast GPS
2025-03-12T17:18:31.196Z,1741799911.196 [PowerOnly](INFO): Powering down loadControl
2025-03-12T17:18:36.097Z,1741799916.097 [DataOverHttps](INFO): Sending 1243 bytes from file Logs/20250311T232940/Express0139.lzma
2025-03-12T17:18:37.072Z,1741799917.072 [DataOverHttps](INFO): Moved sent file to Logs/20250311T232940/Express0139.lzma.bak
2025-03-12T17:18:37.073Z,1741799917.073 [DataOverHttps](INFO): SBD MOMSN=24184247
2025-03-12T17:19:04.129Z,1741799944.129 [CommandExec](IMPORTANT): got command set sci2_noyo_optim.Lon3 -121.9037 degree
2025-03-12T17:19:04.130Z,1741799944.130 [CommandExec](IMPORTANT): got command set sci2_noyo_optim.ApproachDepth 10 meter
2025-03-12T17:19:04.131Z,1741799944.131 [CommandExec](IMPORTANT): got command set sci2_noyo_optim.SlowSpeed 0.4 meter_per_second
2025-03-12T17:19:04.131Z,1741799944.131 [CommandExec](IMPORTANT): got command set sci2_noyo_optim.MinAltitude 10 meter
2025-03-12T17:19:04.132Z,1741799944.132 [CommandExec](IMPORTANT): got command set sci2_noyo_optim.MaxDepth 210 meter
2025-03-12T17:19:04.214Z,1741799944.214 [DataOverHttps](INFO): Sending 62 bytes from file Logs/20250311T232940/Express0142.lzma
2025-03-12T17:19:05.216Z,1741799945.216 [DataOverHttps](INFO): Moved sent file to Logs/20250311T232940/Express0142.lzma.bak
2025-03-12T17:19:05.217Z,1741799945.217 [DataOverHttps](INFO): SBD MOMSN=24184288
2025-03-12T17:19:06.347Z,1741799946.347 [Default:CheckIn:Read_Iridium] Stopped
2025-03-12T17:19:06.347Z,1741799946.347 [Default:CheckIn:C.Wait] Running Loop=1
2025-03-12T17:19:06.347Z,1741799946.347 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2025-03-12T17:19:16.167Z,1741799956.167 [CommandExec](IMPORTANT): got command set sci2_noyo_optim:PowerOnly.SampleLoad1 1 bool
2025-03-12T17:19:16.168Z,1741799956.168 [CommandExec](IMPORTANT): got command run
2025-03-12T17:19:16.171Z,1741799956.171 [CommandExec](IMPORTANT): Running 
2025-03-12T17:19:16.442Z,1741799956.442 [Default] Stopped
2025-03-12T17:19:16.442Z,1741799956.442 [Default](DEBUG): Aggregate::uninitialize Default
2025-03-12T17:19:16.442Z,1741799956.442 [Default:B.GoToSurface] Stopped
2025-03-12T17:19:16.442Z,1741799956.442 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-03-12T17:19:16.442Z,1741799956.442 [Default:CheckIn] Stopped
2025-03-12T17:19:16.442Z,1741799956.442 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-03-12T17:19:16.443Z,1741799956.443 [Default:CheckIn:C.Wait] Stopped
2025-03-12T17:19:16.443Z,1741799956.443 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2025-03-12T17:19:16.443Z,1741799956.443 [MissionManager](IMPORTANT): Started mission sci2_noyo_optim
2025-03-12T17:19:16.443Z,1741799956.443 [sci2_noyo_optim] Running Loop=1
2025-03-12T17:19:16.443Z,1741799956.443 [sci2_noyo_optim](DEBUG): Aggregate::initialize sci2_noyo_optim
2025-03-12T17:19:16.443Z,1741799956.443 [sci2_noyo_optim:Science] Running Loop=1
2025-03-12T17:19:16.443Z,1741799956.443 [sci2_noyo_optim:Science](DEBUG): Aggregate::initialize sci2_noyo_optim:Science
2025-03-12T17:19:16.443Z,1741799956.443 [sci2_noyo_optim:Science:A] Running Loop=1
2025-03-12T17:19:16.443Z,1741799956.443 [sci2_noyo_optim:Science:B] Running Loop=1
2025-03-12T17:19:16.444Z,1741799956.444 [sci2_noyo_optim:Science:C] Running Loop=1
2025-03-12T17:19:16.444Z,1741799956.444 [sci2_noyo_optim:Science:D] Running Loop=1
2025-03-12T17:19:16.444Z,1741799956.444 [sci2_noyo_optim:Science:E] Running Loop=1
2025-03-12T17:19:16.444Z,1741799956.444 [sci2_noyo_optim:Science:F] Running Loop=1
2025-03-12T17:19:16.444Z,1741799956.444 [sci2_noyo_optim:Science:Read_Oil] Running Loop=1
2025-03-12T17:19:16.444Z,1741799956.444 [sci2_noyo_optim:Science:PeakDetectChl] Running Loop=1
2025-03-12T17:19:16.444Z,1741799956.444 [sci2_noyo_optim:Science:PeakDetectChl](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:PeakDetectChl
2025-03-12T17:19:16.444Z,1741799956.444 [sci2_noyo_optim:Science:PeakDetectChl:A] Running Loop=1
2025-03-12T17:19:16.444Z,1741799956.444 [sci2_noyo_optim:Science:EdgeDetectChl] Running Loop=1
2025-03-12T17:19:16.444Z,1741799956.444 [sci2_noyo_optim:Science:EdgeDetectChl](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:EdgeDetectChl
2025-03-12T17:19:16.444Z,1741799956.444 [sci2_noyo_optim:Science:EdgeDetectChl:A] Running Loop=1
2025-03-12T17:19:16.445Z,1741799956.445 [sci2_noyo_optim:Science:HighestChlPeakReport] Running Loop=1
2025-03-12T17:19:16.445Z,1741799956.445 [sci2_noyo_optim:Science:HighestChlPeakReport](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:HighestChlPeakReport
2025-03-12T17:19:16.445Z,1741799956.445 [sci2_noyo_optim:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-03-12T17:19:16.445Z,1741799956.445 [sci2_noyo_optim:Science:HighestChlPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-03-12T17:19:16.445Z,1741799956.445 [sci2_noyo_optim:Science:PeakDetectNO3] Running Loop=1
2025-03-12T17:19:16.445Z,1741799956.445 [sci2_noyo_optim:Science:PeakDetectNO3](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:PeakDetectNO3
2025-03-12T17:19:16.445Z,1741799956.445 [sci2_noyo_optim:Science:PeakDetectNO3:A] Running Loop=1
2025-03-12T17:19:16.446Z,1741799956.446 [sci2_noyo_optim:Science:PeakDetectOil] Running Loop=1
2025-03-12T17:19:16.446Z,1741799956.446 [sci2_noyo_optim:Science:PeakDetectOil](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:PeakDetectOil
2025-03-12T17:19:16.446Z,1741799956.446 [sci2_noyo_optim:Science:PeakDetectOil:A] Running Loop=1
2025-03-12T17:19:16.446Z,1741799956.446 [sci2_noyo_optim:Science:HighestOilPeakReport] Running Loop=1
2025-03-12T17:19:16.446Z,1741799956.446 [sci2_noyo_optim:Science:HighestOilPeakReport](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:HighestOilPeakReport
2025-03-12T17:19:16.446Z,1741799956.446 [sci2_noyo_optim:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-03-12T17:19:16.446Z,1741799956.446 [sci2_noyo_optim:Science:HighestOilPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-03-12T17:19:16.447Z,1741799956.447 [sci2_noyo_optim:Science:PeakDetectFDOM] Running Loop=1
2025-03-12T17:19:16.447Z,1741799956.447 [sci2_noyo_optim:Science:PeakDetectFDOM](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:PeakDetectFDOM
2025-03-12T17:19:16.447Z,1741799956.447 [sci2_noyo_optim:Science:PeakDetectFDOM:A] Running Loop=1
2025-03-12T17:19:16.447Z,1741799956.447 [sci2_noyo_optim:Science:PeakDetectSalinity] Running Loop=1
2025-03-12T17:19:16.447Z,1741799956.447 [sci2_noyo_optim:Science:PeakDetectSalinity](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:PeakDetectSalinity
2025-03-12T17:19:16.447Z,1741799956.447 [sci2_noyo_optim:Science:PeakDetectSalinity:A] Running Loop=1
2025-03-12T17:19:16.447Z,1741799956.447 [sci2_noyo_optim:Science:HighestSaltPeakReport] Running Loop=1
2025-03-12T17:19:16.448Z,1741799956.448 [sci2_noyo_optim:Science:HighestSaltPeakReport](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:HighestSaltPeakReport
2025-03-12T17:19:16.448Z,1741799956.448 [sci2_noyo_optim:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-03-12T17:19:16.448Z,1741799956.448 [sci2_noyo_optim:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-03-12T17:19:16.448Z,1741799956.448 [sci2_noyo_optim:Science:PeakDetectPlanktivoreLMavgROI] Running Loop=1
2025-03-12T17:19:16.448Z,1741799956.448 [sci2_noyo_optim:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:PeakDetectPlanktivoreLMavgROI
2025-03-12T17:19:16.448Z,1741799956.448 [sci2_noyo_optim:Science:PeakDetectPlanktivoreLMavgROI:A] Running Loop=1
2025-03-12T17:19:16.448Z,1741799956.448 [sci2_noyo_optim:Science:EdgeDetectPlanktivoreLMavgROI] Running Loop=1
2025-03-12T17:19:16.449Z,1741799956.449 [sci2_noyo_optim:Science:EdgeDetectPlanktivoreLMavgROI](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:EdgeDetectPlanktivoreLMavgROI
2025-03-12T17:19:16.449Z,1741799956.449 [sci2_noyo_optim:Science:EdgeDetectPlanktivoreLMavgROI:A] Running Loop=1
2025-03-12T17:19:16.449Z,1741799956.449 [sci2_noyo_optim:Science:PeakDetectPlanktivoreHMavgROI] Running Loop=1
2025-03-12T17:19:16.449Z,1741799956.449 [sci2_noyo_optim:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:PeakDetectPlanktivoreHMavgROI
2025-03-12T17:19:16.449Z,1741799956.449 [sci2_noyo_optim:Science:PeakDetectPlanktivoreHMavgROI:A] Running Loop=1
2025-03-12T17:19:16.449Z,1741799956.449 [sci2_noyo_optim:Science:PeakDetectPlanktivoreDiatoms] Running Loop=1
2025-03-12T17:19:16.449Z,1741799956.449 [sci2_noyo_optim:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:PeakDetectPlanktivoreDiatoms
2025-03-12T17:19:16.450Z,1741799956.450 [sci2_noyo_optim:Science:PeakDetectPlanktivoreDiatoms:A] Running Loop=1
2025-03-12T17:19:16.450Z,1741799956.450 [sci2_noyo_optim:Science:PeakDetectPlanktivoreDinoflagellates] Running Loop=1
2025-03-12T17:19:16.450Z,1741799956.450 [sci2_noyo_optim:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:PeakDetectPlanktivoreDinoflagellates
2025-03-12T17:19:16.450Z,1741799956.450 [sci2_noyo_optim:Science:PeakDetectPlanktivoreDinoflagellates:A] Running Loop=1
2025-03-12T17:19:16.450Z,1741799956.450 [sci2_noyo_optim:Science:ChlThreshTrigger] Running Loop=1
2025-03-12T17:19:16.450Z,1741799956.450 [sci2_noyo_optim:Science:ChlThreshTrigger](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:ChlThreshTrigger
2025-03-12T17:19:16.451Z,1741799956.451 [sci2_noyo_optim:Science:ChlThreshTrigger:A.ValueDetect] Running Loop=1
2025-03-12T17:19:16.451Z,1741799956.451 [sci2_noyo_optim:Science:ChlThreshTrigger:A.ValueDetect](INFO): Initialize.
2025-03-12T17:19:16.451Z,1741799956.451 [sci2_noyo_optim:Science:OceanCurrent] Running Loop=1
2025-03-12T17:19:16.451Z,1741799956.451 [sci2_noyo_optim:Science:OceanCurrent](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:OceanCurrent
2025-03-12T17:19:16.451Z,1741799956.451 [sci2_noyo_optim:Science:OceanCurrent:A.] Running Loop=1
2025-03-12T17:19:16.451Z,1741799956.451 [sci2_noyo_optim:Science:OceanCurrent:A.](INFO): Initializing CurrentEstimator.
2025-03-12T17:19:16.451Z,1741799956.451 [sci2_noyo_optim:StandardEnvelopes] Running Loop=1
2025-03-12T17:19:16.451Z,1741799956.451 [sci2_noyo_optim:StandardEnvelopes](DEBUG): Aggregate::initialize sci2_noyo_optim:StandardEnvelopes
2025-03-12T17:19:16.452Z,1741799956.452 [sci2_noyo_optim:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-03-12T17:19:16.452Z,1741799956.452 [sci2_noyo_optim:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-03-12T17:19:16.452Z,1741799956.452 [sci2_noyo_optim:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-03-12T17:19:16.452Z,1741799956.452 [sci2_noyo_optim:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-03-12T17:19:16.452Z,1741799956.452 [sci2_noyo_optim:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-03-12T17:19:16.452Z,1741799956.452 [sci2_noyo_optim:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-03-12T17:19:16.452Z,1741799956.452 [sci2_noyo_optim:BackseatDriver] Running Loop=1
2025-03-12T17:19:16.452Z,1741799956.452 [sci2_noyo_optim:BackseatDriver](DEBUG): Aggregate::initialize sci2_noyo_optim:BackseatDriver
2025-03-12T17:19:16.452Z,1741799956.452 [sci2_noyo_optim:BackseatDriver:A.BackseatDriver] Running Loop=1
2025-03-12T17:19:16.452Z,1741799956.452 [sci2_noyo_optim:J] Running Loop=1
2025-03-12T17:19:16.453Z,1741799956.453 [sci2_noyo_optim:PowerOnly] Running Loop=1
2025-03-12T17:19:16.453Z,1741799956.453 [sci2_noyo_optim:PowerOnly](DEBUG): Aggregate::initialize sci2_noyo_optim:PowerOnly
2025-03-12T17:19:16.453Z,1741799956.453 [sci2_noyo_optim:PowerOnly:A] Running Loop=1
2025-03-12T17:19:16.453Z,1741799956.453 [sci2_noyo_optim:PowerOnly:B] Running Loop=1
2025-03-12T17:19:16.453Z,1741799956.453 [sci2_noyo_optim:PowerOnly:C] Running Loop=1
2025-03-12T17:19:16.453Z,1741799956.453 [sci2_noyo_optim:PowerOnly:D] Running Loop=1
2025-03-12T17:19:16.453Z,1741799956.453 [sci2_noyo_optim:PowerOnly:E.Wait] Running Loop=1
2025-03-12T17:19:16.453Z,1741799956.453 [sci2_noyo_optim:PowerOnly:E.Wait](DEBUG): Initialize Wait Component.
2025-03-12T17:19:16.453Z,1741799956.453 [sci2_noyo_optim:L] Running Loop=1
2025-03-12T17:19:16.453Z,1741799956.453 [sci2_noyo_optim:N] Running Loop=1
2025-03-12T17:19:16.453Z,1741799956.453 [sci2_noyo_optim:O.Buoyancy] Running Loop=1
2025-03-12T17:19:16.453Z,1741799956.453 [sci2_noyo_optim:O.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-03-12T17:19:16.454Z,1741799956.454 [sci2_noyo_optim:C] Running Loop=1
2025-03-12T17:19:16.455Z,1741799956.455 [sci2_noyo_optim:O.Buoyancy] Running Loop=1
2025-03-12T17:19:16.455Z,1741799956.455 [sci2_noyo_optim:N] Running Loop=1
2025-03-12T17:19:16.456Z,1741799956.456 [sci2_noyo_optim:N](DEBUG): Initialize ReadDataComponent to sense MultiRay.lightModeLog
2025-03-12T17:19:16.456Z,1741799956.456 [sci2_noyo_optim:L] Running Loop=1
2025-03-12T17:19:16.456Z,1741799956.456 [sci2_noyo_optim:PowerOnly] Running Loop=1
2025-03-12T17:19:16.457Z,1741799956.457 [sci2_noyo_optim:PowerOnly:D] Stopped
2025-03-12T17:19:16.457Z,1741799956.457 [sci2_noyo_optim:PowerOnly:C] Stopped
2025-03-12T17:19:16.457Z,1741799956.457 [sci2_noyo_optim:PowerOnly:B] Running Loop=1
2025-03-12T17:19:16.457Z,1741799956.457 [sci2_noyo_optim:PowerOnly:B](DEBUG): Initialize ReadDataComponent to sense PowerOnly.sampleLoad1
2025-03-12T17:19:16.457Z,1741799956.457 [sci2_noyo_optim:PowerOnly:A] Stopped
2025-03-12T17:19:16.457Z,1741799956.457 [sci2_noyo_optim:J] Running Loop=1
2025-03-12T17:19:16.458Z,1741799956.458 [sci2_noyo_optim:BackseatDriver] Running Loop=1
2025-03-12T17:19:16.458Z,1741799956.458 [sci2_noyo_optim:BackseatDriver:A.BackseatDriver](INFO): Initializing backseat
2025-03-12T17:19:16.473Z,1741799956.473 [sci2_noyo_optim:C] Stopped
2025-03-12T17:19:16.474Z,1741799956.474 [sci2_noyo_optim:D] Running Loop=1
2025-03-12T17:19:16.474Z,1741799956.474 [sci2_noyo_optim:StandardEnvelopes] Running Loop=1
2025-03-12T17:19:16.474Z,1741799956.474 [sci2_noyo_optim:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-03-12T17:19:16.490Z,1741799956.490 [sci2_noyo_optim:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-03-12T17:19:16.491Z,1741799956.491 [sci2_noyo_optim:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-03-12T17:19:16.491Z,1741799956.491 [sci2_noyo_optim:Science] Running Loop=1
2025-03-12T17:19:16.492Z,1741799956.492 [sci2_noyo_optim:Science:ChlThreshTrigger] Stopped
2025-03-12T17:19:16.492Z,1741799956.492 [sci2_noyo_optim:Science:ChlThreshTrigger](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:ChlThreshTrigger
2025-03-12T17:19:16.493Z,1741799956.493 [sci2_noyo_optim:Science:ChlThreshTrigger:A.ValueDetect] Stopped
2025-03-12T17:19:16.493Z,1741799956.493 [sci2_noyo_optim:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Uninitialize.
2025-03-12T17:19:16.493Z,1741799956.493 [sci2_noyo_optim:Science:PeakDetectPlanktivoreDinoflagellates] Stopped
2025-03-12T17:19:16.493Z,1741799956.493 [sci2_noyo_optim:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:PeakDetectPlanktivoreDinoflagellates
2025-03-12T17:19:16.493Z,1741799956.493 [sci2_noyo_optim:Science:PeakDetectPlanktivoreDinoflagellates:A] Stopped
2025-03-12T17:19:16.493Z,1741799956.493 [sci2_noyo_optim:Science:PeakDetectPlanktivoreDiatoms] Stopped
2025-03-12T17:19:16.493Z,1741799956.493 [sci2_noyo_optim:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:PeakDetectPlanktivoreDiatoms
2025-03-12T17:19:16.493Z,1741799956.493 [sci2_noyo_optim:Science:PeakDetectPlanktivoreDiatoms:A] Stopped
2025-03-12T17:19:16.493Z,1741799956.493 [sci2_noyo_optim:Science:PeakDetectPlanktivoreHMavgROI] Stopped
2025-03-12T17:19:16.493Z,1741799956.493 [sci2_noyo_optim:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:PeakDetectPlanktivoreHMavgROI
2025-03-12T17:19:16.493Z,1741799956.493 [sci2_noyo_optim:Science:PeakDetectPlanktivoreHMavgROI:A] Stopped
2025-03-12T17:19:16.493Z,1741799956.493 [sci2_noyo_optim:Science:EdgeDetectPlanktivoreLMavgROI] Stopped
2025-03-12T17:19:16.494Z,1741799956.494 [sci2_noyo_optim:Science:EdgeDetectPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:EdgeDetectPlanktivoreLMavgROI
2025-03-12T17:19:16.494Z,1741799956.494 [sci2_noyo_optim:Science:EdgeDetectPlanktivoreLMavgROI:A] Stopped
2025-03-12T17:19:16.494Z,1741799956.494 [sci2_noyo_optim:Science:PeakDetectPlanktivoreLMavgROI] Stopped
2025-03-12T17:19:16.494Z,1741799956.494 [sci2_noyo_optim:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:PeakDetectPlanktivoreLMavgROI
2025-03-12T17:19:16.498Z,1741799956.498 [sci2_noyo_optim:Science:PeakDetectPlanktivoreLMavgROI:A] Stopped
2025-03-12T17:19:16.498Z,1741799956.498 [sci2_noyo_optim:Science:HighestSaltPeakReport] Stopped
2025-03-12T17:19:16.498Z,1741799956.498 [sci2_noyo_optim:Science:HighestSaltPeakReport](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:HighestSaltPeakReport
2025-03-12T17:19:16.498Z,1741799956.498 [sci2_noyo_optim:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Stopped
2025-03-12T17:19:16.498Z,1741799956.498 [sci2_noyo_optim:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-03-12T17:19:16.499Z,1741799956.499 [sci2_noyo_optim:Science:PeakDetectSalinity] Stopped
2025-03-12T17:19:16.499Z,1741799956.499 [sci2_noyo_optim:Science:PeakDetectSalinity](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:PeakDetectSalinity
2025-03-12T17:19:16.499Z,1741799956.499 [sci2_noyo_optim:Science:PeakDetectSalinity:A] Stopped
2025-03-12T17:19:16.499Z,1741799956.499 [sci2_noyo_optim:Science:PeakDetectFDOM] Stopped
2025-03-12T17:19:16.499Z,1741799956.499 [sci2_noyo_optim:Science:PeakDetectFDOM](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:PeakDetectFDOM
2025-03-12T17:19:16.499Z,1741799956.499 [sci2_noyo_optim:Science:PeakDetectFDOM:A] Stopped
2025-03-12T17:19:16.499Z,1741799956.499 [sci2_noyo_optim:Science:HighestOilPeakReport] Stopped
2025-03-12T17:19:16.499Z,1741799956.499 [sci2_noyo_optim:Science:HighestOilPeakReport](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:HighestOilPeakReport
2025-03-12T17:19:16.499Z,1741799956.499 [sci2_noyo_optim:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Stopped
2025-03-12T17:19:16.499Z,1741799956.499 [sci2_noyo_optim:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-03-12T17:19:16.499Z,1741799956.499 [sci2_noyo_optim:Science:PeakDetectOil] Stopped
2025-03-12T17:19:16.499Z,1741799956.499 [sci2_noyo_optim:Science:PeakDetectOil](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:PeakDetectOil
2025-03-12T17:19:16.499Z,1741799956.499 [sci2_noyo_optim:Science:PeakDetectOil:A] Stopped
2025-03-12T17:19:16.500Z,1741799956.500 [sci2_noyo_optim:Science:PeakDetectNO3] Stopped
2025-03-12T17:19:16.500Z,1741799956.500 [sci2_noyo_optim:Science:PeakDetectNO3](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:PeakDetectNO3
2025-03-12T17:19:16.500Z,1741799956.500 [sci2_noyo_optim:Science:PeakDetectNO3:A] Stopped
2025-03-12T17:19:16.500Z,1741799956.500 [sci2_noyo_optim:Science:HighestChlPeakReport] Stopped
2025-03-12T17:19:16.500Z,1741799956.500 [sci2_noyo_optim:Science:HighestChlPeakReport](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:HighestChlPeakReport
2025-03-12T17:19:16.500Z,1741799956.500 [sci2_noyo_optim:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Stopped
2025-03-12T17:19:16.500Z,1741799956.500 [sci2_noyo_optim:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-03-12T17:19:16.500Z,1741799956.500 [sci2_noyo_optim:Science:EdgeDetectChl] Stopped
2025-03-12T17:19:16.500Z,1741799956.500 [sci2_noyo_optim:Science:EdgeDetectChl](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:EdgeDetectChl
2025-03-12T17:19:16.500Z,1741799956.500 [sci2_noyo_optim:Science:EdgeDetectChl:A] Stopped
2025-03-12T17:19:16.500Z,1741799956.500 [sci2_noyo_optim:Science:PeakDetectChl] Stopped
2025-03-12T17:19:16.500Z,1741799956.500 [sci2_noyo_optim:Science:PeakDetectChl](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:PeakDetectChl
2025-03-12T17:19:16.500Z,1741799956.500 [sci2_noyo_optim:Science:PeakDetectChl:A] Stopped
2025-03-12T17:19:16.501Z,1741799956.501 [sci2_noyo_optim:Science:OceanCurrent:A.] Running Loop=1
2025-03-12T17:19:16.501Z,1741799956.501 [sci2_noyo_optim:Science:Read_Oil] Stopped
2025-03-12T17:19:16.501Z,1741799956.501 [sci2_noyo_optim:Science:F] Stopped
2025-03-12T17:19:16.501Z,1741799956.501 [sci2_noyo_optim:Science:E] Running Loop=1
2025-03-12T17:19:16.501Z,1741799956.501 [sci2_noyo_optim:Science:E](DEBUG): Initialize ReadDataComponent to sense mass_concentration_of_chlorophyll_in_sea_water
2025-03-12T17:19:16.501Z,1741799956.501 [sci2_noyo_optim:Science:D] Stopped
2025-03-12T17:19:16.502Z,1741799956.502 [sci2_noyo_optim:Science:C] Running Loop=1
2025-03-12T17:19:16.502Z,1741799956.502 [sci2_noyo_optim:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_temperature
2025-03-12T17:19:16.503Z,1741799956.503 [sci2_noyo_optim:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_salinity
2025-03-12T17:19:16.503Z,1741799956.503 [sci2_noyo_optim:Science:B] Running Loop=1
2025-03-12T17:19:16.503Z,1741799956.503 [sci2_noyo_optim:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_temperature
2025-03-12T17:19:16.504Z,1741799956.504 [sci2_noyo_optim:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_salinity
2025-03-12T17:19:16.504Z,1741799956.504 [sci2_noyo_optim:Science:A] Stopped
2025-03-12T17:19:16.578Z,1741799956.578 [BackseatComponent](INFO): Powering up
2025-03-12T17:19:16.579Z,1741799956.579 [BackseatComponent](INFO): Subscribing to LCM channels.
2025-03-12T17:19:16.620Z,1741799956.620 [WetLabsBB2FL](INFO): Powering up
2025-03-12T17:19:16.828Z,1741799956.828 [PowerOnly](INFO): Powering up loadControl
2025-03-12T17:19:16.886Z,1741799956.886 [sci2_noyo_optim:D] Stopped
2025-03-12T17:19:16.886Z,1741799956.886 [sci2_noyo_optim:E] Running Loop=1
2025-03-12T17:19:17.254Z,1741799957.254 [sci2_noyo_optim:E] Stopped
2025-03-12T17:19:17.255Z,1741799957.255 [sci2_noyo_optim:G] Running Loop=1
2025-03-12T17:19:17.666Z,1741799957.666 [sci2_noyo_optim:G] Stopped
2025-03-12T17:19:17.666Z,1741799957.666 [sci2_noyo_optim:H] Running Loop=1
2025-03-12T17:19:18.070Z,1741799958.070 [sci2_noyo_optim:H] Stopped
2025-03-12T17:19:18.070Z,1741799958.070 [sci2_noyo_optim:M] Running Loop=1
2025-03-12T17:19:18.456Z,1741799958.456 [sci2_noyo_optim:M] Stopped
2025-03-12T17:19:18.457Z,1741799958.457 [sci2_noyo_optim:StartingMission] Running Loop=1
2025-03-12T17:19:18.457Z,1741799958.457 [sci2_noyo_optim:StartingMission](DEBUG): Aggregate::initialize sci2_noyo_optim:StartingMission
2025-03-12T17:19:18.752Z,1741799958.752 [CTD_Seabird](ERROR): Pressure reading out of range: -10.090000 decibar
2025-03-12T17:19:18.753Z,1741799958.753 [CTD_Seabird](INFO): some bad data, not updating bins
2025-03-12T17:19:18.884Z,1741799958.884 [sci2_noyo_optim:SurfaceComms] Running Loop=1
2025-03-12T17:19:18.885Z,1741799958.885 [sci2_noyo_optim:SurfaceComms](DEBUG): Aggregate::initialize sci2_noyo_optim:SurfaceComms
2025-03-12T17:19:18.885Z,1741799958.885 [sci2_noyo_optim:SurfaceComms:A] Running Loop=1
2025-03-12T17:19:18.885Z,1741799958.885 [sci2_noyo_optim:SurfaceComms:A] Stopped
2025-03-12T17:19:18.885Z,1741799958.885 [sci2_noyo_optim:SurfaceComms:B] Running Loop=1
2025-03-12T17:19:18.885Z,1741799958.885 [sci2_noyo_optim:SurfaceComms:B](DEBUG): Aggregate::initialize sci2_noyo_optim:SurfaceComms:B
2025-03-12T17:19:19.302Z,1741799959.302 [sci2_noyo_optim:NeedComms] Running Loop=1
2025-03-12T17:19:19.302Z,1741799959.302 [sci2_noyo_optim:NeedComms](DEBUG): Aggregate::initialize sci2_noyo_optim:NeedComms
2025-03-12T17:19:19.302Z,1741799959.302 [sci2_noyo_optim:NeedComms:B.GoToSurface] Running Loop=1
2025-03-12T17:19:19.302Z,1741799959.302 [sci2_noyo_optim:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-03-12T17:19:19.303Z,1741799959.303 [sci2_noyo_optim:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-03-12T17:19:19.303Z,1741799959.303 [sci2_noyo_optim:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-03-12T17:19:19.303Z,1741799959.303 [sci2_noyo_optim:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-03-12T17:19:19.304Z,1741799959.304 [sci2_noyo_optim:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-03-12T17:19:19.304Z,1741799959.304 [sci2_noyo_optim:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-03-12T17:19:19.304Z,1741799959.304 [sci2_noyo_optim:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-03-12T17:19:19.305Z,1741799959.305 [sci2_noyo_optim:NeedComms:A] Running Loop=1
2025-03-12T17:19:19.307Z,1741799959.307 [sci2_noyo_optim:NeedComms:A](INFO): last time_fix was:  1741799875.000000 second since 1970/01/01T00:00:00Z 
2025-03-12T17:19:19.307Z,1741799959.307 [sci2_noyo_optim:NeedComms:A] Stopped
2025-03-12T17:19:19.707Z,1741799959.707 [sci2_noyo_optim:NeedComms:C] Running Loop=1
2025-03-12T17:19:19.756Z,1741799959.756 [CTD_Seabird](ERROR): Salinity reading out of range: 143.444717 psu
2025-03-12T17:19:19.758Z,1741799959.758 [CTD_Seabird](INFO): some bad data, not updating bins
2025-03-12T17:19:20.087Z,1741799960.087 [sci2_noyo_optim:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-03-12T17:19:20.875Z,1741799960.875 [MultiRay](IMPORTANT): MultiRay white lights ON
2025-03-12T17:19:21.816Z,1741799961.816 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,171920.00,A,3648.13720,N,12151.30035,W,0.836,30.17,120325,,,A*42
2025-03-12T17:19:21.820Z,1741799961.820 [NAL9602](INFO): GPS fix at 20250312T171920: (36.802287, -121.855006)
2025-03-12T17:19:21.854Z,1741799961.854 [sci2_noyo_optim:NeedComms:C] Stopped
2025-03-12T17:19:21.854Z,1741799961.854 [sci2_noyo_optim:NeedComms:D] Running Loop=1
2025-03-12T17:19:22.127Z,1741799962.127 [sci2_noyo_optim:NeedComms:D](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-03-12T17:19:22.506Z,1741799962.506 [sci2_noyo_optim:NeedComms:D] Stopped
2025-03-12T17:19:22.507Z,1741799962.507 [sci2_noyo_optim:NeedComms:E] Running Loop=1
2025-03-12T17:19:22.915Z,1741799962.915 [sci2_noyo_optim:NeedComms:E](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-03-12T17:19:52.384Z,1741799992.384 [NAL9602](ERROR): Failed to receive proper response when querying signal strength for MT queue check.
2025-03-12T17:19:52.458Z,1741799992.458 [NAL9602](ERROR): received: 
+CSQ:0

OK517, 2, 0, 0, 0

OK
2025-03-12T17:20:15.077Z,1741800015.077 [BackseatComponent](IMPORTANT): ikshana: running backseat application.
2025-03-12T17:22:46.110Z,1741800166.110 [BPC1](ERROR): BPC1B: No match for serial number 1717 in BPC1B's battery stick inventory (sticks 32-62 in onboard configuration file).
2025-03-12T17:23:12.770Z,1741800192.770 [BPC1](ERROR): BPC1B: No match for serial number 1717 in BPC1B's battery stick inventory (sticks 32-62 in onboard configuration file).
2025-03-12T17:24:21.520Z,1741800261.520 [BPC1](INFO): Calculating totals. Valid battery stick count: 51. Valid reserve battery stick count: 5.
2025-03-12T17:24:21.524Z,1741800261.524 [BPC1](FAULT): Failed to receive data from 4 sticks prior to timeout. Will not retry this scan cycle. Missing stick IDs are: 18, 20, 21, 24.
2025-03-12T17:24:23.948Z,1741800263.948 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2025-03-12T17:24:29.200Z,1741800269.200 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,172428.00,A,3648.17753,N,12151.30535,W,0.350,40.08,120325,,,A*43
2025-03-12T17:24:29.202Z,1741800269.202 [NAL9602](INFO): GPS fix at 20250312T172428: (36.802959, -121.855089)
2025-03-12T17:24:29.218Z,1741800269.218 [sci2_noyo_optim:NeedComms:E] Stopped
2025-03-12T17:24:29.219Z,1741800269.219 [sci2_noyo_optim:NeedComms](INFO): Completed sci2_noyo_optim:NeedComms
2025-03-12T17:24:29.219Z,1741800269.219 [sci2_noyo_optim:NeedComms] Stopped
2025-03-12T17:24:29.220Z,1741800269.220 [sci2_noyo_optim:NeedComms](DEBUG): Aggregate::uninitialize sci2_noyo_optim:NeedComms
2025-03-12T17:24:29.220Z,1741800269.220 [sci2_noyo_optim:NeedComms:B.GoToSurface] Stopped
2025-03-12T17:24:29.220Z,1741800269.220 [sci2_noyo_optim:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-03-12T17:24:29.636Z,1741800269.636 [sci2_noyo_optim:SurfaceComms:B](INFO): Completed sci2_noyo_optim:SurfaceComms:B
2025-03-12T17:24:29.636Z,1741800269.636 [sci2_noyo_optim:SurfaceComms:B] Stopped
2025-03-12T17:24:29.636Z,1741800269.636 [sci2_noyo_optim:SurfaceComms:B](DEBUG): Aggregate::uninitialize sci2_noyo_optim:SurfaceComms:B
2025-03-12T17:24:29.636Z,1741800269.636 [sci2_noyo_optim:SurfaceComms:C] Running Loop=1
2025-03-12T17:24:30.015Z,1741800270.015 [sci2_noyo_optim:SurfaceComms:C] Stopped
2025-03-12T17:24:30.015Z,1741800270.015 [sci2_noyo_optim:SurfaceComms](INFO): Completed sci2_noyo_optim:SurfaceComms
2025-03-12T17:24:30.015Z,1741800270.015 [sci2_noyo_optim:SurfaceComms] Stopped
2025-03-12T17:24:30.015Z,1741800270.015 [sci2_noyo_optim:SurfaceComms](DEBUG): Aggregate::uninitialize sci2_noyo_optim:SurfaceComms
2025-03-12T17:24:30.427Z,1741800270.427 [sci2_noyo_optim:StartingMission](INFO): Completed sci2_noyo_optim:StartingMission
2025-03-12T17:24:30.427Z,1741800270.427 [sci2_noyo_optim:StartingMission] Stopped
2025-03-12T17:24:30.427Z,1741800270.427 [sci2_noyo_optim:StartingMission](DEBUG): Aggregate::uninitialize sci2_noyo_optim:StartingMission
2025-03-12T17:24:30.427Z,1741800270.427 [sci2_noyo_optim:Lap] Running Loop=1
2025-03-12T17:24:30.427Z,1741800270.427 [sci2_noyo_optim:Lap](DEBUG): Aggregate::initialize sci2_noyo_optim:Lap
2025-03-12T17:24:30.428Z,1741800270.428 [sci2_noyo_optim:Lap:Dive] Running Loop=1
2025-03-12T17:24:30.428Z,1741800270.428 [sci2_noyo_optim:Lap:Dive](DEBUG): Aggregate::initialize sci2_noyo_optim:Lap:Dive
2025-03-12T17:24:30.428Z,1741800270.428 [sci2_noyo_optim:Lap:Dive:A] Running Loop=1
2025-03-12T17:24:30.428Z,1741800270.428 [sci2_noyo_optim:Lap:Dive:A](DEBUG): Aggregate::initialize sci2_noyo_optim:Lap:Dive:A
2025-03-12T17:24:30.428Z,1741800270.428 [sci2_noyo_optim:Lap:DepthByLap] Running Loop=1
2025-03-12T17:24:30.428Z,1741800270.428 [sci2_noyo_optim:Lap:DepthByLap](DEBUG): Aggregate::initialize sci2_noyo_optim:Lap:DepthByLap
2025-03-12T17:24:30.428Z,1741800270.428 [sci2_noyo_optim:Lap:DepthByLap:A] Running Loop=1
2025-03-12T17:24:30.832Z,1741800270.832 [sci2_noyo_optim:Lap:DepthByLap:A] Stopped
2025-03-12T17:24:30.832Z,1741800270.832 [sci2_noyo_optim:Lap:DepthByLap:Wpt1] Running Loop=1
2025-03-12T17:24:30.833Z,1741800270.833 [sci2_noyo_optim:Lap:DepthByLap:Wpt1](DEBUG): Aggregate::initialize sci2_noyo_optim:Lap:DepthByLap:Wpt1
2025-03-12T17:24:30.833Z,1741800270.833 [sci2_noyo_optim:Lap:DepthByLap:Wpt1:A.Waypoint] Running Loop=1
2025-03-12T17:24:30.833Z,1741800270.833 [sci2_noyo_optim:Lap:DepthByLap:Wpt1:A.Waypoint](DEBUG): Initialize WaypointComponent.
2025-03-12T17:24:30.834Z,1741800270.834 [sci2_noyo_optim:Lap:DepthByLap:Wpt1:A.Waypoint](IMPORTANT): Navigating to waypoint: 36.795090,-121.863998
2025-03-12T17:24:30.834Z,1741800270.834 [sci2_noyo_optim:Lap:Dive] Running Loop=1
2025-03-12T17:24:30.834Z,1741800270.834 [sci2_noyo_optim:DiveCmd] Running Loop=1
2025-03-12T17:24:30.834Z,1741800270.834 [sci2_noyo_optim:DiveCmd](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd
2025-03-12T17:24:30.834Z,1741800270.834 [sci2_noyo_optim:DiveCmd:InitialDive] Running Loop=1
2025-03-12T17:24:30.835Z,1741800270.835 [sci2_noyo_optim:DiveCmd:InitialDive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:InitialDive
2025-03-12T17:24:30.835Z,1741800270.835 [sci2_noyo_optim:DiveCmd:InitialDive:dive] Running Loop=1
2025-03-12T17:24:30.835Z,1741800270.835 [sci2_noyo_optim:DiveCmd:InitialDive:dive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:InitialDive:dive
2025-03-12T17:24:30.835Z,1741800270.835 [sci2_noyo_optim:DiveCmd:InitialDive:dive:A] Running Loop=1
2025-03-12T17:24:30.835Z,1741800270.835 [sci2_noyo_optim:DiveCmd:InitialDive:dive:B] Running Loop=1
2025-03-12T17:24:30.835Z,1741800270.835 [sci2_noyo_optim:DiveCmd:InitialDive:dive:C.Mass] Running Loop=1
2025-03-12T17:24:30.835Z,1741800270.835 [sci2_noyo_optim:DiveCmd:InitialDive:dive:C.Mass](DEBUG): Initialize.
2025-03-12T17:24:30.835Z,1741800270.835 [sci2_noyo_optim:DiveCmd:InitialDive:dive:D] Running Loop=1
2025-03-12T17:24:30.835Z,1741800270.835 [sci2_noyo_optim:DiveCmd:SettleAtDepth] Running Loop=1
2025-03-12T17:24:30.835Z,1741800270.835 [sci2_noyo_optim:DiveCmd:SettleAtDepth](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:SettleAtDepth
2025-03-12T17:24:30.836Z,1741800270.836 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive] Running Loop=1
2025-03-12T17:24:30.836Z,1741800270.836 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:SettleAtDepth:dive
2025-03-12T17:24:30.836Z,1741800270.836 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:B.Pitch] Running Loop=1
2025-03-12T17:24:30.836Z,1741800270.836 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:B.Pitch](DEBUG): Initialize.
2025-03-12T17:24:30.837Z,1741800270.837 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:A] Running Loop=1
2025-03-12T17:24:30.837Z,1741800270.837 [sci2_noyo_optim:DiveCmd:MaintainDepth] Running Loop=1
2025-03-12T17:24:30.837Z,1741800270.837 [sci2_noyo_optim:DiveCmd:MaintainDepth](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepth
2025-03-12T17:24:30.837Z,1741800270.837 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive] Running Loop=1
2025-03-12T17:24:30.837Z,1741800270.837 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive
2025-03-12T17:24:30.837Z,1741800270.837 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive] Running Loop=1
2025-03-12T17:24:30.837Z,1741800270.837 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive
2025-03-12T17:24:30.837Z,1741800270.837 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass] Running Loop=1
2025-03-12T17:24:30.837Z,1741800270.837 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass](DEBUG): Initialize.
2025-03-12T17:24:30.838Z,1741800270.838 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed] Running Loop=1
2025-03-12T17:24:30.838Z,1741800270.838 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed](DEBUG): Initialize.
2025-03-12T17:24:30.838Z,1741800270.838 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:B.Pitch] Running Loop=1
2025-03-12T17:24:30.838Z,1741800270.838 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:B.Pitch](DEBUG): Initialize.
2025-03-12T17:24:30.838Z,1741800270.838 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow] Running Loop=1
2025-03-12T17:24:30.838Z,1741800270.838 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepthSlow
2025-03-12T17:24:30.839Z,1741800270.839 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:A.SetSpeed] Running Loop=1
2025-03-12T17:24:30.839Z,1741800270.839 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:A.SetSpeed](DEBUG): Initialize.
2025-03-12T17:24:30.839Z,1741800270.839 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:B] Running Loop=1
2025-03-12T17:24:30.839Z,1741800270.839 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:C.Buoyancy] Running Loop=1
2025-03-12T17:24:30.839Z,1741800270.839 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:C.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-03-12T17:24:30.839Z,1741800270.839 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:D.Pitch] Running Loop=1
2025-03-12T17:24:30.839Z,1741800270.839 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:D.Pitch](DEBUG): Initialize.
2025-03-12T17:24:30.840Z,1741800270.840 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow] Stopped
2025-03-12T17:24:30.840Z,1741800270.840 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepthSlow
2025-03-12T17:24:30.840Z,1741800270.840 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:A.SetSpeed] Stopped
2025-03-12T17:24:30.840Z,1741800270.840 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:A.SetSpeed](DEBUG): Uninitialize.
2025-03-12T17:24:30.840Z,1741800270.840 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:B] Stopped
2025-03-12T17:24:30.840Z,1741800270.840 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:C.Buoyancy] Stopped
2025-03-12T17:24:30.840Z,1741800270.840 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-03-12T17:24:30.840Z,1741800270.840 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:D.Pitch] Stopped
2025-03-12T17:24:30.841Z,1741800270.841 [sci2_noyo_optim:DiveCmd:MaintainDepth] Running Loop=1
2025-03-12T17:24:30.841Z,1741800270.841 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive] Running Loop=1
2025-03-12T17:24:30.841Z,1741800270.841 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:B.Pitch] Running Loop=1
2025-03-12T17:24:30.841Z,1741800270.841 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive] Running Loop=1
2025-03-12T17:24:30.841Z,1741800270.841 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed] Running Loop=1
2025-03-12T17:24:30.842Z,1741800270.842 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass] Running Loop=1
2025-03-12T17:24:30.842Z,1741800270.842 [sci2_noyo_optim:DiveCmd:SettleAtDepth] Stopped
2025-03-12T17:24:30.842Z,1741800270.842 [sci2_noyo_optim:DiveCmd:SettleAtDepth](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:SettleAtDepth
2025-03-12T17:24:30.842Z,1741800270.842 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive] Stopped
2025-03-12T17:24:30.842Z,1741800270.842 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:SettleAtDepth:dive
2025-03-12T17:24:30.843Z,1741800270.843 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:A] Stopped
2025-03-12T17:24:30.843Z,1741800270.843 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:B.Pitch] Stopped
2025-03-12T17:24:30.843Z,1741800270.843 [sci2_noyo_optim:DiveCmd:InitialDive] Running Loop=1
2025-03-12T17:24:30.843Z,1741800270.843 [sci2_noyo_optim:DiveCmd:InitialDive:dive:D](INFO): Waiting for  1.000000 min while pumping down to neutral.
2025-03-12T17:24:30.843Z,1741800270.843 [sci2_noyo_optim:DiveCmd:InitialDive:dive:D] Stopped
2025-03-12T17:24:30.843Z,1741800270.843 [sci2_noyo_optim:DiveCmd:InitialDive:dive:E.Wait] Running Loop=1
2025-03-12T17:24:30.844Z,1741800270.844 [sci2_noyo_optim:DiveCmd:InitialDive:dive:E.Wait](DEBUG): Initialize Wait Component.
2025-03-12T17:24:30.844Z,1741800270.844 [sci2_noyo_optim:DiveCmd:InitialDive:dive:C.Mass] Running Loop=1
2025-03-12T17:24:30.844Z,1741800270.844 [sci2_noyo_optim:DiveCmd:InitialDive:dive:B] Running Loop=1
2025-03-12T17:24:30.844Z,1741800270.844 [sci2_noyo_optim:DiveCmd:InitialDive:dive:A] Running Loop=1
2025-03-12T17:24:31.243Z,1741800271.243 [sci2_noyo_optim:Lap:DepthByLap:Wpt1:A.Waypoint](INFO): Navigating to waypoint: 36.795090,-121.863998
2025-03-12T17:25:01.935Z,1741800301.935 [NAL9602](INFO): Not Powering down - fast GPS
2025-03-12T17:25:02.200Z,1741800302.200 [CTD_Seabird](ERROR): Failed to parse device response: -0.03,91
2025-03-12T17:25:31.592Z,1741800331.592 [sci2_noyo_optim:DiveCmd:InitialDive:dive:E.Wait](INFO): Done Waiting.
2025-03-12T17:25:31.592Z,1741800331.592 [sci2_noyo_optim:DiveCmd:InitialDive:dive:E.Wait] Stopped
2025-03-12T17:25:31.592Z,1741800331.592 [sci2_noyo_optim:DiveCmd:InitialDive:dive:E.Wait](DEBUG): Uninitialize Wait Component.
2025-03-12T17:25:31.592Z,1741800331.592 [sci2_noyo_optim:DiveCmd:InitialDive:dive:F] Running Loop=1
2025-03-12T17:25:32.000Z,1741800332.000 [sci2_noyo_optim:DiveCmd:InitialDive:dive:F](INFO): Moving to  10.000000 m 
2025-03-12T17:25:32.001Z,1741800332.001 [sci2_noyo_optim:DiveCmd:InitialDive:dive:F] Stopped
2025-03-12T17:25:32.001Z,1741800332.001 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth] Running Loop=1
2025-03-12T17:25:32.001Z,1741800332.001 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth
2025-03-12T17:25:32.001Z,1741800332.001 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:A.SetSpeed] Running Loop=1
2025-03-12T17:25:32.001Z,1741800332.001 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:A.SetSpeed](DEBUG): Initialize.
2025-03-12T17:25:32.001Z,1741800332.001 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:B.Pitch] Running Loop=1
2025-03-12T17:25:32.001Z,1741800332.001 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:B.Pitch](DEBUG): Initialize.
2025-03-12T17:25:32.407Z,1741800332.407 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:A.SetSpeed] Running Loop=1
2025-03-12T17:25:50.550Z,1741800350.550 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T17:25:53.563Z,1741800353.563 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.247253
2025-03-12T17:26:25.696Z,1741800385.696 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T17:26:27.265Z,1741800387.265 [Radio_Surface](INFO): Powering down
2025-03-12T17:26:27.703Z,1741800387.703 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-03-12T17:28:28.209Z,1741800508.209 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:B.Pitch] Stopped
2025-03-12T17:28:28.216Z,1741800508.216 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth](INFO): Completed sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth
2025-03-12T17:28:28.216Z,1741800508.216 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth] Stopped
2025-03-12T17:28:28.221Z,1741800508.221 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth
2025-03-12T17:28:28.221Z,1741800508.221 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:A.SetSpeed] Stopped
2025-03-12T17:28:28.221Z,1741800508.221 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:A.SetSpeed](DEBUG): Uninitialize.
2025-03-12T17:28:28.243Z,1741800508.243 [sci2_noyo_optim:DiveCmd:InitialDive:dive:H] Running Loop=1
2025-03-12T17:28:28.632Z,1741800508.632 [sci2_noyo_optim:DiveCmd:InitialDive:dive:H] Stopped
2025-03-12T17:28:28.632Z,1741800508.632 [sci2_noyo_optim:DiveCmd:InitialDive:dive](INFO): Completed sci2_noyo_optim:DiveCmd:InitialDive:dive
2025-03-12T17:28:28.632Z,1741800508.632 [sci2_noyo_optim:DiveCmd:InitialDive:dive] Stopped
2025-03-12T17:28:28.633Z,1741800508.633 [sci2_noyo_optim:DiveCmd:InitialDive:dive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:InitialDive:dive
2025-03-12T17:28:28.633Z,1741800508.633 [sci2_noyo_optim:DiveCmd:InitialDive:dive:A] Stopped
2025-03-12T17:28:28.633Z,1741800508.633 [sci2_noyo_optim:DiveCmd:InitialDive:dive:B] Stopped
2025-03-12T17:28:28.633Z,1741800508.633 [sci2_noyo_optim:DiveCmd:InitialDive:dive:C.Mass] Stopped
2025-03-12T17:28:28.633Z,1741800508.633 [sci2_noyo_optim:DiveCmd:InitialDive:dive:C.Mass](DEBUG): Uninitialize.
2025-03-12T17:28:28.633Z,1741800508.633 [sci2_noyo_optim:DiveCmd:InitialDive](INFO): Completed sci2_noyo_optim:DiveCmd:InitialDive
2025-03-12T17:28:29.059Z,1741800509.059 [sci2_noyo_optim:DiveCmd:SettleAtDepth] Running Loop=1
2025-03-12T17:28:29.059Z,1741800509.059 [sci2_noyo_optim:DiveCmd:SettleAtDepth](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:SettleAtDepth
2025-03-12T17:28:29.059Z,1741800509.059 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive] Running Loop=1
2025-03-12T17:28:29.059Z,1741800509.059 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:SettleAtDepth:dive
2025-03-12T17:28:29.059Z,1741800509.059 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:B.Pitch] Running Loop=1
2025-03-12T17:28:29.059Z,1741800509.059 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:B.Pitch](DEBUG): Initialize.
2025-03-12T17:28:29.059Z,1741800509.059 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:A] Running Loop=1
2025-03-12T17:28:29.059Z,1741800509.059 [sci2_noyo_optim:DiveCmd:SettleAtDepth] Running Loop=1
2025-03-12T17:28:29.059Z,1741800509.059 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:B.Pitch] Running Loop=1
2025-03-12T17:28:29.061Z,1741800509.061 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:A](INFO): Reached  10.070607 m , settling for  3.000000 min 
2025-03-12T17:28:29.061Z,1741800509.061 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:A] Stopped
2025-03-12T17:28:29.061Z,1741800509.061 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:C.Wait] Running Loop=1
2025-03-12T17:28:29.061Z,1741800509.061 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:C.Wait](DEBUG): Initialize Wait Component.
2025-03-12T17:30:15.404Z,1741800615.404 [sci2_noyo_optim:BackseatDriver:A.BackseatDriver](INFO): Created data writer for _.data_dir_logging_rate with code: 2169
2025-03-12T17:31:29.467Z,1741800689.467 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:C.Wait](INFO): Done Waiting.
2025-03-12T17:31:29.467Z,1741800689.467 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:C.Wait] Stopped
2025-03-12T17:31:29.468Z,1741800689.468 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:C.Wait](DEBUG): Uninitialize Wait Component.
2025-03-12T17:31:29.468Z,1741800689.468 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:D] Running Loop=1
2025-03-12T17:31:29.803Z,1741800689.803 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:D] Stopped
2025-03-12T17:31:29.803Z,1741800689.803 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive](INFO): Completed sci2_noyo_optim:DiveCmd:SettleAtDepth:dive
2025-03-12T17:31:29.803Z,1741800689.803 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive] Stopped
2025-03-12T17:31:29.804Z,1741800689.804 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:SettleAtDepth:dive
2025-03-12T17:31:29.804Z,1741800689.804 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:B.Pitch] Stopped
2025-03-12T17:31:29.804Z,1741800689.804 [sci2_noyo_optim:DiveCmd:SettleAtDepth](INFO): Completed sci2_noyo_optim:DiveCmd:SettleAtDepth
2025-03-12T17:33:14.538Z,1741800794.538 [sci2_noyo_optim:StandardEnvelopes:A.AltitudeEnvelope](IMPORTANT): Altitude envelope ACTIVE
2025-03-12T17:33:27.069Z,1741800807.069 [Waterlinked](ERROR): No DVL communication! Re-initializing
2025-03-12T17:33:27.070Z,1741800807.070 [Waterlinked] Communications Fault, FailCount= 1
2025-03-12T17:33:27.070Z,1741800807.070 [Waterlinked](ERROR): Communications Fault
2025-03-12T17:33:27.387Z,1741800807.387 [CBIT](ERROR): Communications Fault in component: Waterlinked
2025-03-12T17:33:27.634Z,1741800807.634 [Waterlinked](INFO): Powering down
2025-03-12T17:33:28.381Z,1741800808.381 [CBIT](INFO): Clearing failed state for component Waterlinked
2025-03-12T17:33:28.382Z,1741800808.382 [Waterlinked] No Fault, FailCount= 1
2025-03-12T17:35:08.966Z,1741800908.966 [Waterlinked](ERROR): only read 0 of 1 data item for altitude. Device response::BD,       +0.00,       +0   +0.00,   0.00,  0.00
2025-03-12T17:39:52.654Z,1741801192.654 [ElevatorServo](ERROR): getPosition uart error serial timeout
2025-03-12T17:39:52.654Z,1741801192.654 [ElevatorServo](FAULT): Elevator uart error - getPosition.serial timeout
2025-03-12T17:39:52.654Z,1741801192.654 [ElevatorServo] Communications Fault, FailCount= 1
2025-03-12T17:39:52.654Z,1741801192.654 [ElevatorServo](ERROR): Communications Fault
2025-03-12T17:39:52.742Z,1741801192.742 [CBIT](ERROR): Communications Fault in component: ElevatorServo
2025-03-12T17:39:52.863Z,1741801192.863 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2025-03-12T17:39:52.863Z,1741801192.863 [ElevatorServo](INFO): Powering down
2025-03-12T17:39:53.827Z,1741801193.827 [ElevatorServo](DEBUG): Initializing EZServoServo.
2025-03-12T17:39:53.948Z,1741801193.948 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2025-03-12T17:39:54.030Z,1741801194.030 [CBIT](INFO): Clearing failed state for component ElevatorServo
2025-03-12T17:39:54.030Z,1741801194.030 [ElevatorServo] No Fault, FailCount= 1
2025-03-12T17:40:40.825Z,1741801240.825 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow] Running Loop=1
2025-03-12T17:40:40.825Z,1741801240.825 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepthSlow
2025-03-12T17:40:40.825Z,1741801240.825 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:A.SetSpeed] Running Loop=1
2025-03-12T17:40:40.826Z,1741801240.826 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:A.SetSpeed](DEBUG): Initialize.
2025-03-12T17:40:40.826Z,1741801240.826 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:B] Running Loop=1
2025-03-12T17:40:40.826Z,1741801240.826 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:C.Buoyancy] Running Loop=1
2025-03-12T17:40:40.842Z,1741801240.842 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:C.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-03-12T17:40:40.843Z,1741801240.843 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:D.Pitch] Running Loop=1
2025-03-12T17:40:40.843Z,1741801240.843 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:D.Pitch](DEBUG): Initialize.
2025-03-12T17:40:40.843Z,1741801240.843 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow] Running Loop=1
2025-03-12T17:40:40.843Z,1741801240.843 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:D.Pitch] Running Loop=1
2025-03-12T17:40:40.843Z,1741801240.843 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:C.Buoyancy] Running Loop=1
2025-03-12T17:40:40.844Z,1741801240.844 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:B] Running Loop=1
2025-03-12T17:40:40.844Z,1741801240.844 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:A.SetSpeed] Running Loop=1
2025-03-12T17:40:40.844Z,1741801240.844 [sci2_noyo_optim:DiveCmd:MaintainDepth] Stopped
2025-03-12T17:40:40.844Z,1741801240.844 [sci2_noyo_optim:DiveCmd:MaintainDepth](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepth
2025-03-12T17:40:40.844Z,1741801240.844 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive] Stopped
2025-03-12T17:40:40.844Z,1741801240.844 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive
2025-03-12T17:40:40.844Z,1741801240.844 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive] Stopped
2025-03-12T17:40:40.845Z,1741801240.845 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive
2025-03-12T17:40:40.845Z,1741801240.845 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass] Stopped
2025-03-12T17:40:40.845Z,1741801240.845 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass](DEBUG): Uninitialize.
2025-03-12T17:40:40.845Z,1741801240.845 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed] Stopped
2025-03-12T17:40:40.845Z,1741801240.845 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed](DEBUG): Uninitialize.
2025-03-12T17:40:40.845Z,1741801240.845 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:B.Pitch] Stopped
2025-03-12T17:41:52.448Z,1741801312.448 [CTD_Seabird](ERROR): Failed to parse device response: ,9.3846,3.64739,2029.62
2025-03-12T17:43:21.188Z,1741801401.188 [Waterlinked](ERROR): only read 2 of 5 data items. Device response::BI,    +0,    +0,    ++BE,    +0,    +0,    +0,V
2025-03-12T17:45:27.162Z,1741801527.162 [Waterlinked](ERROR): DVL uart error: serial timeout
2025-03-12T17:45:27.162Z,1741801527.162 [Waterlinked] Communications Fault, FailCount= 1
2025-03-12T17:45:27.162Z,1741801527.162 [Waterlinked](ERROR): Communications Fault
2025-03-12T17:45:27.282Z,1741801527.282 [CBIT](ERROR): Communications Fault in component: Waterlinked
2025-03-12T17:45:27.658Z,1741801527.658 [Waterlinked](INFO): Powering down
2025-03-12T17:45:28.465Z,1741801528.465 [CBIT](INFO): Clearing failed state for component Waterlinked
2025-03-12T17:45:28.465Z,1741801528.465 [Waterlinked] No Fault, FailCount= 1
2025-03-12T17:53:31.801Z,1741802011.801 [Waterlinked](ERROR): only read 0 of 1 data item for BIT error. Device response::TS,24052713100049, 0.0, +0.0,   0.0,1475.WI,    +0,    +0,    +0,    +0,V
2025-03-12T17:55:51.338Z,1741802151.338 [Waterlinked](ERROR): DVL uart error: serial timeout
2025-03-12T17:55:51.338Z,1741802151.338 [Waterlinked] Communications Fault, FailCount= 1
2025-03-12T17:55:51.338Z,1741802151.338 [Waterlinked](ERROR): Communications Fault
2025-03-12T17:55:51.638Z,1741802151.638 [CBIT](ERROR): Communications Fault in component: Waterlinked
2025-03-12T17:55:51.839Z,1741802151.839 [Waterlinked](INFO): Powering down
2025-03-12T17:55:52.818Z,1741802152.818 [CBIT](INFO): Clearing failed state for component Waterlinked
2025-03-12T17:55:52.819Z,1741802152.819 [Waterlinked] No Fault, FailCount= 1
2025-03-12T17:56:42.708Z,1741802202.708 [sci2_noyo_optim:Lap:DepthByLap:Wpt1:A.Waypoint](IMPORTANT): Reached waypoint: 36.795090,-121.863998
2025-03-12T17:56:42.709Z,1741802202.709 [sci2_noyo_optim:Lap:DepthByLap:Wpt1:A.Waypoint] Stopped
2025-03-12T17:56:42.709Z,1741802202.709 [sci2_noyo_optim:Lap:DepthByLap:Wpt1:A.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-03-12T17:56:42.709Z,1741802202.709 [sci2_noyo_optim:Lap:DepthByLap:Wpt1](INFO): Completed sci2_noyo_optim:Lap:DepthByLap:Wpt1
2025-03-12T17:56:42.709Z,1741802202.709 [sci2_noyo_optim:Lap:DepthByLap:Wpt1] Stopped
2025-03-12T17:56:42.709Z,1741802202.709 [sci2_noyo_optim:Lap:DepthByLap:Wpt1](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Lap:DepthByLap:Wpt1
2025-03-12T17:56:42.709Z,1741802202.709 [sci2_noyo_optim:Lap:DepthByLap:Wpt2] Running Loop=1
2025-03-12T17:56:42.710Z,1741802202.710 [sci2_noyo_optim:Lap:DepthByLap:Wpt2](DEBUG): Aggregate::initialize sci2_noyo_optim:Lap:DepthByLap:Wpt2
2025-03-12T17:56:42.710Z,1741802202.710 [sci2_noyo_optim:Lap:DepthByLap:Wpt2:A.Waypoint] Running Loop=1
2025-03-12T17:56:42.710Z,1741802202.710 [sci2_noyo_optim:Lap:DepthByLap:Wpt2:A.Waypoint](DEBUG): Initialize WaypointComponent.
2025-03-12T17:56:42.727Z,1741802202.727 [sci2_noyo_optim:Lap:DepthByLap:Wpt2:A.Waypoint](IMPORTANT): Navigating to waypoint: 36.794819,-121.884132
2025-03-12T17:56:43.447Z,1741802203.447 [sci2_noyo_optim:Lap:DepthByLap:Wpt2:A.Waypoint](INFO): Navigating to waypoint: 36.794819,-121.884132
2025-03-12T17:56:51.758Z,1741802211.758 [Waterlinked](ERROR): only read 0 of 1 data item for BIT error. Device response::TS,24052713025632, 0.0, +0.0,   0.0,1475.WI,    +0,    +0,    +0,    +0,V
2025-03-12T18:05:23.725Z,1741802723.725 [BPC1](INFO): Calculating totals. Valid battery stick count: 51. Valid reserve battery stick count: 5.
2025-03-12T18:05:23.732Z,1741802723.732 [BPC1](FAULT): Failed to receive data from 3 sticks prior to timeout. Will not retry this scan cycle. Missing stick IDs are: 20, 21, 24.
2025-03-12T18:10:51.564Z,1741803051.564 [Waterlinked](ERROR): only read 0 of 1 data item for BIT error. Device response::TS,240527131656 0.0,1475.0,  0
2025-03-12T18:13:28.261Z,1741803208.261 [Waterlinked](ERROR): only read 2 of 5 data items. Device response::BI,    +0,    +0, ,V
2025-03-12T18:19:19.883Z,1741803559.883 [CTD_Seabird](ERROR): Failed to parse device response: 89.67,9.3088,3.650.60
2025-03-12T18:23:36.483Z,1741803816.483 [Waterlinked](ERROR): only read 0 of 1 data item for BIT error. Device response::TS,240527132940740.0,   0.0,1475.0,  0
2025-03-12T18:24:29.439Z,1741803869.439 [sci2_noyo_optim:SurfaceComms] Running Loop=1
2025-03-12T18:24:29.439Z,1741803869.439 [sci2_noyo_optim:SurfaceComms](DEBUG): Aggregate::initialize sci2_noyo_optim:SurfaceComms
2025-03-12T18:24:29.440Z,1741803869.440 [sci2_noyo_optim:SurfaceComms:A] Running Loop=1
2025-03-12T18:24:29.441Z,1741803869.441 [sci2_noyo_optim:SurfaceComms:A] Stopped
2025-03-12T18:24:29.441Z,1741803869.441 [sci2_noyo_optim:SurfaceComms:B] Running Loop=1
2025-03-12T18:24:29.442Z,1741803869.442 [sci2_noyo_optim:SurfaceComms:B](DEBUG): Aggregate::initialize sci2_noyo_optim:SurfaceComms:B
2025-03-12T18:24:29.654Z,1741803869.654 [sci2_noyo_optim:Lap:Dive] Stopped
2025-03-12T18:24:29.654Z,1741803869.654 [sci2_noyo_optim:Lap:Dive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Lap:Dive
2025-03-12T18:24:29.655Z,1741803869.655 [sci2_noyo_optim:Lap:Dive:A] Stopped
2025-03-12T18:24:29.655Z,1741803869.655 [sci2_noyo_optim:Lap:Dive:A](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Lap:Dive:A
2025-03-12T18:24:29.657Z,1741803869.657 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow] Stopped
2025-03-12T18:24:29.658Z,1741803869.658 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepthSlow
2025-03-12T18:24:29.670Z,1741803869.670 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:A.SetSpeed] Stopped
2025-03-12T18:24:29.670Z,1741803869.670 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:A.SetSpeed](DEBUG): Uninitialize.
2025-03-12T18:24:29.670Z,1741803869.670 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:B] Stopped
2025-03-12T18:24:29.671Z,1741803869.671 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:C.Buoyancy] Stopped
2025-03-12T18:24:29.671Z,1741803869.671 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-03-12T18:24:29.671Z,1741803869.671 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:D.Pitch] Stopped
2025-03-12T18:24:29.683Z,1741803869.683 [sci2_noyo_optim:NeedComms] Running Loop=1
2025-03-12T18:24:29.683Z,1741803869.683 [sci2_noyo_optim:NeedComms](DEBUG): Aggregate::initialize sci2_noyo_optim:NeedComms
2025-03-12T18:24:29.683Z,1741803869.683 [sci2_noyo_optim:NeedComms:B.GoToSurface] Running Loop=1
2025-03-12T18:24:29.683Z,1741803869.683 [sci2_noyo_optim:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-03-12T18:24:29.684Z,1741803869.684 [sci2_noyo_optim:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-03-12T18:24:29.685Z,1741803869.685 [sci2_noyo_optim:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-03-12T18:24:29.691Z,1741803869.691 [sci2_noyo_optim:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-03-12T18:24:29.692Z,1741803869.692 [sci2_noyo_optim:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-03-12T18:24:29.693Z,1741803869.693 [sci2_noyo_optim:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-03-12T18:24:29.694Z,1741803869.694 [sci2_noyo_optim:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-03-12T18:24:29.701Z,1741803869.701 [sci2_noyo_optim:NeedComms:A] Running Loop=1
2025-03-12T18:24:29.710Z,1741803869.710 [sci2_noyo_optim:NeedComms:A](INFO): last time_fix was:  1741800268.000000 second since 1970/01/01T00:00:00Z 
2025-03-12T18:24:29.714Z,1741803869.714 [sci2_noyo_optim:NeedComms:A] Stopped
2025-03-12T18:24:47.456Z,1741803887.456 [BPC1](ERROR): BPC1B: No match for serial number FFFF in BPC1B's battery stick inventory (sticks 32-62 in onboard configuration file).
2025-03-12T18:24:55.189Z,1741803895.189 [sci2_noyo_optim:DiveCmd:MaintainDepth] Running Loop=1
2025-03-12T18:24:55.189Z,1741803895.189 [sci2_noyo_optim:DiveCmd:MaintainDepth](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepth
2025-03-12T18:24:55.189Z,1741803895.189 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive] Running Loop=1
2025-03-12T18:24:55.189Z,1741803895.189 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive
2025-03-12T18:24:55.189Z,1741803895.189 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive] Running Loop=1
2025-03-12T18:24:55.189Z,1741803895.189 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive
2025-03-12T18:24:55.189Z,1741803895.189 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass] Running Loop=1
2025-03-12T18:24:55.189Z,1741803895.189 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass](DEBUG): Initialize.
2025-03-12T18:24:55.189Z,1741803895.189 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed] Running Loop=1
2025-03-12T18:24:55.189Z,1741803895.189 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed](DEBUG): Initialize.
2025-03-12T18:24:55.190Z,1741803895.190 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:B.Pitch] Running Loop=1
2025-03-12T18:24:55.190Z,1741803895.190 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:B.Pitch](DEBUG): Initialize.
2025-03-12T18:28:59.270Z,1741804139.270 [Waterlinked](ERROR): DVL uart error: serial timeout
2025-03-12T18:28:59.270Z,1741804139.270 [Waterlinked] Communications Fault, FailCount= 1
2025-03-12T18:28:59.270Z,1741804139.270 [Waterlinked](ERROR): Communications Fault
2025-03-12T18:28:59.453Z,1741804139.453 [CBIT](ERROR): Communications Fault in component: Waterlinked
2025-03-12T18:28:59.778Z,1741804139.778 [Waterlinked](INFO): Powering down
2025-03-12T18:29:00.562Z,1741804140.562 [CBIT](INFO): Clearing failed state for component Waterlinked
2025-03-12T18:29:00.562Z,1741804140.562 [Waterlinked] No Fault, FailCount= 1
2025-03-12T18:30:42.979Z,1741804242.979 [sci2_noyo_optim:NeedComms:C] Running Loop=1
2025-03-12T18:30:43.306Z,1741804243.306 [Waterlinked](INFO): Powering down
2025-03-12T18:30:43.698Z,1741804243.698 [Radio_Surface](INFO): Powering up
2025-03-12T18:30:49.734Z,1741804249.734 [DataOverHttps](INFO): Radio surface powered ON.
2025-03-12T18:31:15.552Z,1741804275.552 [NAL9602](ERROR): Failed to receive proper response when querying signal strength for MT queue check.
2025-03-12T18:31:15.627Z,1741804275.627 [NAL9602](ERROR): received: 
+CSQ:0

OK517, 2, 0, 0, 0

OK
2025-03-12T18:31:19.854Z,1741804279.854 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T18:31:55.002Z,1741804315.002 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T18:32:30.144Z,1741804350.144 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T18:33:05.282Z,1741804385.282 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T18:33:40.426Z,1741804420.426 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T18:34:15.444Z,1741804455.444 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.004477
2025-03-12T18:34:57.867Z,1741804497.867 [CTD_Seabird](ERROR): Failed to parse device response: .62
2025-03-12T18:35:46.645Z,1741804546.645 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2025-03-12T18:35:47.868Z,1741804547.868 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,183546.00,A,3647.85935,N,12152.13668,W,1.205,45.22,120325,,,A*4A
2025-03-12T18:35:47.870Z,1741804547.870 [NAL9602](INFO): GPS fix at 20250312T183546: (36.797656, -121.868945)
2025-03-12T18:35:47.923Z,1741804547.923 [UniversalFixResidualReporter](INFO): Fix residual: 30.4 %DT, over the last 2205.1 m. Residual distance 670.0 m at bearing -137.4 degrees. Fix at (36.7977, -121.8689) with 1367.3 m made good.
2025-03-12T18:35:47.942Z,1741804547.942 [sci2_noyo_optim:NeedComms:C] Stopped
2025-03-12T18:35:47.943Z,1741804547.943 [sci2_noyo_optim:NeedComms:D] Running Loop=1
2025-03-12T18:35:57.546Z,1741804557.546 [DataOverHttps](INFO): Sending 72 bytes from file Logs/20250311T232940/Courier0144.lzma
2025-03-12T18:35:58.549Z,1741804558.549 [DataOverHttps](INFO): Moved sent file to Logs/20250311T232940/Courier0144.lzma.bak
2025-03-12T18:35:58.550Z,1741804558.550 [DataOverHttps](INFO): SBD MOMSN=24184853
2025-03-12T18:36:19.282Z,1741804579.282 [DataOverHttps](INFO): Sending 94 bytes from file Logs/20250311T232940/Courier0147.lzma
2025-03-12T18:36:19.859Z,1741804579.859 [NAL9602](INFO): Not Powering down - fast GPS
2025-03-12T18:36:20.285Z,1741804580.285 [DataOverHttps](INFO): Moved sent file to Logs/20250311T232940/Courier0147.lzma.bak
2025-03-12T18:36:20.285Z,1741804580.285 [DataOverHttps](INFO): SBD MOMSN=24184857
2025-03-12T18:36:40.351Z,1741804600.351 [DataOverHttps](INFO): Sending 398 bytes from file Logs/20250311T232940/Express0145.lzma
2025-03-12T18:36:41.353Z,1741804601.353 [DataOverHttps](INFO): Moved sent file to Logs/20250311T232940/Express0145.lzma.bak
2025-03-12T18:36:41.353Z,1741804601.353 [DataOverHttps](INFO): SBD MOMSN=24184862
2025-03-12T18:36:57.963Z,1741804617.963 [DataOverHttps](INFO): Sending 783 bytes from file Logs/20250311T232940/Express0148.lzma
2025-03-12T18:36:58.966Z,1741804618.966 [DataOverHttps](INFO): Moved sent file to Logs/20250311T232940/Express0148.lzma.bak
2025-03-12T18:36:58.966Z,1741804618.966 [DataOverHttps](INFO): SBD MOMSN=24184879
2025-03-12T18:37:00.278Z,1741804620.278 [sci2_noyo_optim:NeedComms:D] Stopped
2025-03-12T18:37:00.279Z,1741804620.279 [sci2_noyo_optim:NeedComms:E] Running Loop=1
2025-03-12T18:37:02.266Z,1741804622.266 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,183701.00,A,3647.86480,N,12152.13669,W,0.525,22.84,120325,,,A*43
2025-03-12T18:37:02.277Z,1741804622.277 [NAL9602](INFO): GPS fix at 20250312T183701: (36.797747, -121.868945)
2025-03-12T18:37:02.338Z,1741804622.338 [sci2_noyo_optim:NeedComms:E] Stopped
2025-03-12T18:37:02.340Z,1741804622.340 [sci2_noyo_optim:NeedComms](INFO): Completed sci2_noyo_optim:NeedComms
2025-03-12T18:37:02.340Z,1741804622.340 [sci2_noyo_optim:NeedComms] Stopped
2025-03-12T18:37:02.340Z,1741804622.340 [sci2_noyo_optim:NeedComms](DEBUG): Aggregate::uninitialize sci2_noyo_optim:NeedComms
2025-03-12T18:37:02.340Z,1741804622.340 [sci2_noyo_optim:NeedComms:B.GoToSurface] Stopped
2025-03-12T18:37:02.340Z,1741804622.340 [sci2_noyo_optim:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-03-12T18:37:02.728Z,1741804622.728 [sci2_noyo_optim:SurfaceComms:B](INFO): Completed sci2_noyo_optim:SurfaceComms:B
2025-03-12T18:37:02.728Z,1741804622.728 [sci2_noyo_optim:SurfaceComms:B] Stopped
2025-03-12T18:37:02.729Z,1741804622.729 [sci2_noyo_optim:SurfaceComms:B](DEBUG): Aggregate::uninitialize sci2_noyo_optim:SurfaceComms:B
2025-03-12T18:37:02.729Z,1741804622.729 [sci2_noyo_optim:SurfaceComms:C] Running Loop=1
2025-03-12T18:37:03.095Z,1741804623.095 [sci2_noyo_optim:SurfaceComms:C] Stopped
2025-03-12T18:37:03.095Z,1741804623.095 [sci2_noyo_optim:SurfaceComms](INFO): Completed sci2_noyo_optim:SurfaceComms
2025-03-12T18:37:03.095Z,1741804623.095 [sci2_noyo_optim:SurfaceComms] Stopped
2025-03-12T18:37:03.095Z,1741804623.095 [sci2_noyo_optim:SurfaceComms](DEBUG): Aggregate::uninitialize sci2_noyo_optim:SurfaceComms
2025-03-12T18:37:03.516Z,1741804623.516 [sci2_noyo_optim:Lap:Dive] Running Loop=1
2025-03-12T18:37:03.516Z,1741804623.516 [sci2_noyo_optim:Lap:Dive](DEBUG): Aggregate::initialize sci2_noyo_optim:Lap:Dive
2025-03-12T18:37:03.516Z,1741804623.516 [sci2_noyo_optim:Lap:Dive:A] Running Loop=1
2025-03-12T18:37:03.517Z,1741804623.517 [sci2_noyo_optim:Lap:Dive:A](DEBUG): Aggregate::initialize sci2_noyo_optim:Lap:Dive:A
2025-03-12T18:37:03.551Z,1741804623.551 [sci2_noyo_optim:DiveCmd:InitialDive] Running Loop=1
2025-03-12T18:37:03.551Z,1741804623.551 [sci2_noyo_optim:DiveCmd:InitialDive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:InitialDive
2025-03-12T18:37:03.551Z,1741804623.551 [sci2_noyo_optim:DiveCmd:InitialDive:dive] Running Loop=1
2025-03-12T18:37:03.551Z,1741804623.551 [sci2_noyo_optim:DiveCmd:InitialDive:dive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:InitialDive:dive
2025-03-12T18:37:03.551Z,1741804623.551 [sci2_noyo_optim:DiveCmd:InitialDive:dive:A] Running Loop=1
2025-03-12T18:37:03.551Z,1741804623.551 [sci2_noyo_optim:DiveCmd:InitialDive:dive:B] Running Loop=1
2025-03-12T18:37:03.551Z,1741804623.551 [sci2_noyo_optim:DiveCmd:InitialDive:dive:C.Mass] Running Loop=1
2025-03-12T18:37:03.551Z,1741804623.551 [sci2_noyo_optim:DiveCmd:InitialDive:dive:C.Mass](DEBUG): Initialize.
2025-03-12T18:37:03.552Z,1741804623.552 [sci2_noyo_optim:DiveCmd:InitialDive:dive:D] Running Loop=1
2025-03-12T18:37:03.552Z,1741804623.552 [sci2_noyo_optim:DiveCmd:InitialDive:dive:D](INFO): Waiting for  1.000000 min while pumping down to neutral.
2025-03-12T18:37:03.552Z,1741804623.552 [sci2_noyo_optim:DiveCmd:InitialDive:dive:D] Stopped
2025-03-12T18:37:03.552Z,1741804623.552 [sci2_noyo_optim:DiveCmd:InitialDive:dive:E.Wait] Running Loop=1
2025-03-12T18:37:03.552Z,1741804623.552 [sci2_noyo_optim:DiveCmd:InitialDive:dive:E.Wait](DEBUG): Initialize Wait Component.
2025-03-12T18:37:33.039Z,1741804653.039 [NAL9602](ERROR): Failed to receive proper response when querying signal strength for MT queue check.
2025-03-12T18:37:33.122Z,1741804653.122 [NAL9602](ERROR): received: 
+CSQ:0

OK517, 2, 0, 0, 0

OK
2025-03-12T18:38:03.939Z,1741804683.939 [sci2_noyo_optim:DiveCmd:InitialDive:dive:E.Wait](INFO): Done Waiting.
2025-03-12T18:38:03.939Z,1741804683.939 [sci2_noyo_optim:DiveCmd:InitialDive:dive:E.Wait] Stopped
2025-03-12T18:38:03.939Z,1741804683.939 [sci2_noyo_optim:DiveCmd:InitialDive:dive:E.Wait](DEBUG): Uninitialize Wait Component.
2025-03-12T18:38:03.939Z,1741804683.939 [sci2_noyo_optim:DiveCmd:InitialDive:dive:F] Running Loop=1
2025-03-12T18:38:04.366Z,1741804684.366 [sci2_noyo_optim:DiveCmd:InitialDive:dive:F](INFO): Moving to  10.000000 m 
2025-03-12T18:38:04.366Z,1741804684.366 [sci2_noyo_optim:DiveCmd:InitialDive:dive:F] Stopped
2025-03-12T18:38:04.366Z,1741804684.366 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth] Running Loop=1
2025-03-12T18:38:04.367Z,1741804684.367 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth
2025-03-12T18:38:04.367Z,1741804684.367 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:A.SetSpeed] Running Loop=1
2025-03-12T18:38:04.367Z,1741804684.367 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:A.SetSpeed](DEBUG): Initialize.
2025-03-12T18:38:04.367Z,1741804684.367 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:B.Pitch] Running Loop=1
2025-03-12T18:38:04.367Z,1741804684.367 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:B.Pitch](DEBUG): Initialize.
2025-03-12T18:38:05.537Z,1741804685.537 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T18:38:08.547Z,1741804688.547 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.243401
2025-03-12T18:38:33.287Z,1741804713.287 [Radio_Surface](INFO): Powering down
2025-03-12T18:38:40.683Z,1741804720.683 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T18:38:41.686Z,1741804721.686 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-03-12T18:40:19.393Z,1741804819.393 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:B.Pitch] Stopped
2025-03-12T18:40:19.394Z,1741804819.394 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth](INFO): Completed sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth
2025-03-12T18:40:19.394Z,1741804819.394 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth] Stopped
2025-03-12T18:40:19.394Z,1741804819.394 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth
2025-03-12T18:40:19.394Z,1741804819.394 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:A.SetSpeed] Stopped
2025-03-12T18:40:19.394Z,1741804819.394 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:A.SetSpeed](DEBUG): Uninitialize.
2025-03-12T18:40:19.394Z,1741804819.394 [sci2_noyo_optim:DiveCmd:InitialDive:dive:H] Running Loop=1
2025-03-12T18:40:20.158Z,1741804820.158 [sci2_noyo_optim:DiveCmd:InitialDive:dive:H] Stopped
2025-03-12T18:40:20.167Z,1741804820.167 [sci2_noyo_optim:DiveCmd:InitialDive:dive](INFO): Completed sci2_noyo_optim:DiveCmd:InitialDive:dive
2025-03-12T18:40:20.167Z,1741804820.167 [sci2_noyo_optim:DiveCmd:InitialDive:dive] Stopped
2025-03-12T18:40:20.167Z,1741804820.167 [sci2_noyo_optim:DiveCmd:InitialDive:dive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:InitialDive:dive
2025-03-12T18:40:20.168Z,1741804820.168 [sci2_noyo_optim:DiveCmd:InitialDive:dive:A] Stopped
2025-03-12T18:40:20.168Z,1741804820.168 [sci2_noyo_optim:DiveCmd:InitialDive:dive:B] Stopped
2025-03-12T18:40:20.168Z,1741804820.168 [sci2_noyo_optim:DiveCmd:InitialDive:dive:C.Mass] Stopped
2025-03-12T18:40:20.169Z,1741804820.169 [sci2_noyo_optim:DiveCmd:InitialDive:dive:C.Mass](DEBUG): Uninitialize.
2025-03-12T18:40:20.169Z,1741804820.169 [sci2_noyo_optim:DiveCmd:InitialDive](INFO): Completed sci2_noyo_optim:DiveCmd:InitialDive
2025-03-12T18:40:20.368Z,1741804820.368 [sci2_noyo_optim:DiveCmd:SettleAtDepth] Running Loop=1
2025-03-12T18:40:20.368Z,1741804820.368 [sci2_noyo_optim:DiveCmd:SettleAtDepth](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:SettleAtDepth
2025-03-12T18:40:20.368Z,1741804820.368 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive] Running Loop=1
2025-03-12T18:40:20.368Z,1741804820.368 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:SettleAtDepth:dive
2025-03-12T18:40:20.368Z,1741804820.368 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:B.Pitch] Running Loop=1
2025-03-12T18:40:20.368Z,1741804820.368 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:B.Pitch](DEBUG): Initialize.
2025-03-12T18:40:20.368Z,1741804820.368 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:A] Running Loop=1
2025-03-12T18:40:20.370Z,1741804820.370 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:A](INFO): Reached  10.092547 m , settling for  3.000000 min 
2025-03-12T18:40:20.370Z,1741804820.370 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:A] Stopped
2025-03-12T18:40:20.370Z,1741804820.370 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:C.Wait] Running Loop=1
2025-03-12T18:40:20.370Z,1741804820.370 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:C.Wait](DEBUG): Initialize Wait Component.
2025-03-12T18:41:34.531Z,1741804894.531 [sci2_noyo_optim:StandardEnvelopes:A.AltitudeEnvelope](IMPORTANT): Altitude envelope ACTIVE
2025-03-12T18:42:04.780Z,1741804924.780 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2025-03-12T18:42:35.654Z,1741804955.654 [NAL9602](INFO): Not Powering down - fast GPS
2025-03-12T18:43:06.750Z,1741804986.750 [Waterlinked](ERROR): only read 0 of 1 data item for altitude. Device response::BD,       +00.00
2025-03-12T18:43:20.868Z,1741805000.868 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:C.Wait](INFO): Done Waiting.
2025-03-12T18:43:20.868Z,1741805000.868 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:C.Wait] Stopped
2025-03-12T18:43:20.868Z,1741805000.868 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:C.Wait](DEBUG): Uninitialize Wait Component.
2025-03-12T18:43:20.869Z,1741805000.869 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:D] Running Loop=1
2025-03-12T18:43:21.220Z,1741805001.220 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:D] Stopped
2025-03-12T18:43:21.220Z,1741805001.220 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive](INFO): Completed sci2_noyo_optim:DiveCmd:SettleAtDepth:dive
2025-03-12T18:43:21.221Z,1741805001.221 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive] Stopped
2025-03-12T18:43:21.221Z,1741805001.221 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:SettleAtDepth:dive
2025-03-12T18:43:21.221Z,1741805001.221 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:B.Pitch] Stopped
2025-03-12T18:43:21.221Z,1741805001.221 [sci2_noyo_optim:DiveCmd:SettleAtDepth](INFO): Completed sci2_noyo_optim:DiveCmd:SettleAtDepth
2025-03-12T18:43:48.200Z,1741805028.200 [Waterlinked](ERROR): only read 0 of 1 data item for BIT error. Device response::TS,24052713081223.0,1475.0,  0
2025-03-12T18:46:25.465Z,1741805185.465 [BPC1](INFO): Calculating totals. Valid battery stick count: 50. Valid reserve battery stick count: 5.
2025-03-12T18:46:25.469Z,1741805185.469 [BPC1](FAULT): Failed to receive data from 3 sticks prior to timeout. Will not retry this scan cycle. Missing stick IDs are: 20, 21, 24.
2025-03-12T18:47:17.712Z,1741805237.712 [Waterlinked](ERROR): No DVL communication! Re-initializing
2025-03-12T18:47:17.713Z,1741805237.713 [Waterlinked] Communications Fault, FailCount= 1
2025-03-12T18:47:17.713Z,1741805237.713 [Waterlinked](ERROR): Communications Fault
2025-03-12T18:47:18.127Z,1741805238.127 [CBIT](ERROR): Communications Fault in component: Waterlinked
2025-03-12T18:47:18.302Z,1741805238.302 [Waterlinked](INFO): Powering down
2025-03-12T18:47:19.235Z,1741805239.235 [CBIT](INFO): Clearing failed state for component Waterlinked
2025-03-12T18:47:19.235Z,1741805239.235 [Waterlinked] No Fault, FailCount= 1
2025-03-12T19:00:03.152Z,1741806003.152 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow] Running Loop=1
2025-03-12T19:00:03.152Z,1741806003.152 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepthSlow
2025-03-12T19:00:03.152Z,1741806003.152 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:A.SetSpeed] Running Loop=1
2025-03-12T19:00:03.152Z,1741806003.152 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:A.SetSpeed](DEBUG): Initialize.
2025-03-12T19:00:03.152Z,1741806003.152 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:B] Running Loop=1
2025-03-12T19:00:03.152Z,1741806003.152 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:C.Buoyancy] Running Loop=1
2025-03-12T19:00:03.152Z,1741806003.152 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:C.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-03-12T19:00:03.152Z,1741806003.152 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:D.Pitch] Running Loop=1
2025-03-12T19:00:03.152Z,1741806003.152 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:D.Pitch](DEBUG): Initialize.
2025-03-12T19:00:03.154Z,1741806003.154 [sci2_noyo_optim:DiveCmd:MaintainDepth] Stopped
2025-03-12T19:00:03.154Z,1741806003.154 [sci2_noyo_optim:DiveCmd:MaintainDepth](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepth
2025-03-12T19:00:03.154Z,1741806003.154 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive] Stopped
2025-03-12T19:00:03.158Z,1741806003.158 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive
2025-03-12T19:00:03.158Z,1741806003.158 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive] Stopped
2025-03-12T19:00:03.158Z,1741806003.158 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive
2025-03-12T19:00:03.158Z,1741806003.158 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass] Stopped
2025-03-12T19:00:03.158Z,1741806003.158 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass](DEBUG): Uninitialize.
2025-03-12T19:00:03.158Z,1741806003.158 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed] Stopped
2025-03-12T19:00:03.159Z,1741806003.159 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed](DEBUG): Uninitialize.
2025-03-12T19:00:03.159Z,1741806003.159 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:B.Pitch] Stopped
2025-03-12T19:00:45.259Z,1741806045.259 [CTD_Seabird](ERROR): Failed to parse device response: ,9.3160,3.64260,1932.41
2025-03-12T19:11:24.098Z,1741806684.098 [Waterlinked](ERROR): DVL uart error: serial timeout
2025-03-12T19:11:24.098Z,1741806684.098 [Waterlinked] Communications Fault, FailCount= 1
2025-03-12T19:11:24.098Z,1741806684.098 [Waterlinked](ERROR): Communications Fault
2025-03-12T19:11:24.391Z,1741806684.391 [CBIT](ERROR): Communications Fault in component: Waterlinked
2025-03-12T19:11:24.638Z,1741806684.638 [Waterlinked](INFO): Powering down
2025-03-12T19:11:25.614Z,1741806685.614 [CBIT](INFO): Clearing failed state for component Waterlinked
2025-03-12T19:11:25.614Z,1741806685.614 [Waterlinked] No Fault, FailCount= 1
2025-03-12T19:15:24.391Z,1741806924.391 [Waterlinked](ERROR): only read 3 of 5 data items. Device response::BI,    +0,    +0,    +0V
2025-03-12T19:18:32.809Z,1741807112.809 [CTD_Seabird](ERROR): Failed to parse device response: 89.86,9.64370,1923.47
2025-03-12T19:19:49.434Z,1741807189.434 [Waterlinked](ERROR): only read 0 of 1 data item for altitude. Device response::BD,       +0.00,       +0.00,    ,   0.00,  0.00
2025-03-12T19:22:44.548Z,1741807364.548 [sci2_noyo_optim:Lap:DepthByLap:Wpt2:A.Waypoint](IMPORTANT): Reached waypoint: 36.794819,-121.884132
2025-03-12T19:22:44.548Z,1741807364.548 [sci2_noyo_optim:Lap:DepthByLap:Wpt2:A.Waypoint] Stopped
2025-03-12T19:22:44.548Z,1741807364.548 [sci2_noyo_optim:Lap:DepthByLap:Wpt2:A.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-03-12T19:22:44.549Z,1741807364.549 [sci2_noyo_optim:Lap:DepthByLap:Wpt2](INFO): Completed sci2_noyo_optim:Lap:DepthByLap:Wpt2
2025-03-12T19:22:44.549Z,1741807364.549 [sci2_noyo_optim:Lap:DepthByLap:Wpt2] Stopped
2025-03-12T19:22:44.550Z,1741807364.550 [sci2_noyo_optim:Lap:DepthByLap:Wpt2](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Lap:DepthByLap:Wpt2
2025-03-12T19:22:44.570Z,1741807364.570 [sci2_noyo_optim:Lap:DepthByLap:Wpt3] Running Loop=1
2025-03-12T19:22:44.571Z,1741807364.571 [sci2_noyo_optim:Lap:DepthByLap:Wpt3](DEBUG): Aggregate::initialize sci2_noyo_optim:Lap:DepthByLap:Wpt3
2025-03-12T19:22:44.571Z,1741807364.571 [sci2_noyo_optim:Lap:DepthByLap:Wpt3:A.Waypoint] Running Loop=1
2025-03-12T19:22:44.571Z,1741807364.571 [sci2_noyo_optim:Lap:DepthByLap:Wpt3:A.Waypoint](DEBUG): Initialize WaypointComponent.
2025-03-12T19:22:44.573Z,1741807364.573 [sci2_noyo_optim:Lap:DepthByLap:Wpt3:A.Waypoint](IMPORTANT): Navigating to waypoint: 36.794651,-121.903702
2025-03-12T19:22:44.831Z,1741807364.831 [sci2_noyo_optim:Lap:DepthByLap:Wpt3:A.Waypoint](INFO): Navigating to waypoint: 36.794651,-121.903702
2025-03-12T19:27:27.062Z,1741807647.062 [BPC1](INFO): Calculating totals. Valid battery stick count: 51. Valid reserve battery stick count: 5.
2025-03-12T19:27:27.065Z,1741807647.065 [BPC1](FAULT): Failed to receive data from 3 sticks prior to timeout. Will not retry this scan cycle. Missing stick IDs are: 20, 21, 24.
2025-03-12T19:31:45.455Z,1741807905.455 [Waterlinked](ERROR): only read 0 of 1 data item for altitude. Device response::BD,       +0.00,       +0.000.00
2025-03-12T19:32:02.160Z,1741807922.160 [CTD_Seabird](ERROR): Failed to parse device response: 89.56,9.3108,3.641836
2025-03-12T19:37:02.393Z,1741808222.393 [sci2_noyo_optim:SurfaceComms] Running Loop=1
2025-03-12T19:37:02.393Z,1741808222.393 [sci2_noyo_optim:SurfaceComms](DEBUG): Aggregate::initialize sci2_noyo_optim:SurfaceComms
2025-03-12T19:37:02.393Z,1741808222.393 [sci2_noyo_optim:SurfaceComms:A] Running Loop=1
2025-03-12T19:37:02.394Z,1741808222.394 [sci2_noyo_optim:SurfaceComms:A] Stopped
2025-03-12T19:37:02.394Z,1741808222.394 [sci2_noyo_optim:SurfaceComms:B] Running Loop=1
2025-03-12T19:37:02.398Z,1741808222.398 [sci2_noyo_optim:SurfaceComms:B](DEBUG): Aggregate::initialize sci2_noyo_optim:SurfaceComms:B
2025-03-12T19:37:02.821Z,1741808222.821 [sci2_noyo_optim:Lap:Dive] Stopped
2025-03-12T19:37:02.821Z,1741808222.821 [sci2_noyo_optim:Lap:Dive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Lap:Dive
2025-03-12T19:37:02.822Z,1741808222.822 [sci2_noyo_optim:Lap:Dive:A] Stopped
2025-03-12T19:37:02.822Z,1741808222.822 [sci2_noyo_optim:Lap:Dive:A](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Lap:Dive:A
2025-03-12T19:37:02.828Z,1741808222.828 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow] Stopped
2025-03-12T19:37:02.829Z,1741808222.829 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepthSlow
2025-03-12T19:37:02.829Z,1741808222.829 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:A.SetSpeed] Stopped
2025-03-12T19:37:02.829Z,1741808222.829 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:A.SetSpeed](DEBUG): Uninitialize.
2025-03-12T19:37:02.829Z,1741808222.829 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:B] Stopped
2025-03-12T19:37:02.830Z,1741808222.830 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:C.Buoyancy] Stopped
2025-03-12T19:37:02.830Z,1741808222.830 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-03-12T19:37:02.844Z,1741808222.844 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:D.Pitch] Stopped
2025-03-12T19:37:02.855Z,1741808222.855 [sci2_noyo_optim:NeedComms] Running Loop=1
2025-03-12T19:37:02.855Z,1741808222.855 [sci2_noyo_optim:NeedComms](DEBUG): Aggregate::initialize sci2_noyo_optim:NeedComms
2025-03-12T19:37:02.855Z,1741808222.855 [sci2_noyo_optim:NeedComms:B.GoToSurface] Running Loop=1
2025-03-12T19:37:02.855Z,1741808222.855 [sci2_noyo_optim:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-03-12T19:37:02.856Z,1741808222.856 [sci2_noyo_optim:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-03-12T19:37:02.857Z,1741808222.857 [sci2_noyo_optim:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-03-12T19:37:02.862Z,1741808222.862 [sci2_noyo_optim:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-03-12T19:37:02.864Z,1741808222.864 [sci2_noyo_optim:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-03-12T19:37:02.864Z,1741808222.864 [sci2_noyo_optim:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-03-12T19:37:02.865Z,1741808222.865 [sci2_noyo_optim:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-03-12T19:37:02.867Z,1741808222.867 [sci2_noyo_optim:NeedComms:A] Running Loop=1
2025-03-12T19:37:02.879Z,1741808222.879 [sci2_noyo_optim:NeedComms:A](INFO): last time_fix was:  1741804621.000000 second since 1970/01/01T00:00:00Z 
2025-03-12T19:37:02.880Z,1741808222.880 [sci2_noyo_optim:NeedComms:A] Stopped
2025-03-12T19:37:31.276Z,1741808251.276 [sci2_noyo_optim:DiveCmd:MaintainDepth] Running Loop=1
2025-03-12T19:37:31.276Z,1741808251.276 [sci2_noyo_optim:DiveCmd:MaintainDepth](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepth
2025-03-12T19:37:31.276Z,1741808251.276 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive] Running Loop=1
2025-03-12T19:37:31.277Z,1741808251.277 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive
2025-03-12T19:37:31.277Z,1741808251.277 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive] Running Loop=1
2025-03-12T19:37:31.277Z,1741808251.277 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive
2025-03-12T19:37:31.277Z,1741808251.277 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass] Running Loop=1
2025-03-12T19:37:31.277Z,1741808251.277 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass](DEBUG): Initialize.
2025-03-12T19:37:31.278Z,1741808251.278 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed] Running Loop=1
2025-03-12T19:37:31.279Z,1741808251.279 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed](DEBUG): Initialize.
2025-03-12T19:37:31.279Z,1741808251.279 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:B.Pitch] Running Loop=1
2025-03-12T19:37:31.279Z,1741808251.279 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:B.Pitch](DEBUG): Initialize.
2025-03-12T19:38:41.363Z,1741808321.363 [Waterlinked](ERROR): only read 0 of 1 data item for BIT error. Device response::TS,24052+0.0,   0.0,1475.0,  0
2025-03-12T19:43:05.099Z,1741808585.099 [sci2_noyo_optim:NeedComms:C] Running Loop=1
2025-03-12T19:43:05.458Z,1741808585.458 [Radio_Surface](INFO): Powering up
2025-03-12T19:43:05.495Z,1741808585.495 [Waterlinked](INFO): Powering down
2025-03-12T19:43:11.014Z,1741808591.014 [DataOverHttps](INFO): Radio surface powered ON.
2025-03-12T19:43:41.138Z,1741808621.138 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T19:43:48.742Z,1741808628.742 [GFScanner](IMPORTANT): Beginning ground fault scan
2025-03-12T19:43:49.132Z,1741808629.132 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2025-03-12T19:43:49.139Z,1741808629.139 [CTD_Seabird](INFO): some bad data, not updating bins
2025-03-12T19:43:50.136Z,1741808630.136 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2025-03-12T19:43:50.137Z,1741808630.137 [CTD_Seabird](INFO): some bad data, not updating bins
2025-03-12T19:43:52.144Z,1741808632.144 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2025-03-12T19:43:52.145Z,1741808632.145 [CTD_Seabird](INFO): some bad data, not updating bins
2025-03-12T19:43:53.163Z,1741808633.163 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2025-03-12T19:43:53.164Z,1741808633.164 [CTD_Seabird](INFO): some bad data, not updating bins
2025-03-12T19:43:53.183Z,1741808633.183 [GFScanner](IMPORTANT): No ground fault detected
mA:
CHAN A0 (Batt): -0.006770
CHAN A1 (24V): 0.001319
CHAN A2 (12V): -0.005110
CHAN A3 (5V): -0.002805
CHAN B0 (3.3V): -0.001089
CHAN B1 (3.15aV): -0.001911
CHAN B2 (3.15bV): -0.002070
CHAN B3 (GND): -0.000665
OPEN: 0.006050
Full Scale: +/- 1 mA
2025-03-12T19:44:16.286Z,1741808656.286 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T19:44:51.438Z,1741808691.438 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T19:45:26.582Z,1741808726.582 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T19:46:01.722Z,1741808761.722 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T19:46:36.862Z,1741808796.862 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T19:46:50.625Z,1741808810.625 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.005584
2025-03-12T19:48:09.672Z,1741808889.672 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2025-03-12T19:48:14.499Z,1741808894.499 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,194813.00,A,3647.76938,N,12153.34443,W,0.778,124.02,120325,,,A*75
2025-03-12T19:48:14.501Z,1741808894.501 [NAL9602](INFO): GPS fix at 20250312T194813: (36.796156, -121.889074)
2025-03-12T19:48:14.513Z,1741808894.513 [UniversalFixResidualReporter](INFO): Fix residual: 16.8 %DT, over the last 2164.8 m. Residual distance 363.7 m at bearing -159.5 degrees. Fix at (36.7962, -121.8891) with 1801.0 m made good.
2025-03-12T19:48:14.542Z,1741808894.542 [sci2_noyo_optim:NeedComms:C] Stopped
2025-03-12T19:48:14.543Z,1741808894.543 [sci2_noyo_optim:NeedComms:D] Running Loop=1
2025-03-12T19:48:23.372Z,1741808903.372 [DataOverHttps](INFO): Sending 94 bytes from file Logs/20250311T232940/Courier0150.lzma
2025-03-12T19:48:24.368Z,1741808904.368 [DataOverHttps](INFO): Moved sent file to Logs/20250311T232940/Courier0150.lzma.bak
2025-03-12T19:48:24.368Z,1741808904.368 [DataOverHttps](INFO): SBD MOMSN=24185761
2025-03-12T19:48:41.176Z,1741808921.176 [DataOverHttps](INFO): Sending 915 bytes from file Logs/20250311T232940/Express0151.lzma
2025-03-12T19:48:43.181Z,1741808923.181 [DataOverHttps](INFO): Moved sent file to Logs/20250311T232940/Express0151.lzma.bak
2025-03-12T19:48:43.182Z,1741808923.182 [DataOverHttps](INFO): SBD MOMSN=24185764
2025-03-12T19:48:44.454Z,1741808924.454 [sci2_noyo_optim:NeedComms:D] Stopped
2025-03-12T19:48:44.454Z,1741808924.454 [sci2_noyo_optim:NeedComms:E] Running Loop=1
2025-03-12T19:48:46.458Z,1741808926.458 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,194845.00,A,3647.77336,N,12153.33552,W,1.827,39.29,120325,,,A*45
2025-03-12T19:48:46.460Z,1741808926.460 [NAL9602](INFO): GPS fix at 20250312T194845: (36.796223, -121.888925)
2025-03-12T19:48:46.482Z,1741808926.482 [sci2_noyo_optim:NeedComms:E] Stopped
2025-03-12T19:48:46.483Z,1741808926.483 [sci2_noyo_optim:NeedComms](INFO): Completed sci2_noyo_optim:NeedComms
2025-03-12T19:48:46.483Z,1741808926.483 [sci2_noyo_optim:NeedComms] Stopped
2025-03-12T19:48:46.483Z,1741808926.483 [sci2_noyo_optim:NeedComms](DEBUG): Aggregate::uninitialize sci2_noyo_optim:NeedComms
2025-03-12T19:48:46.484Z,1741808926.484 [sci2_noyo_optim:NeedComms:B.GoToSurface] Stopped
2025-03-12T19:48:46.484Z,1741808926.484 [sci2_noyo_optim:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-03-12T19:48:46.927Z,1741808926.927 [sci2_noyo_optim:SurfaceComms:B](INFO): Completed sci2_noyo_optim:SurfaceComms:B
2025-03-12T19:48:46.927Z,1741808926.927 [sci2_noyo_optim:SurfaceComms:B] Stopped
2025-03-12T19:48:46.927Z,1741808926.927 [sci2_noyo_optim:SurfaceComms:B](DEBUG): Aggregate::uninitialize sci2_noyo_optim:SurfaceComms:B
2025-03-12T19:48:46.927Z,1741808926.927 [sci2_noyo_optim:SurfaceComms:C] Running Loop=1
2025-03-12T19:48:47.298Z,1741808927.298 [ElevatorOffsetCalculator](INFO): Removing expired estimator for commanded vars: speed 1.00 m/s, pitch 20.00 deg, mass-position 6.85 mm.
2025-03-12T19:48:47.314Z,1741808927.314 [sci2_noyo_optim:SurfaceComms:C] Stopped
2025-03-12T19:48:47.314Z,1741808927.314 [sci2_noyo_optim:SurfaceComms](INFO): Completed sci2_noyo_optim:SurfaceComms
2025-03-12T19:48:47.314Z,1741808927.314 [sci2_noyo_optim:SurfaceComms] Stopped
2025-03-12T19:48:47.315Z,1741808927.315 [sci2_noyo_optim:SurfaceComms](DEBUG): Aggregate::uninitialize sci2_noyo_optim:SurfaceComms
2025-03-12T19:48:47.723Z,1741808927.723 [sci2_noyo_optim:Lap:Dive] Running Loop=1
2025-03-12T19:48:47.723Z,1741808927.723 [sci2_noyo_optim:Lap:Dive](DEBUG): Aggregate::initialize sci2_noyo_optim:Lap:Dive
2025-03-12T19:48:47.723Z,1741808927.723 [sci2_noyo_optim:Lap:Dive:A] Running Loop=1
2025-03-12T19:48:47.723Z,1741808927.723 [sci2_noyo_optim:Lap:Dive:A](DEBUG): Aggregate::initialize sci2_noyo_optim:Lap:Dive:A
2025-03-12T19:48:47.725Z,1741808927.725 [sci2_noyo_optim:DiveCmd:InitialDive] Running Loop=1
2025-03-12T19:48:47.726Z,1741808927.726 [sci2_noyo_optim:DiveCmd:InitialDive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:InitialDive
2025-03-12T19:48:47.726Z,1741808927.726 [sci2_noyo_optim:DiveCmd:InitialDive:dive] Running Loop=1
2025-03-12T19:48:47.726Z,1741808927.726 [sci2_noyo_optim:DiveCmd:InitialDive:dive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:InitialDive:dive
2025-03-12T19:48:47.730Z,1741808927.730 [sci2_noyo_optim:DiveCmd:InitialDive:dive:A] Running Loop=1
2025-03-12T19:48:47.730Z,1741808927.730 [sci2_noyo_optim:DiveCmd:InitialDive:dive:B] Running Loop=1
2025-03-12T19:48:47.730Z,1741808927.730 [sci2_noyo_optim:DiveCmd:InitialDive:dive:C.Mass] Running Loop=1
2025-03-12T19:48:47.730Z,1741808927.730 [sci2_noyo_optim:DiveCmd:InitialDive:dive:C.Mass](DEBUG): Initialize.
2025-03-12T19:48:47.730Z,1741808927.730 [sci2_noyo_optim:DiveCmd:InitialDive:dive:D] Running Loop=1
2025-03-12T19:48:47.731Z,1741808927.731 [sci2_noyo_optim:DiveCmd:InitialDive:dive:D](INFO): Waiting for  1.000000 min while pumping down to neutral.
2025-03-12T19:48:47.731Z,1741808927.731 [sci2_noyo_optim:DiveCmd:InitialDive:dive:D] Stopped
2025-03-12T19:48:47.731Z,1741808927.731 [sci2_noyo_optim:DiveCmd:InitialDive:dive:E.Wait] Running Loop=1
2025-03-12T19:48:47.731Z,1741808927.731 [sci2_noyo_optim:DiveCmd:InitialDive:dive:E.Wait](DEBUG): Initialize Wait Component.
2025-03-12T19:49:18.385Z,1741808958.385 [ElevatorOffsetCalculator](INFO): New estimator for commanded vars: speed 1.00 m/s, pitch 20.00 deg, mass-position 6.85 mm (1 active estimators).
2025-03-12T19:49:18.780Z,1741808958.780 [NAL9602](INFO): Not Powering down - fast GPS
2025-03-12T19:49:48.159Z,1741808988.159 [sci2_noyo_optim:DiveCmd:InitialDive:dive:E.Wait](INFO): Done Waiting.
2025-03-12T19:49:48.160Z,1741808988.160 [sci2_noyo_optim:DiveCmd:InitialDive:dive:E.Wait] Stopped
2025-03-12T19:49:48.160Z,1741808988.160 [sci2_noyo_optim:DiveCmd:InitialDive:dive:E.Wait](DEBUG): Uninitialize Wait Component.
2025-03-12T19:49:48.160Z,1741808988.160 [sci2_noyo_optim:DiveCmd:InitialDive:dive:F] Running Loop=1
2025-03-12T19:49:48.513Z,1741808988.513 [sci2_noyo_optim:DiveCmd:InitialDive:dive:F](INFO): Moving to  10.000000 m 
2025-03-12T19:49:48.514Z,1741808988.514 [sci2_noyo_optim:DiveCmd:InitialDive:dive:F] Stopped
2025-03-12T19:49:48.514Z,1741808988.514 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth] Running Loop=1
2025-03-12T19:49:48.514Z,1741808988.514 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth
2025-03-12T19:49:48.514Z,1741808988.514 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:A.SetSpeed] Running Loop=1
2025-03-12T19:49:48.514Z,1741808988.514 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:A.SetSpeed](DEBUG): Initialize.
2025-03-12T19:49:48.514Z,1741808988.514 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:B.Pitch] Running Loop=1
2025-03-12T19:49:48.515Z,1741808988.515 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:B.Pitch](DEBUG): Initialize.
2025-03-12T19:49:49.630Z,1741808989.630 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T19:49:52.643Z,1741808992.643 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.239342
2025-03-12T19:50:18.686Z,1741809018.686 [Radio_Surface](INFO): Powering down
2025-03-12T19:50:24.775Z,1741809024.775 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T19:50:25.779Z,1741809025.779 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-03-12T19:50:31.157Z,1741809031.157 [BPC1](ERROR): BPC1B: No match for serial number 1717 in BPC1B's battery stick inventory (sticks 32-62 in onboard configuration file).
2025-03-12T19:52:07.829Z,1741809127.829 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:B.Pitch] Stopped
2025-03-12T19:52:07.830Z,1741809127.830 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth](INFO): Completed sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth
2025-03-12T19:52:07.830Z,1741809127.830 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth] Stopped
2025-03-12T19:52:07.830Z,1741809127.830 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth
2025-03-12T19:52:07.830Z,1741809127.830 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:A.SetSpeed] Stopped
2025-03-12T19:52:07.830Z,1741809127.830 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:A.SetSpeed](DEBUG): Uninitialize.
2025-03-12T19:52:07.830Z,1741809127.830 [sci2_noyo_optim:DiveCmd:InitialDive:dive:H] Running Loop=1
2025-03-12T19:52:08.343Z,1741809128.343 [sci2_noyo_optim:DiveCmd:InitialDive:dive:H] Stopped
2025-03-12T19:52:08.345Z,1741809128.345 [sci2_noyo_optim:DiveCmd:InitialDive:dive](INFO): Completed sci2_noyo_optim:DiveCmd:InitialDive:dive
2025-03-12T19:52:08.346Z,1741809128.346 [sci2_noyo_optim:DiveCmd:InitialDive:dive] Stopped
2025-03-12T19:52:08.346Z,1741809128.346 [sci2_noyo_optim:DiveCmd:InitialDive:dive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:InitialDive:dive
2025-03-12T19:52:08.350Z,1741809128.350 [sci2_noyo_optim:DiveCmd:InitialDive:dive:A] Stopped
2025-03-12T19:52:08.350Z,1741809128.350 [sci2_noyo_optim:DiveCmd:InitialDive:dive:B] Stopped
2025-03-12T19:52:08.350Z,1741809128.350 [sci2_noyo_optim:DiveCmd:InitialDive:dive:C.Mass] Stopped
2025-03-12T19:52:08.351Z,1741809128.351 [sci2_noyo_optim:DiveCmd:InitialDive:dive:C.Mass](DEBUG): Uninitialize.
2025-03-12T19:52:08.351Z,1741809128.351 [sci2_noyo_optim:DiveCmd:InitialDive](INFO): Completed sci2_noyo_optim:DiveCmd:InitialDive
2025-03-12T19:52:09.045Z,1741809129.045 [sci2_noyo_optim:DiveCmd:SettleAtDepth] Running Loop=1
2025-03-12T19:52:09.045Z,1741809129.045 [sci2_noyo_optim:DiveCmd:SettleAtDepth](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:SettleAtDepth
2025-03-12T19:52:09.045Z,1741809129.045 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive] Running Loop=1
2025-03-12T19:52:09.045Z,1741809129.045 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:SettleAtDepth:dive
2025-03-12T19:52:09.045Z,1741809129.045 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:B.Pitch] Running Loop=1
2025-03-12T19:52:09.045Z,1741809129.045 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:B.Pitch](DEBUG): Initialize.
2025-03-12T19:52:09.046Z,1741809129.046 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:A] Running Loop=1
2025-03-12T19:52:09.051Z,1741809129.051 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:A](INFO): Reached  10.042522 m , settling for  3.000000 min 
2025-03-12T19:52:09.051Z,1741809129.051 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:A] Stopped
2025-03-12T19:52:09.051Z,1741809129.051 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:C.Wait] Running Loop=1
2025-03-12T19:52:09.051Z,1741809129.051 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:C.Wait](DEBUG): Initialize Wait Component.
2025-03-12T19:53:04.467Z,1741809184.467 [sci2_noyo_optim:StandardEnvelopes:A.AltitudeEnvelope](IMPORTANT): Altitude envelope ACTIVE
2025-03-12T19:55:09.773Z,1741809309.773 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:C.Wait](INFO): Done Waiting.
2025-03-12T19:55:09.773Z,1741809309.773 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:C.Wait] Stopped
2025-03-12T19:55:09.773Z,1741809309.773 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:C.Wait](DEBUG): Uninitialize Wait Component.
2025-03-12T19:55:09.773Z,1741809309.773 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:D] Running Loop=1
2025-03-12T19:55:10.139Z,1741809310.139 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:D] Stopped
2025-03-12T19:55:10.140Z,1741809310.140 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive](INFO): Completed sci2_noyo_optim:DiveCmd:SettleAtDepth:dive
2025-03-12T19:55:10.140Z,1741809310.140 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive] Stopped
2025-03-12T19:55:10.140Z,1741809310.140 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:SettleAtDepth:dive
2025-03-12T19:55:10.140Z,1741809310.140 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:B.Pitch] Stopped
2025-03-12T19:55:10.140Z,1741809310.140 [sci2_noyo_optim:DiveCmd:SettleAtDepth](INFO): Completed sci2_noyo_optim:DiveCmd:SettleAtDepth
2025-03-12T19:58:45.484Z,1741809525.484 [Waterlinked](ERROR): No DVL communication! Re-initializing
2025-03-12T19:58:45.484Z,1741809525.484 [Waterlinked] Communications Fault, FailCount= 1
2025-03-12T19:58:45.485Z,1741809525.485 [Waterlinked](ERROR): Communications Fault
2025-03-12T19:58:45.906Z,1741809525.906 [CBIT](ERROR): Communications Fault in component: Waterlinked
2025-03-12T19:58:46.090Z,1741809526.090 [Waterlinked](INFO): Powering down
2025-03-12T19:58:47.021Z,1741809527.021 [CBIT](INFO): Clearing failed state for component Waterlinked
2025-03-12T19:58:47.022Z,1741809527.022 [Waterlinked] No Fault, FailCount= 1
2025-03-12T20:02:18.721Z,1741809738.721 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow] Running Loop=1
2025-03-12T20:02:18.721Z,1741809738.721 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepthSlow
2025-03-12T20:02:18.721Z,1741809738.721 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:A.SetSpeed] Running Loop=1
2025-03-12T20:02:18.721Z,1741809738.721 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:A.SetSpeed](DEBUG): Initialize.
2025-03-12T20:02:18.721Z,1741809738.721 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:B] Running Loop=1
2025-03-12T20:02:18.721Z,1741809738.721 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:C.Buoyancy] Running Loop=1
2025-03-12T20:02:18.722Z,1741809738.722 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:C.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-03-12T20:02:18.722Z,1741809738.722 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:D.Pitch] Running Loop=1
2025-03-12T20:02:18.722Z,1741809738.722 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:D.Pitch](DEBUG): Initialize.
2025-03-12T20:02:18.723Z,1741809738.723 [sci2_noyo_optim:DiveCmd:MaintainDepth] Stopped
2025-03-12T20:02:18.723Z,1741809738.723 [sci2_noyo_optim:DiveCmd:MaintainDepth](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepth
2025-03-12T20:02:18.723Z,1741809738.723 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive] Stopped
2025-03-12T20:02:18.724Z,1741809738.724 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive
2025-03-12T20:02:18.724Z,1741809738.724 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive] Stopped
2025-03-12T20:02:18.724Z,1741809738.724 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive
2025-03-12T20:02:18.724Z,1741809738.724 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass] Stopped
2025-03-12T20:02:18.724Z,1741809738.724 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass](DEBUG): Uninitialize.
2025-03-12T20:02:18.724Z,1741809738.724 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed] Stopped
2025-03-12T20:02:18.724Z,1741809738.724 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed](DEBUG): Uninitialize.
2025-03-12T20:02:18.724Z,1741809738.724 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:B.Pitch] Stopped
2025-03-12T20:08:28.594Z,1741810108.594 [BPC1](INFO): Calculating totals. Valid battery stick count: 51. Valid reserve battery stick count: 5.
2025-03-12T20:08:28.597Z,1741810108.597 [BPC1](FAULT): Failed to receive data from 2 sticks prior to timeout. Will not retry this scan cycle. Missing stick IDs are: 21, 24.
2025-03-12T20:12:53.440Z,1741810373.440 [CTD_Seabird](ERROR): Failed to parse device response: 894084,3.64860,1938.17
2025-03-12T20:19:16.585Z,1741810756.585 [sci2_noyo_optim](INFO): Timed out from 2025-03-12T17:19:16.4Z
2025-03-12T20:19:16.590Z,1741810756.590 [MissionManager](INFO): sci2_noyo_optim is completed.
2025-03-12T20:19:16.591Z,1741810756.591 [MissionManager](INFO): Uninitializing Mission sci2_noyo_optim
2025-03-12T20:19:16.591Z,1741810756.591 [sci2_noyo_optim] Stopped
2025-03-12T20:19:16.592Z,1741810756.592 [sci2_noyo_optim](DEBUG): Aggregate::uninitialize sci2_noyo_optim
2025-03-12T20:19:16.592Z,1741810756.592 [sci2_noyo_optim:Science] Stopped
2025-03-12T20:19:16.592Z,1741810756.592 [sci2_noyo_optim:Science](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science
2025-03-12T20:19:16.592Z,1741810756.592 [sci2_noyo_optim:Science:B] Stopped
2025-03-12T20:19:16.593Z,1741810756.593 [sci2_noyo_optim:Science:C] Stopped
2025-03-12T20:19:16.593Z,1741810756.593 [sci2_noyo_optim:Science:E] Stopped
2025-03-12T20:19:16.593Z,1741810756.593 [sci2_noyo_optim:Science:OceanCurrent] Stopped
2025-03-12T20:19:16.593Z,1741810756.593 [sci2_noyo_optim:Science:OceanCurrent](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:OceanCurrent
2025-03-12T20:19:16.593Z,1741810756.593 [sci2_noyo_optim:Science:OceanCurrent:A.] Stopped
2025-03-12T20:19:16.594Z,1741810756.594 [sci2_noyo_optim:StandardEnvelopes] Stopped
2025-03-12T20:19:16.606Z,1741810756.606 [sci2_noyo_optim:StandardEnvelopes](DEBUG): Aggregate::uninitialize sci2_noyo_optim:StandardEnvelopes
2025-03-12T20:19:16.607Z,1741810756.607 [sci2_noyo_optim:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-03-12T20:19:16.607Z,1741810756.607 [sci2_noyo_optim:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-03-12T20:19:16.607Z,1741810756.607 [sci2_noyo_optim:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-03-12T20:19:16.607Z,1741810756.607 [sci2_noyo_optim:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-03-12T20:19:16.607Z,1741810756.607 [sci2_noyo_optim:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-03-12T20:19:16.608Z,1741810756.608 [sci2_noyo_optim:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-03-12T20:19:16.608Z,1741810756.608 [sci2_noyo_optim:BackseatDriver] Stopped
2025-03-12T20:19:16.608Z,1741810756.608 [sci2_noyo_optim:BackseatDriver](DEBUG): Aggregate::uninitialize sci2_noyo_optim:BackseatDriver
2025-03-12T20:19:16.608Z,1741810756.608 [sci2_noyo_optim:BackseatDriver:A.BackseatDriver] Stopped
2025-03-12T20:19:16.608Z,1741810756.608 [sci2_noyo_optim:J] Stopped
2025-03-12T20:19:16.608Z,1741810756.608 [sci2_noyo_optim:PowerOnly] Stopped
2025-03-12T20:19:16.608Z,1741810756.608 [sci2_noyo_optim:PowerOnly](DEBUG): Aggregate::uninitialize sci2_noyo_optim:PowerOnly
2025-03-12T20:19:16.608Z,1741810756.608 [sci2_noyo_optim:PowerOnly:B] Stopped
2025-03-12T20:19:16.608Z,1741810756.608 [sci2_noyo_optim:PowerOnly:E.Wait] Stopped
2025-03-12T20:19:16.608Z,1741810756.608 [sci2_noyo_optim:PowerOnly:E.Wait](DEBUG): Uninitialize Wait Component.
2025-03-12T20:19:16.608Z,1741810756.608 [sci2_noyo_optim:L] Stopped
2025-03-12T20:19:16.608Z,1741810756.608 [sci2_noyo_optim:N] Stopped
2025-03-12T20:19:16.609Z,1741810756.609 [sci2_noyo_optim:O.Buoyancy] Stopped
2025-03-12T20:19:16.609Z,1741810756.609 [sci2_noyo_optim:O.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-03-12T20:19:16.609Z,1741810756.609 [sci2_noyo_optim:DiveCmd] Stopped
2025-03-12T20:19:16.609Z,1741810756.609 [sci2_noyo_optim:DiveCmd](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd
2025-03-12T20:19:16.609Z,1741810756.609 [sci2_noyo_optim:DiveCmd:InitialDive] Stopped
2025-03-12T20:19:16.609Z,1741810756.609 [sci2_noyo_optim:DiveCmd:InitialDive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:InitialDive
2025-03-12T20:19:16.609Z,1741810756.609 [sci2_noyo_optim:DiveCmd:SettleAtDepth] Stopped
2025-03-12T20:19:16.609Z,1741810756.609 [sci2_noyo_optim:DiveCmd:SettleAtDepth](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:SettleAtDepth
2025-03-12T20:19:16.610Z,1741810756.610 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow] Stopped
2025-03-12T20:19:16.614Z,1741810756.614 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepthSlow
2025-03-12T20:19:16.614Z,1741810756.614 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:A.SetSpeed] Stopped
2025-03-12T20:19:16.614Z,1741810756.614 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:A.SetSpeed](DEBUG): Uninitialize.
2025-03-12T20:19:16.615Z,1741810756.615 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:B] Stopped
2025-03-12T20:19:16.615Z,1741810756.615 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:C.Buoyancy] Stopped
2025-03-12T20:19:16.615Z,1741810756.615 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-03-12T20:19:16.615Z,1741810756.615 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:D.Pitch] Stopped
2025-03-12T20:19:16.615Z,1741810756.615 [sci2_noyo_optim:Lap] Stopped
2025-03-12T20:19:16.615Z,1741810756.615 [sci2_noyo_optim:Lap](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Lap
2025-03-12T20:19:16.615Z,1741810756.615 [sci2_noyo_optim:Lap:Dive] Stopped
2025-03-12T20:19:16.615Z,1741810756.615 [sci2_noyo_optim:Lap:Dive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Lap:Dive
2025-03-12T20:19:16.615Z,1741810756.615 [sci2_noyo_optim:Lap:Dive:A] Stopped
2025-03-12T20:19:16.616Z,1741810756.616 [sci2_noyo_optim:Lap:Dive:A](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Lap:Dive:A
2025-03-12T20:19:16.616Z,1741810756.616 [sci2_noyo_optim:Lap:DepthByLap] Stopped
2025-03-12T20:19:16.616Z,1741810756.616 [sci2_noyo_optim:Lap:DepthByLap](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Lap:DepthByLap
2025-03-12T20:19:16.616Z,1741810756.616 [sci2_noyo_optim:Lap:DepthByLap:Wpt3] Stopped
2025-03-12T20:19:16.616Z,1741810756.616 [sci2_noyo_optim:Lap:DepthByLap:Wpt3](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Lap:DepthByLap:Wpt3
2025-03-12T20:19:16.616Z,1741810756.616 [sci2_noyo_optim:Lap:DepthByLap:Wpt3:A.Waypoint] Stopped
2025-03-12T20:19:16.616Z,1741810756.616 [sci2_noyo_optim:Lap:DepthByLap:Wpt3:A.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-03-12T20:19:17.018Z,1741810757.018 [WetLabsBB2FL](INFO): Powering down
2025-03-12T20:19:17.458Z,1741810757.458 [MissionManager](IMPORTANT): Started mission Default
2025-03-12T20:19:17.462Z,1741810757.462 [Default] Running Loop=1
2025-03-12T20:19:17.463Z,1741810757.463 [Default](DEBUG): Aggregate::initialize Default
2025-03-12T20:19:17.463Z,1741810757.463 [Default:B.GoToSurface] Running Loop=1
2025-03-12T20:19:17.463Z,1741810757.463 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-03-12T20:19:17.464Z,1741810757.464 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-03-12T20:19:17.465Z,1741810757.465 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-03-12T20:19:17.465Z,1741810757.465 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-03-12T20:19:17.471Z,1741810757.471 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-03-12T20:19:17.472Z,1741810757.472 [Default:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-03-12T20:19:17.473Z,1741810757.473 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-03-12T20:19:17.479Z,1741810757.479 [Default:A.Wait] Running Loop=1
2025-03-12T20:19:17.479Z,1741810757.479 [Default:A.Wait](DEBUG): Initialize Wait Component.
2025-03-12T20:19:17.714Z,1741810757.714 [BackseatComponent](INFO): Sent LCM shutdown request.
2025-03-12T20:19:17.715Z,1741810757.715 [BackseatComponent](INFO): Shutdown requested. Waiting (18.00 sec to power down.).
2025-03-12T20:19:17.899Z,1741810757.899 [Radio_Surface](INFO): Powering up
2025-03-12T20:19:18.139Z,1741810758.139 [ElevatorOffsetCalculator](INFO): New estimator for commanded vars: speed 1.00 m/s, pitch 30.00 deg, mass-position -26.00 mm (2 active estimators).
2025-03-12T20:19:23.166Z,1741810763.166 [DataOverHttps](INFO): Radio surface powered ON.
2025-03-12T20:19:30.816Z,1741810770.816 [Default:A.Wait](INFO): Done Waiting.
2025-03-12T20:19:30.817Z,1741810770.817 [Default:A.Wait] Stopped
2025-03-12T20:19:30.817Z,1741810770.817 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2025-03-12T20:19:35.875Z,1741810775.875 [BackseatComponent](INFO): Powering down and starting shutdown timer (18.00 sec).
2025-03-12T20:19:35.877Z,1741810775.877 [BackseatComponent](INFO): Unsubscribing from LCM channels.
2025-03-12T20:19:35.878Z,1741810775.878 [LcmUniversalReporter](INFO): Deactivating messaging.
2025-03-12T20:19:53.298Z,1741810793.298 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T20:20:28.440Z,1741810828.440 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T20:20:41.754Z,1741810841.754 [Default:B.GoToSurface](ERROR): Altitude too low: 0.07
2025-03-12T20:20:42.040Z,1741810842.040 [Default:B.GoToSurface](ERROR): Altitude too low: 0.07
2025-03-12T20:20:42.492Z,1741810842.492 [Default:B.GoToSurface](ERROR): Altitude too low: 0.07
2025-03-12T20:20:42.880Z,1741810842.880 [Default:B.GoToSurface](ERROR): Altitude too low: 0.07
2025-03-12T20:20:43.560Z,1741810843.560 [Default:B.GoToSurface](ERROR): No valid altitude, but last altitude 0.07 too low. Waiting for 600.000000 seconds.
2025-03-12T20:20:46.324Z,1741810846.324 [Default:B.GoToSurface](ERROR): Altitude too low: 0.07
2025-03-12T20:20:46.570Z,1741810846.570 [Default:B.GoToSurface](ERROR): Altitude too low: 0.07
2025-03-12T20:20:46.876Z,1741810846.876 [PowerOnly](INFO): Powering down loadControl
2025-03-12T20:20:46.917Z,1741810846.917 [Default:B.GoToSurface](ERROR): No valid altitude, but last altitude 0.07 too low. Waiting for 600.000000 seconds.
2025-03-12T20:21:03.578Z,1741810863.578 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T20:21:38.718Z,1741810898.718 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T20:22:13.871Z,1741810933.871 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T20:22:49.038Z,1741810969.038 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T20:23:24.183Z,1741811004.183 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T20:23:59.322Z,1741811039.322 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T20:24:34.462Z,1741811074.462 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T20:25:09.603Z,1741811109.603 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T20:25:44.743Z,1741811144.743 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T20:26:19.882Z,1741811179.882 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T20:26:55.024Z,1741811215.024 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T20:27:30.163Z,1741811250.163 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T20:27:52.955Z,1741811272.955 [Default:CheckIn] Running Loop=1
2025-03-12T20:27:52.955Z,1741811272.955 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-03-12T20:27:52.955Z,1741811272.955 [Default:CheckIn:Read_GPS] Running Loop=1
2025-03-12T20:27:53.430Z,1741811273.430 [Waterlinked](INFO): Powering down
2025-03-12T20:28:05.302Z,1741811285.302 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T20:28:25.660Z,1741811305.660 [NAL9602](ERROR): Failed to receive proper response when querying signal strength for MT queue check.
2025-03-12T20:28:25.742Z,1741811305.742 [NAL9602](ERROR): received: 
+CSQ:0

OK517, 2, 0, 0, 0

OK
2025-03-12T20:28:40.450Z,1741811320.450 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T20:29:15.594Z,1741811355.594 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T20:31:01.047Z,1741811461.047 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T20:31:14.137Z,1741811474.137 [NAL9602](INFO): SBD MO Status=2, MOMSN=18517, MT Status=2, MTMSN=0
2025-03-12T20:31:14.137Z,1741811474.137 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-03-12T20:31:36.198Z,1741811496.198 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T20:31:49.611Z,1741811509.611 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003948
2025-03-12T20:32:53.122Z,1741811573.122 [Default:CheckIn:Read_GPS](INFO): Timed out from 2025-03-12T20:27:52.0Z
2025-03-12T20:32:53.122Z,1741811573.122 [Default:CheckIn:Read_GPS] Stopped
2025-03-12T20:32:53.122Z,1741811573.122 [Default:CheckIn:Read_Iridium] Running Loop=1
2025-03-12T20:32:56.754Z,1741811576.754 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2025-03-12T20:32:59.094Z,1741811579.094 [DataOverHttps](INFO): Sending 86 bytes from file Logs/20250311T232940/Courier0153.lzma
2025-03-12T20:33:00.097Z,1741811580.097 [DataOverHttps](INFO): Moved sent file to Logs/20250311T232940/Courier0153.lzma.bak
2025-03-12T20:33:00.097Z,1741811580.097 [DataOverHttps](INFO): SBD MOMSN=24193915
2025-03-12T20:33:16.060Z,1741811596.060 [DataOverHttps](INFO): Sending 498 bytes from file Logs/20250311T232940/Express0154.lzma
2025-03-12T20:33:17.060Z,1741811597.060 [DataOverHttps](INFO): Moved sent file to Logs/20250311T232940/Express0154.lzma.bak
2025-03-12T20:33:17.060Z,1741811597.060 [DataOverHttps](INFO): SBD MOMSN=24193918
2025-03-12T20:33:18.175Z,1741811598.175 [Default:CheckIn:Read_Iridium] Stopped
2025-03-12T20:33:18.175Z,1741811598.175 [Default:CheckIn:C.Wait] Running Loop=1
2025-03-12T20:33:18.175Z,1741811598.175 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2025-03-12T20:33:27.455Z,1741811607.455 [NAL9602](INFO): Not Powering down - fast GPS
2025-03-12T20:38:18.753Z,1741811898.753 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2025-03-12T20:38:18.753Z,1741811898.753 [Default:CheckIn:C.Wait] Stopped
2025-03-12T20:38:18.753Z,1741811898.753 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2025-03-12T20:38:18.753Z,1741811898.753 [Default:CheckIn:D] Running Loop=1
2025-03-12T20:38:19.146Z,1741811899.146 [Default:CheckIn:D] Stopped
2025-03-12T20:38:19.146Z,1741811899.146 [Default:CheckIn:E] Running Loop=1
2025-03-12T20:38:19.557Z,1741811899.557 [Default:CheckIn:E](IMPORTANT): Default mission has been running for  19.028064 min 
2025-03-12T20:38:19.557Z,1741811899.557 [Default:CheckIn:E] Stopped
2025-03-12T20:38:19.557Z,1741811899.557 [Default:CheckIn](INFO): Completed Default:CheckIn
2025-03-12T20:38:19.557Z,1741811899.557 [Default:CheckIn] Stopped
2025-03-12T20:38:19.557Z,1741811899.557 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-03-12T20:38:19.557Z,1741811899.557 [Default:CheckIn](INFO): Running loop #2
2025-03-12T20:38:19.557Z,1741811899.557 [Default:CheckIn] Running Loop=2
2025-03-12T20:38:19.557Z,1741811899.557 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-03-12T20:38:19.557Z,1741811899.557 [Default:CheckIn:Read_GPS] Running Loop=1
2025-03-12T20:38:21.220Z,1741811901.220 [NAL9602](FAULT): GPS failed to acquire within timeout.
2025-03-12T20:38:21.220Z,1741811901.220 [NAL9602] Data Fault, FailCount= 1
2025-03-12T20:38:21.221Z,1741811901.221 [NAL9602](ERROR): Data Fault
2025-03-12T20:38:21.264Z,1741811901.264 [CBIT](ERROR): Data Fault in component: NAL9602
2025-03-12T20:38:21.570Z,1741811901.570 [NAL9602](INFO): Powering down
2025-03-12T20:38:22.411Z,1741811902.411 [CBIT](INFO): Clearing failed state for component NAL9602
2025-03-12T20:38:22.411Z,1741811902.411 [NAL9602] No Fault, FailCount= 1
2025-03-12T20:38:33.182Z,1741811913.182 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T20:38:37.199Z,1741811917.199 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.251530
2025-03-12T20:38:51.862Z,1741811931.862 [NAL9602](INFO): Powering up NAL9602
2025-03-12T20:39:02.788Z,1741811942.788 [NAL9602](INFO): NAL9602 initialized
2025-03-12T20:39:08.326Z,1741811948.326 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T20:39:43.466Z,1741811983.466 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T20:40:18.626Z,1741812018.626 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T20:40:31.120Z,1741812031.120 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.004503
2025-03-12T20:40:52.665Z,1741812052.665 [NAL9602](INFO): SBD MO Status=2, MOMSN=18517, MT Status=2, MTMSN=0
2025-03-12T20:40:52.665Z,1741812052.665 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-03-12T20:43:19.752Z,1741812199.752 [Default:CheckIn:Read_GPS](INFO): Timed out from 2025-03-12T20:38:19.6Z
2025-03-12T20:43:19.752Z,1741812199.752 [Default:CheckIn:Read_GPS] Stopped
2025-03-12T20:43:19.753Z,1741812199.753 [Default:CheckIn:Read_Iridium] Running Loop=1
2025-03-12T20:43:27.267Z,1741812207.267 [DataOverHttps](INFO): Sending 39 bytes from file Logs/20250311T232940/Courier0156.lzma
2025-03-12T20:43:28.269Z,1741812208.269 [DataOverHttps](INFO): Moved sent file to Logs/20250311T232940/Courier0156.lzma.bak
2025-03-12T20:43:28.270Z,1741812208.270 [DataOverHttps](INFO): SBD MOMSN=24195810
2025-03-12T20:43:44.476Z,1741812224.476 [DataOverHttps](INFO): Sending 225 bytes from file Logs/20250311T232940/Express0157.lzma
2025-03-12T20:43:45.478Z,1741812225.478 [DataOverHttps](INFO): Moved sent file to Logs/20250311T232940/Express0157.lzma.bak
2025-03-12T20:43:45.478Z,1741812225.478 [DataOverHttps](INFO): SBD MOMSN=24195813
2025-03-12T20:43:46.852Z,1741812226.852 [Default:CheckIn:Read_Iridium] Stopped
2025-03-12T20:43:46.853Z,1741812226.853 [Default:CheckIn:C.Wait] Running Loop=1
2025-03-12T20:43:46.853Z,1741812226.853 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2025-03-12T20:44:05.805Z,1741812245.805 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2025-03-12T20:44:36.501Z,1741812276.501 [NAL9602](INFO): Not Powering down - fast GPS
2025-03-12T20:46:51.188Z,1741812411.188 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.267380
2025-03-12T20:47:32.708Z,1741812452.708 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003882
2025-03-12T20:48:47.440Z,1741812527.440 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2025-03-12T20:48:47.441Z,1741812527.441 [Default:CheckIn:C.Wait] Stopped
2025-03-12T20:48:47.441Z,1741812527.441 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2025-03-12T20:48:47.441Z,1741812527.441 [Default:CheckIn:D] Running Loop=1
2025-03-12T20:48:47.851Z,1741812527.851 [Default:CheckIn:D] Stopped
2025-03-12T20:48:47.852Z,1741812527.852 [Default:CheckIn:E] Running Loop=1
2025-03-12T20:48:48.272Z,1741812528.272 [Default:CheckIn:E](IMPORTANT): Default mission has been running for  29.506480 min 
2025-03-12T20:48:48.272Z,1741812528.272 [Default:CheckIn:E] Stopped
2025-03-12T20:48:48.272Z,1741812528.272 [Default:CheckIn](INFO): Completed Default:CheckIn
2025-03-12T20:48:48.272Z,1741812528.272 [Default:CheckIn] Stopped
2025-03-12T20:48:48.272Z,1741812528.272 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-03-12T20:48:48.273Z,1741812528.273 [Default:CheckIn](INFO): Running loop #3
2025-03-12T20:48:48.273Z,1741812528.273 [Default:CheckIn] Running Loop=3
2025-03-12T20:48:48.273Z,1741812528.273 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-03-12T20:48:48.273Z,1741812528.273 [Default:CheckIn:Read_GPS] Running Loop=1
2025-03-12T20:48:50.266Z,1741812530.266 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,204848.00,A,3647.85788,N,12153.48680,W,0.603,49.72,120325,,,A*4E
2025-03-12T20:48:50.269Z,1741812530.269 [NAL9602](INFO): GPS fix at 20250312T204848: (36.797631, -121.891447)
2025-03-12T20:48:50.281Z,1741812530.281 [UniversalFixResidualReporter](INFO): Fix residual: 78.9 %DT, over the last 1153.8 m. Residual distance 909.8 m at bearing -110.9 degrees. Fix at (36.7976, -121.8914) with 273.7 m made good.
2025-03-12T20:48:50.281Z,1741812530.281 [Default:CheckIn:Read_GPS] Stopped
2025-03-12T20:48:50.281Z,1741812530.281 [Default:CheckIn:Read_Iridium] Running Loop=1
2025-03-12T20:48:57.239Z,1741812537.239 [DataOverHttps](INFO): Sending 81 bytes from file Logs/20250311T232940/Courier0159.lzma
2025-03-12T20:48:58.242Z,1741812538.242 [DataOverHttps](INFO): Moved sent file to Logs/20250311T232940/Courier0159.lzma.bak
2025-03-12T20:48:58.242Z,1741812538.242 [DataOverHttps](INFO): SBD MOMSN=24196808
2025-03-12T20:49:15.172Z,1741812555.172 [DataOverHttps](INFO): Sending 244 bytes from file Logs/20250311T232940/Express0160.lzma
2025-03-12T20:49:16.173Z,1741812556.173 [DataOverHttps](INFO): Moved sent file to Logs/20250311T232940/Express0160.lzma.bak
2025-03-12T20:49:16.174Z,1741812556.174 [DataOverHttps](INFO): SBD MOMSN=24196811
2025-03-12T20:49:17.339Z,1741812557.339 [Default:CheckIn:Read_Iridium] Stopped
2025-03-12T20:49:17.339Z,1741812557.339 [Default:CheckIn:C.Wait] Running Loop=1
2025-03-12T20:49:17.339Z,1741812557.339 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2025-03-12T20:49:20.973Z,1741812560.973 [NAL9602](ERROR): Failed to receive proper response when querying signal strength for MT queue check.
2025-03-12T20:49:21.047Z,1741812561.047 [NAL9602](ERROR): received: 
+CSQ:0

OK517, 2, 0, 0, 0

OK
2025-03-12T20:49:30.654Z,1741812570.654 [BPC1](INFO): Calculating totals. Valid battery stick count: 50. Valid reserve battery stick count: 5.
2025-03-12T20:49:30.658Z,1741812570.658 [BPC1](FAULT): Failed to receive data from 2 sticks prior to timeout. Will not retry this scan cycle. Missing stick IDs are: 21, 24.
2025-03-12T20:51:11.486Z,1741812671.486 [DataOverHttps](IMPORTANT): SBD MTMSN=20250312T205110
2025-03-12T20:51:18.903Z,1741812678.903 [DataOverHttps](INFO): Received command: sched asap "load Science/sci2_noyo_optim.tl;set sci2_noyo_optim.MissionTimeout 1 h;set sci2_noyo_optim.NeedCommsTime 45 min;set sci2_noyo_optim.Depth1 200 m;set sci2_noyo_optim.Depth2 200 m;set sci2_noyo_optim.Depth3 NaN m" 32v8r 1 3
2025-03-12T20:51:18.936Z,1741812678.936 [CommandExec](IMPORTANT): got command schedule asap "load Science/sci2_noyo_optim.tl;set sci2_noyo_optim.MissionTimeout 1 h;set sci2_noyo_optim.NeedCommsTime 45 min;set sci2_noyo_optim.Depth1 200 m;set sci2_noyo_optim.Depth2 200 m;set sci2_noyo_optim.Depth3 NaN m" 32v8r 1 3.000000
2025-03-12T20:51:18.937Z,1741812678.937 [CommandExec](IMPORTANT): Scheduling command #1 of 3 with id=32v8r
2025-03-12T20:51:18.938Z,1741812678.938 [CommandExec](IMPORTANT): Scheduled #18 (#1 of 3 with id='32v8r'): "load Science/sci2_noyo_optim.tl;set sci2_noyo_optim.MissionTimeout 1 h;set sci2_noyo_optim.NeedCommsTime 45 min;set sci2_noyo_optim.Depth1 200 m;set sci2_noyo_optim.Depth2 200 m;set sci2_noyo_optim.Depth3 NaN m", ASAP
2025-03-12T20:51:20.910Z,1741812680.910 [DataOverHttps](IMPORTANT): SBD MTMSN=20250312T205119
2025-03-12T20:51:28.291Z,1741812688.291 [DataOverHttps](INFO): Received command: sched asap "set sci2_noyo_optim.Lat1 36.79612 degree;set sci2_noyo_optim.Lon1 -121.88988 degree;set sci2_noyo_optim.Lat2 36.79784 degree;set sci2_noyo_optim.Lon2 -121.87265 degree;set sci2_noyo_optim.ApproachDepth 10 m" 32v8r 2 3
2025-03-12T20:51:28.300Z,1741812688.300 [CommandExec](IMPORTANT): got command schedule asap "set sci2_noyo_optim.Lat1 36.79612 degree;set sci2_noyo_optim.Lon1 -121.88988 degree;set sci2_noyo_optim.Lat2 36.79784 degree;set sci2_noyo_optim.Lon2 -121.87265 degree;set sci2_noyo_optim.ApproachDepth 10 m" 32v8r 2 3.000000
2025-03-12T20:51:28.300Z,1741812688.300 [CommandExec](IMPORTANT): Scheduling command #2 of 3 with id=32v8r
2025-03-12T20:51:28.301Z,1741812688.301 [CommandExec](IMPORTANT): Scheduled #19 (#2 of 3 with id='32v8r'): "set sci2_noyo_optim.Lat1 36.79612 degree;set sci2_noyo_optim.Lon1 -121.88988 degree;set sci2_noyo_optim.Lat2 36.79784 degree;set sci2_noyo_optim.Lon2 -121.87265 degree;set sci2_noyo_optim.ApproachDepth 10 m", ASAP
2025-03-12T20:51:29.293Z,1741812689.293 [DataOverHttps](IMPORTANT): SBD MTMSN=20250312T205128
2025-03-12T20:51:40.872Z,1741812700.872 [DataOverHttps](INFO): Received command: sched asap "set sci2_noyo_optim.SlowSpeed 0.4 m/s;set sci2_noyo_optim.MinAltitude 10 m;set sci2_noyo_optim.MaxDepth 210 m;set sci2_noyo_optim:PowerOnly.SampleLoad1 1 bool;run" 32v8r 3 3
2025-03-12T20:51:40.896Z,1741812700.896 [CommandExec](IMPORTANT): got command schedule asap "set sci2_noyo_optim.SlowSpeed 0.4 m/s;set sci2_noyo_optim.MinAltitude 10 m;set sci2_noyo_optim.MaxDepth 210 m;set sci2_noyo_optim:PowerOnly.SampleLoad1 1 bool;run" 32v8r 3 3.000000
2025-03-12T20:51:40.896Z,1741812700.896 [CommandExec](IMPORTANT): Scheduling command #3 of 3 with id=32v8r
2025-03-12T20:51:40.897Z,1741812700.897 [CommandExec](IMPORTANT): Scheduled #20 (#3 of 3 with id='32v8r'): "set sci2_noyo_optim.SlowSpeed 0.4 m/s;set sci2_noyo_optim.MinAltitude 10 m;set sci2_noyo_optim.MaxDepth 210 m;set sci2_noyo_optim:PowerOnly.SampleLoad1 1 bool;run", ASAP
2025-03-12T20:51:41.059Z,1741812701.059 [CommandExec](IMPORTANT): got command load ./Missions/Science/sci2_noyo_optim.tl
2025-03-12T20:51:41.060Z,1741812701.060 [MissionManager](INFO): Loading Mission from file: ./Missions/Science/sci2_noyo_optim.tl
2025-03-12T20:51:41.060Z,1741812701.060 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Science/sci2_noyo_optim.tl
2025-03-12T20:51:41.062Z,1741812701.062 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Science/sci2_noyo_optim.tl
2025-03-12T20:51:41.873Z,1741812701.873 [DataOverHttps](IMPORTANT): SBD MTMSN=20250312T205141
2025-03-12T20:51:52.059Z,1741812712.059 [MissionManager](DEBUG): TethyslAPI: ./Missions/Science/sci2_noyo_optim.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Mission Id="sci2_noyo_optim">
    <DefineArg Name="MissionTimeout">
        <Units:hour />
        <Value>2</Value>
    </DefineArg>
    <DefineArg Name="NeedCommsTime">
        <Units:minute />
        <Value>60</Value>
    </DefineArg>
    <DefineArg Name="Depth1">
        <Units:meter />
        <Value>35</Value>
    </DefineArg>
    <DefineArg Name="Depth2">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Depth3">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Depth4">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Depth5">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Depth6">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Depth7">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Depth8">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="DepthPerLeg">
        <False />
    </DefineArg>
    <DefineArg Name="Repeat">
        <Units:count />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="Lat1">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lat2">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lat3">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lat4">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lat5">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lat6">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lat7">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lat8">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lon1">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lon2">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lon3">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lon4">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lon5">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lon6">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lon7">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lon8">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="FastSpeed">
        <Units:meter_per_second />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="ApproachDepth">
        <Units:meter />
        <Value>30</Value>
    </DefineArg>
    <DefineArg Name="ApproachSpeed">
        <Units:meter_per_second />
        <Value>0.7</Value>
    </DefineArg>
    <DefineArg Name="ApproachDepthRate">
        <Units:meter_per_second />
        <Value>0.05</Value>
    </DefineArg>
    <DefineArg Name="ApproachPitchLimit">
        <Units:degree />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="ApproachDepthTimeout">
        <Units:minute />
        <Value>15</Value>
    </DefineArg>
    <DefineArg Name="ApproachSettleTimePreDive">
        <Units:minute />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="ApproachSettleTimePostDive">
        <Units:minute />
        <Value>3</Value>
    </DefineArg>
    <DefineArg Name="kpDepth">
        <Units:radian_per_meter />
        <Value>0.07</Value>
    </DefineArg>
    <DefineArg Name="SlowSpeed">
        <Units:meter_per_second />
        <Value>0.25</Value>
    </DefineArg>
    <DefineArg Name="DepthDeviationSlow">
        <Units:meter />
        <Value>3</Value>
    </DefineArg>
    <DefineArg Name="BuoyancyNeutral">
        <Control:VerticalControl.buoyancyNeutral />
    </DefineArg>
    <DefineArg Name="MassDefault">
        <Control:VerticalControl.massDefault />
    </DefineArg>
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>2</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>50</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:kilometer />
        <Value>2</Value>
    </DefineArg>
    <DefineOutput Name="DiveMode">
        <Units:count />
        <Value>0</Value>
    </DefineOutput>
    <DefineOutput Name="DoingComms">
        <Units:count />
        <Value>0</Value>
    </DefineOutput>
    <DefineOutput Name="InitialDive">
        <Units:count />
        <Value>1</Value>
    </DefineOutput>
    <DefineOutput Name="SettleAtDepth">
        <Units:count />
        <Value>2</Value>
    </DefineOutput>
    <DefineOutput Name="MaintainDepth">
        <Units:count />
        <Value>3</Value>
    </DefineOutput>
    <DefineOutput Name="LegDepth">
        <Arg Name="Depth1" />
    </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="MissionTimeout" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="NeedComms:WaitForPitchUp" />
        <Units:minute />
        <Value>0</Value>
    </Assign>
    <Insert Filename="Insert/BackseatDriver.tl" />
    <Assign>
        <Parallel />
        <Arg Name="BackseatDriver:EnableBackseat" />
        <True />
    </Assign>
    <Insert Filename="Insert/PowerOnly.tl" />
    <Assign>
        <Parallel />
        <Arg Name="PowerOnly:SampleLoad1" />
        <True />
    </Assign>
    <Assign>
        <Sequence />
        <Sensor:MultiRay.lightModeCommand />
        <Units:count />
        <Value>2</Value>
    </Assign>
    <ReadData Strategy="MinError">
        <While>
            <Sensor:MultiRay.loadAtStartup />
        </While>
        <Sensor:MultiRay.lightModeLog />
    </ReadData>
    <Guidance:Buoyancy>
        <Parallel />
        <Setting>
            <Guidance:Buoyancy.position />
            <Arg Name="BuoyancyNeutral" />
        </Setting>
    </Guidance:Buoyancy>
    <Aggregate Id="SurfaceComms">
        <When>
            <Called />
            <Or>
                <Elapsed>
                    <Universal:time_fix />
                </Elapsed>
                <Gt>
                    <Arg Name="NeedCommsTime" />
                </Gt>
            </Or>
        </When>
        <Assign>
            <Sequence />
            <Arg Name="DiveMode" />
            <Arg Name="DoingComms" />
        </Assign>
        <Call RefId="NeedComms" />
        <Assign>
            <Sequence />
            <Arg Name="DiveMode" />
            <Arg Name="InitialDive" />
        </Assign>
    </Aggregate>
    <Aggregate Id="DiveCmd">
        <When>
            <Called />
        </When>
        <Aggregate Id="InitialDive">
            <While>
                <Arg Name="DiveMode" />
                <Eq>
                    <Arg Name="InitialDive" />
                </Eq>
            </While>
            <Aggregate Id="dive">
                <Sequence />
                <Assign>
                    <Parallel />
                    <Control:VerticalControl.pitchLimit />
                    <Arg Name="ApproachPitchLimit" />
                </Assign>
                <Assign>
                    <Parallel />
                    <Control:VerticalControl.kpDepth />
                    <Arg Name="kpDepth" />
                </Assign>
                <Guidance:Mass>
                    <Parallel />
                    <Setting>
                        <Guidance:Mass.position />
                        <Arg Name="MassDefault" />
                    </Setting>
                </Guidance:Mass>
                <Syslog Severity="Info">
                    Waiting for 
                    <Arg Name="ApproachSettleTimePreDive" />
                    <Units:minute />
                    while pumping down to neutral.
                </Syslog>
                <Guidance:Wait>
                    <Sequence />
                    <Setting>
                        <Guidance:Wait.duration />
                        <Arg Name="ApproachSettleTimePreDive" />
                    </Setting>
                </Guidance:Wait>
                <Syslog>
                    Moving to 
                    <Arg Name="ApproachDepth" />
                    <Units:meter />
                </Syslog>
                <Aggregate Id="ApproachDepth">
                    <Sequence />
                    <Guidance:SetSpeed>
                        <Parallel />
                        <Setting>
                            <Guidance:SetSpeed.speed />
                            <Arg Name="ApproachSpeed" />
                        </Setting>
                    </Guidance:SetSpeed>
                    <Guidance:Pitch>
                        <Sequence />
                        <Timeout Duration="ApproachDepthTimeout">
                            <Syslog Severity="Important">
                                Timed out while trying to reach target depth at current depth of 
                                <Universal:depth />
                                <Units:meter />
                            </Syslog>
                            <Guidance:Execute>
                                <Sequence />
                                <Setting>
                                    <Guidance:Execute.command />
                                    <String>stop</String>
                                </Setting>
                            </Guidance:Execute>
                        </Timeout>
                        <Setting>
                            <Guidance:Pitch.depth />
                            <Arg Name="ApproachDepth" />
                        </Setting>
                        <Setting>
                            <Guidance:Pitch.depthRate />
                            <Arg Name="ApproachDepthRate" />
                        </Setting>
                    </Guidance:Pitch>
                </Aggregate>
                <Assign>
                    <Sequence />
                    <Arg Name="DiveMode" />
                    <Arg Name="SettleAtDepth" />
                </Assign>
            </Aggregate>
        </Aggregate>
        <Aggregate Id="SettleAtDepth">
            <While>
                <Arg Name="DiveMode" />
                <Eq>
                    <Arg Name="SettleAtDepth" />
                </Eq>
            </While>
            <Aggregate Id="dive">
                <Sequence />
                <Syslog Severity="Info">
                    Reached 
                    <Universal:depth />
                    <Units:meter />
                    , settling for 
                    <Arg Name="ApproachSettleTimePostDive" />
                    <Units:minute />
                </Syslog>
                <Guidance:Pitch>
                    <Parallel />
                    <Setting>
                        <Guidance:Pitch.depth />
                        <Arg Name="LegDepth" />
                    </Setting>
                </Guidance:Pitch>
                <Guidance:Wait>
                    <Sequence />
                    <Setting>
                        <Guidance:Wait.duration />
                        <Arg Name="ApproachSettleTimePostDive" />
                    </Setting>
                </Guidance:Wait>
                <Assign>
                    <Sequence />
                    <Arg Name="DiveMode" />
                    <Arg Name="MaintainDepth" />
                </Assign>
            </Aggregate>
        </Aggregate>
        <Aggregate Id="MaintainDepth">
            <While>
                <Arg Name="DiveMode" />
                <Eq>
                    <Arg Name="MaintainDepth" />
                </Eq>
                <And>
                    <Universal:depth />
                    <Gt>
                        <Arg Name="LegDepth" />
                        <Add>
                            <Arg Name="DepthDeviationSlow" />
                        </Add>
                    </Gt>
                </And>
                <Or>
                    <Universal:depth />
                    <Lt>
                        <Arg Name="LegDepth" />
                        <Sub>
                            <Arg Name="DepthDeviationSlow" />
                        </Sub>
                    </Lt>
                </Or>
            </While>
            <Aggregate Id="dive">
                <Parallel />
                <Aggregate Id="ThrusterDive">
                    <While>
                        <Arg Name="FastSpeed" />
                        <Gt>
                            <Units:meter_per_second />
                            <Value>0.0</Value>
                        </Gt>
                    </While>
                    <Guidance:Mass>
                        <Parallel />
                        <Setting>
                            <Guidance:Mass.position />
                            <Arg Name="MassDefault" />
                        </Setting>
                    </Guidance:Mass>
                    <Guidance:SetSpeed>
                        <Parallel />
                        <Setting>
                            <Guidance:SetSpeed.speed />
                            <Arg Name="FastSpeed" />
                        </Setting>
                    </Guidance:SetSpeed>
                </Aggregate>
                <Guidance:Pitch>
                    <Parallel />
                    <Setting>
                        <Guidance:Pitch.depth />
                        <Arg Name="LegDepth" />
                    </Setting>
                </Guidance:Pitch>
            </Aggregate>
        </Aggregate>
        <Aggregate Id="MaintainDepthSlow">
            <While>
                <Not>
                    <IsNaN>
                        <Arg Name="SlowSpeed" />
                    </IsNaN>
                </Not>
                <And>
                    <Arg Name="DiveMode" />
                    <Eq>
                        <Arg Name="MaintainDepth" />
                    </Eq>
                </And>
                <And>
                    <Universal:depth />
                    <Le>
                        <Arg Name="LegDepth" />
                        <Add>
                            <Arg Name="DepthDeviationSlow" />
                        </Add>
                    </Le>
                </And>
                <And>
                    <Universal:depth />
                    <Ge>
                        <Arg Name="LegDepth" />
                        <Sub>
                            <Arg Name="DepthDeviationSlow" />
                        </Sub>
                    </Ge>
                </And>
            </While>
            <Guidance:SetSpeed>
                <Parallel />
                <Setting>
                    <Guidance:SetSpeed.speed />
                    <Arg Name="SlowSpeed" />
                </Setting>
            </Guidance:SetSpeed>
            <Assign>
                <Parallel />
                <Control:VerticalControl.depthDeadband />
                <Arg Name="DepthDeviationSlow" />
                <Add>
                    <Units:meter />
                    <Value>3</Value>
                </Add>
            </Assign>
            <Guidance:Buoyancy>
                <Parallel />
                <Setting>
                    <Guidance:Buoyancy.position />
                    <Units:cubic_centimeter />
                    <Value>NaN</Value>
                </Setting>
            </Guidance:Buoyancy>
            <Guidance:Pitch>
                <Parallel />
                <Setting>
                    <Guidance:Pitch.depth />
                    <Arg Name="LegDepth" />
                </Setting>
            </Guidance:Pitch>
        </Aggregate>
    </Aggregate>
    <Call RefId="SurfaceComms" Id="StartingMission" />
    <Aggregate Id="Lap">
        <Sequence Repeat="Repeat" />
        <Aggregate Id="Dive">
            <While>
                <Not>
                    <Arg Name="DiveMode" />
                    <Eq>
                        <Arg Name="DoingComms" />
                    </Eq>
                </Not>
            </While>
            <Call RefId="DiveCmd" />
        </Aggregate>
        <Aggregate Id="DepthByLap">
            <Sequence />
            <Break>
                <Arg Name="DepthPerLeg" />
            </Break>
            <Assign>
                <Sequence />
                <Arg Name="LegDepth" />
                <Arg Name="Depth1" />
            </Assign>
            <Aggregate Id="Wpt1">
                <Sequence />
                <Guidance:Waypoint>
                    <Sequence />
                    <Setting>
                        <Guidance:Waypoint.latitude />
                        <Arg Name="Lat1" />
                    </Setting>
                    <Setting>
                        <Guidance:Waypoint.longitude />
                        <Arg Name="Lon1" />
                    </Setting>
                </Guidance:Waypoint>
            </Aggregate>
            <Aggregate Id="Wpt2">
                <Sequence />
                <Guidance:Waypoint>
                    <Sequence />
                    <Setting>
                        <Guidance:Waypoint.latitude />
                        <Arg Name="Lat2" />
                    </Setting>
                    <Setting>
                        <Guidance:Waypoint.longitude />
                        <Arg Name="Lon2" />
                    </Setting>
                </Guidance:Waypoint>
            </Aggregate>
            <Aggregate Id="Wpt3">
                <Sequence />
                <Guidance:Waypoint>
                    <Sequence />
                    <Setting>
                        <Guidance:Waypoint.latitude />
                        <Arg Name="Lat3" />
                    </Setting>
                    <Setting>
                        <Guidance:Waypoint.longitude />
                        <Arg Name="Lon3" />
                    </Setting>
                </Guidance:Waypoint>
            </Aggregate>
            <Aggregate Id="Wpt4">
                <Sequence />
                <Guidance:Waypoint>
                    <Sequence />
                    <Setting>
                        <Guidance:Waypoint.latitude />
                        <Arg Name="Lat4" />
                    </Setting>
                    <Setting>
                        <Guidance:Waypoint.longitude />
                        <Arg Name="Lon4" />
                    </Setting>
                </Guidance:Waypoint>
            </Aggregate>
            <Aggregate Id="Wpt5">
                <Sequence />
                <Guidance:Waypoint>
                    <Sequence />
                    <Setting>
                        <Guidance:Waypoint.latitude />
                        <Arg Name="Lat5" />
                    </Setting>
                    <Setting>
                        <Guidance:Waypoint.longitude />
                        <Arg Name="Lon5" />
                    </Setting>
                </Guidance:Waypoint>
            </Aggregate>
            <Aggregate Id="Wpt6">
                <Sequence />
                <Guidance:Waypoint>
                    <Sequence />
                    <Setting>
                        <Guidance:Waypoint.latitude />
                        <Arg Name="Lat6" />
                    </Setting>
                    <Setting>
                        <Guidance:Waypoint.longitude />
                        <Arg Name="Lon6" />
                    </Setting>
                </Guidance:Waypoint>
            </Aggregate>
            <Aggregate Id="Wpt7">
                <Sequence />
                <Guidance:Waypoint>
                    <Sequence />
                    <Setting>
                        <Guidance:Waypoint.latitude />
                        <Arg Name="Lat7" />
                    </Setting>
                    <Setting>
                        <Guidance:Waypoint.longitude />
                        <Arg Name="Lon7" />
                    </Setting>
                </Guidance:Waypoint>
            </Aggregate>
            <Aggregate Id="Wpt8">
                <Sequence />
                <Guidance:Waypoint>
                    <Sequence />
                    <Setting>
                        <Guidance:Waypoint.latitude />
                        <Arg Name="Lat8" />
                    </Setting>
                    <Setting>
                        <Guidance:Waypoint.longitude />
                        <Arg Name="Lon8" />
                    </Setting>
                </Guidance:Waypoint>
            </Aggregate>
            <Aggregate Id="Leg2">
                <Sequence />
                <Break>
                    <IsNaN>
                        <Arg Name="Depth2" />
                    </IsNaN>
                </Break>
                <Syslog Severity="Important">
                    Transiting waypoints at depth 
                    <Arg Name="Depth2" />
                    <Units:meter />
                </Syslog>
                <Assign>
                    <Sequence />
                    <Arg Name="LegDepth" />
                    <Arg Name="Depth2" />
                </Assign>
                <Aggregate Id="Wpt1">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat1" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon1" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt2">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat2" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon2" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt3">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat3" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon3" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt4">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat4" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon4" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt5">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat5" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon5" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt6">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat6" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon6" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt7">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat7" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon7" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt8">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat8" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon8" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
            </Aggregate>
            <Aggregate Id="Leg3">
                <Sequence />
                <Break>
                    <IsNaN>
                        <Arg Name="Depth3" />
                    </IsNaN>
                </Break>
                <Syslog Severity="Important">
                    Transiting waypoints at depth 
                    <Arg Name="Depth3" />
                    <Units:meter />
                </Syslog>
                <Assign>
                    <Sequence />
                    <Arg Name="LegDepth" />
                    <Arg Name="Depth3" />
                </Assign>
                <Aggregate Id="Wpt1">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat1" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon1" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt2">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat2" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon2" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt3">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat3" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon3" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt4">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat4" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon4" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt5">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat5" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon5" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt6">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat6" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon6" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt7">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat7" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon7" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt8">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat8" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon8" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
            </Aggregate>
            <Aggregate Id="Leg4">
                <Sequence />
                <Break>
                    <IsNaN>
                        <Arg Name="Depth4" />
                    </IsNaN>
                </Break>
                <Syslog Severity="Important">
                    Transiting waypoints at depth 
                    <Arg Name="Depth4" />
                    <Units:meter />
                </Syslog>
                <Assign>
                    <Sequence />
                    <Arg Name="LegDepth" />
                    <Arg Name="Depth4" />
                </Assign>
                <Aggregate Id="Wpt1">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat1" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon1" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt2">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat2" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon2" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt3">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat3" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon3" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt4">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat4" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon4" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt5">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat5" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon5" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt6">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat6" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon6" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt7">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat7" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon7" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt8">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat8" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon8" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
            </Aggregate>
            <Aggregate Id="Leg5">
                <Sequence />
                <Break>
                    <IsNaN>
                        <Arg Name="Depth5" />
                    </IsNaN>
                </Break>
                <Syslog Severity="Important">
                    Transiting waypoints at depth 
                    <Arg Name="Depth5" />
                    <Units:meter />
                </Syslog>
                <Assign>
                    <Sequence />
                    <Arg Name="LegDepth" />
                    <Arg Name="Depth5" />
                </Assign>
                <Aggregate Id="Wpt1">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat1" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon1" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt2">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat2" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon2" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt3">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat3" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon3" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt4">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat4" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon4" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt5">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat5" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon5" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt6">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat6" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon6" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt7">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat7" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon7" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt8">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat8" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon8" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
            </Aggregate>
            <Aggregate Id="Leg6">
                <Sequence />
                <Break>
                    <IsNaN>
                        <Arg Name="Depth6" />
                    </IsNaN>
                </Break>
                <Syslog Severity="Important">
                    Transiting waypoints at depth 
                    <Arg Name="Depth6" />
                    <Units:meter />
                </Syslog>
                <Assign>
                    <Sequence />
                    <Arg Name="LegDepth" />
                    <Arg Name="Depth6" />
                </Assign>
                <Aggregate Id="Wpt1">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat1" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon1" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt2">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat2" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon2" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt3">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat3" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon3" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt4">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat4" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon4" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt5">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat5" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon5" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt6">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat6" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon6" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt7">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat7" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon7" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt8">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat8" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon8" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
            </Aggregate>
            <Aggregate Id="Leg7">
                <Sequence />
                <Break>
                    <IsNaN>
                        <Arg Name="Depth7" />
                    </IsNaN>
                </Break>
                <Syslog Severity="Important">
                    Transiting waypoints at depth 
                    <Arg Name="Depth7" />
                    <Units:meter />
                </Syslog>
                <Assign>
                    <Sequence />
                    <Arg Name="LegDepth" />
                    <Arg Name="Depth7" />
                </Assign>
                <Aggregate Id="Wpt1">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat1" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon1" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt2">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat2" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon2" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt3">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat3" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon3" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt4">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat4" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon4" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt5">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat5" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon5" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt6">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat6" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon6" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt7">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat7" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon7" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt8">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat8" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon8" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
            </Aggregate>
            <Aggregate Id="Leg8">
                <Sequence />
                <Break>
                    <IsNaN>
                        <Arg Name="Depth8" />
                    </IsNaN>
                </Break>
                <Syslog Severity="Important">
                    Transiting waypoints at depth 
                    <Arg Name="Depth8" />
                    <Units:meter />
                </Syslog>
                <Assign>
                    <Sequence />
                    <Arg Name="LegDepth" />
                    <Arg Name="Depth8" />
                </Assign>
                <Aggregate Id="Wpt1">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat1" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon1" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt2">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat2" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon2" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt3">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat3" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon3" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt4">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat4" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon4" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt5">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat5" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon5" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt6">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat6" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon6" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt7">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat7" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon7" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt8">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat8" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon8" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
            </Aggregate>
        </Aggregate>
        <Aggregate Id="DepthByLeg">
            <Sequence />
            <Break>
                <Not>
                    <Arg Name="DepthPerLeg" />
                </Not>
            </Break>
            <Aggregate Id="Leg1">
                <Sequence />
                <Assign>
                    <Sequence />
                    <Arg Name="LegDepth" />
                    <Arg Name="Depth1" />
                </Assign>
                <Guidance:Waypoint>
                    <Sequence />
                    <Setting>
                        <Guidance:Waypoint.latitude />
                        <Arg Name="Lat1" />
                    </Setting>
                    <Setting>
                        <Guidance:Waypoint.longitude />
                        <Arg Name="Lon1" />
                    </Setting>
                </Guidance:Waypoint>
            </Aggregate>
            <Aggregate Id="Leg2">
                <Sequence />
                <Break>
                    <IsNaN>
                        <Arg Name="Depth2" />
                    </IsNaN>
                </Break>
                <Syslog Severity="Info">
                    Transiting to next waypoint at depth 
                    <Arg Name="Depth2" />
                    <Units:meter />
                </Syslog>
                <Assign>
                    <Sequence />
                    <Arg Name="LegDepth" />
                    <Arg Name="Depth2" />
                </Assign>
                <Aggregate Id="Wpt2">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat2" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon2" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
            </Aggregate>
            <Aggregate Id="Leg3">
                <Sequence />
                <Break>
                    <IsNaN>
                        <Arg Name="Depth3" />
                    </IsNaN>
                </Break>
                <Syslog Severity="Info">
                    Transiting to next waypoint at depth 
                    <Arg Name="Depth3" />
                    <Units:meter />
                </Syslog>
                <Assign>
                    <Sequence />
                    <Arg Name="LegDepth" />
                    <Arg Name="Depth3" />
                </Assign>
                <Aggregate Id="Wpt3">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat3" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon3" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
            </Aggregate>
            <Aggregate Id="Leg4">
                <Sequence />
                <Break>
                    <IsNaN>
                        <Arg Name="Depth4" />
                    </IsNaN>
                </Break>
                <Syslog Severity="Info">
                    Transiting to next waypoint at depth 
                    <Arg Name="Depth4" />
                    <Units:meter />
                </Syslog>
                <Assign>
                    <Sequence />
                    <Arg Name="LegDepth" />
                    <Arg Name="Depth4" />
                </Assign>
                <Aggregate Id="Wpt4">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat4" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon4" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
            </Aggregate>
            <Aggregate Id="Leg5">
                <Sequence />
                <Break>
                    <IsNaN>
                        <Arg Name="Depth5" />
                    </IsNaN>
                </Break>
                <Syslog Severity="Info">
                    Transiting to next waypoint at depth 
                    <Arg Name="Depth5" />
                    <Units:meter />
                </Syslog>
                <Assign>
                    <Sequence />
                    <Arg Name="LegDepth" />
                    <Arg Name="Depth5" />
                </Assign>
                <Aggregate Id="Wpt5">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat5" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon5" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
            </Aggregate>
            <Aggregate Id="Leg6">
                <Sequence />
                <Break>
                    <IsNaN>
                        <Arg Name="Depth6" />
                    </IsNaN>
                </Break>
                <Syslog Severity="Info">
                    Transiting to next waypoint at depth 
                    <Arg Name="Depth6" />
                    <Units:meter />
                </Syslog>
                <Assign>
                    <Sequence />
                    <Arg Name="LegDepth" />
                    <Arg Name="Depth6" />
                </Assign>
                <Aggregate Id="Wpt6">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat6" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon6" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
            </Aggregate>
            <Aggregate Id="Leg7">
                <Sequence />
                <Break>
                    <IsNaN>
                        <Arg Name="Depth7" />
                    </IsNaN>
                </Break>
                <Syslog Severity="Info">
                    Transiting to next waypoint at depth 
                    <Arg Name="Depth7" />
                    <Units:meter />
                </Syslog>
                <Assign>
                    <Sequence />
                    <Arg Name="LegDepth" />
                    <Arg Name="Depth7" />
                </Assign>
                <Aggregate Id="Wpt7">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat7" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon7" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
            </Aggregate>
            <Aggregate Id="Leg8">
                <Sequence />
                <Break>
                    <IsNaN>
                        <Arg Name="Depth8" />
                    </IsNaN>
                </Break>
                <Syslog Severity="Info">
                    Transiting to next waypoint at depth 
                    <Arg Name="Depth8" />
                    <Units:meter />
                </Syslog>
                <Assign>
                    <Sequence />
                    <Arg Name="LegDepth" />
                    <Arg Name="Depth8" />
                </Assign>
                <Aggregate Id="Wpt8">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat8" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon8" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
            </Aggregate>
        </Aggregate>
    </Aggregate>
</Mission>

2025-03-12T20:51:52.129Z,1741812712.129 [MissionManager](INFO): DefineArg sci2_noyo_optim.MissionTimeout = 2.000000 h
2025-03-12T20:51:52.155Z,1741812712.155 [MissionManager](INFO): DefineArg sci2_noyo_optim.NeedCommsTime = 60.000000 min
2025-03-12T20:51:52.158Z,1741812712.158 [MissionManager](INFO): DefineArg sci2_noyo_optim.Depth1 = 35.000000 m
2025-03-12T20:51:52.171Z,1741812712.171 [MissionManager](INFO): DefineArg sci2_noyo_optim.Depth2 = nan m
2025-03-12T20:51:52.197Z,1741812712.197 [MissionManager](INFO): DefineArg sci2_noyo_optim.Depth3 = nan m
2025-03-12T20:51:52.207Z,1741812712.207 [MissionManager](INFO): DefineArg sci2_noyo_optim.Depth4 = nan m
2025-03-12T20:51:52.210Z,1741812712.210 [MissionManager](INFO): DefineArg sci2_noyo_optim.Depth5 = nan m
2025-03-12T20:51:52.224Z,1741812712.224 [MissionManager](INFO): DefineArg sci2_noyo_optim.Depth6 = nan m
2025-03-12T20:51:52.226Z,1741812712.226 [MissionManager](INFO): DefineArg sci2_noyo_optim.Depth7 = nan m
2025-03-12T20:51:52.245Z,1741812712.245 [MissionManager](INFO): DefineArg sci2_noyo_optim.Depth8 = nan m
2025-03-12T20:51:52.247Z,1741812712.247 [MissionManager](INFO): DefineArg sci2_noyo_optim.DepthPerLeg = 0 bool
2025-03-12T20:51:52.257Z,1741812712.257 [MissionManager](INFO): DefineArg sci2_noyo_optim.Repeat = 1.000000 count
2025-03-12T20:51:52.268Z,1741812712.268 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lat1 = nan arcdeg
2025-03-12T20:51:52.270Z,1741812712.270 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lat2 = nan arcdeg
2025-03-12T20:51:52.277Z,1741812712.277 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lat3 = nan arcdeg
2025-03-12T20:51:52.279Z,1741812712.279 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lat4 = nan arcdeg
2025-03-12T20:51:52.293Z,1741812712.293 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lat5 = nan arcdeg
2025-03-12T20:51:52.304Z,1741812712.304 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lat6 = nan arcdeg
2025-03-12T20:51:52.306Z,1741812712.306 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lat7 = nan arcdeg
2025-03-12T20:51:52.316Z,1741812712.316 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lat8 = nan arcdeg
2025-03-12T20:51:52.319Z,1741812712.319 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lon1 = nan arcdeg
2025-03-12T20:51:52.329Z,1741812712.329 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lon2 = nan arcdeg
2025-03-12T20:51:52.338Z,1741812712.338 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lon3 = nan arcdeg
2025-03-12T20:51:52.353Z,1741812712.353 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lon4 = nan arcdeg
2025-03-12T20:51:52.364Z,1741812712.364 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lon5 = nan arcdeg
2025-03-12T20:51:52.366Z,1741812712.366 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lon6 = nan arcdeg
2025-03-12T20:51:52.376Z,1741812712.376 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lon7 = nan arcdeg
2025-03-12T20:51:52.379Z,1741812712.379 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lon8 = nan arcdeg
2025-03-12T20:51:52.389Z,1741812712.389 [MissionManager](INFO): DefineArg sci2_noyo_optim.FastSpeed = 1.000000 m/s
2025-03-12T20:51:52.400Z,1741812712.400 [MissionManager](INFO): DefineArg sci2_noyo_optim.ApproachDepth = 30.000000 m
2025-03-12T20:51:52.402Z,1741812712.402 [MissionManager](INFO): DefineArg sci2_noyo_optim.ApproachSpeed = 0.700000 m/s
2025-03-12T20:51:52.413Z,1741812712.413 [MissionManager](INFO): DefineArg sci2_noyo_optim.ApproachDepthRate = 0.050000 m/s
2025-03-12T20:51:52.428Z,1741812712.428 [MissionManager](INFO): DefineArg sci2_noyo_optim.ApproachPitchLimit = 20.000000 arcdeg
2025-03-12T20:51:52.430Z,1741812712.430 [MissionManager](INFO): DefineArg sci2_noyo_optim.ApproachDepthTimeout = 15.000000 min
2025-03-12T20:51:52.437Z,1741812712.437 [MissionManager](INFO): DefineArg sci2_noyo_optim.ApproachSettleTimePreDive = 1.000000 min
2025-03-12T20:51:52.445Z,1741812712.445 [MissionManager](INFO): DefineArg sci2_noyo_optim.ApproachSettleTimePostDive = 3.000000 min
2025-03-12T20:51:52.464Z,1741812712.464 [MissionManager](INFO): DefineArg sci2_noyo_optim.kpDepth = 0.070000 rad/m
2025-03-12T20:51:52.466Z,1741812712.466 [MissionManager](INFO): DefineArg sci2_noyo_optim.SlowSpeed = 0.250000 m/s
2025-03-12T20:51:52.484Z,1741812712.484 [MissionManager](INFO): DefineArg sci2_noyo_optim.DepthDeviationSlow = 3.000000 m
2025-03-12T20:51:52.487Z,1741812712.487 [MissionManager](INFO): DefineArg sci2_noyo_optim.BuoyancyNeutral = 373.087250 cc
2025-03-12T20:51:52.532Z,1741812712.532 [MissionManager](INFO): DefineArg sci2_noyo_optim.MassDefault = 0.684636 cm
2025-03-12T20:51:52.535Z,1741812712.535 [MissionManager](INFO): DefineArg sci2_noyo_optim.MinAltitude = 2.000000 m
2025-03-12T20:51:52.537Z,1741812712.537 [MissionManager](INFO): DefineArg sci2_noyo_optim.MaxDepth = 50.000000 m
2025-03-12T20:51:52.576Z,1741812712.576 [MissionManager](INFO): DefineArg sci2_noyo_optim.MinOffshore = 2.000000 km
2025-03-12T20:51:52.578Z,1741812712.578 [MissionManager](INFO): DefineOutput sci2_noyo_optim.DiveMode = 0.000000 count
2025-03-12T20:51:52.593Z,1741812712.593 [MissionManager](INFO): DefineOutput sci2_noyo_optim.DoingComms = 0.000000 count
2025-03-12T20:51:52.604Z,1741812712.604 [MissionManager](INFO): DefineOutput sci2_noyo_optim.InitialDive = 1.000000 count
2025-03-12T20:51:52.606Z,1741812712.606 [MissionManager](INFO): DefineOutput sci2_noyo_optim.SettleAtDepth = 2.000000 count
2025-03-12T20:51:52.621Z,1741812712.621 [MissionManager](INFO): DefineOutput sci2_noyo_optim.MaintainDepth = 3.000000 count
2025-03-12T20:51:52.634Z,1741812712.634 [MissionManager](INFO): DefineOutput sci2_noyo_optim.LegDepth = 35.000000 m
2025-03-12T20:51:52.634Z,1741812712.634 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/Science.tl
2025-03-12T20:51:52.635Z,1741812712.635 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/Science.tl
2025-03-12T20:51:52.647Z,1741812712.647 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/Science.tl
2025-03-12T20:51:57.331Z,1741812717.331 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/Science.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="Science">
    <DefineArg Name="PeakDetectChlActive">
        <False />
    </DefineArg>
    <DefineArg Name="EdgeDetectChlActive">
        <False />
    </DefineArg>
    <DefineArg Name="TimeWindowPeakReport">
        <Units:minute />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="HighestChlPeakReportActive">
        <False />
    </DefineArg>
    <DefineArg Name="HighestSaltPeakReportActive">
        <False />
    </DefineArg>
    <DefineArg Name="HighestOilPeakReportActive">
        <False />
    </DefineArg>
    <DefineArg Name="PatchTracking">
        <False />
    </DefineArg>
    <DefineArg Name="FilterWidthHorizontal">
        <Units:count />
        <Value>3</Value>
    </DefineArg>
    <DefineArg Name="NumProfilesSlidingwindow">
        <Units:count />
        <Value>100</Value>
    </DefineArg>
    <DefineArg Name="OffPeakFractionHorizontal">
        <Units:percent />
        <Value>80</Value>
    </DefineArg>
    <DefineArg Name="PeakDetectNO3Active">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectOilActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectFDOMActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectSalinityActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreLMavgROIActive">
        <False />
    </DefineArg>
    <DefineArg Name="EdgeDetectPlanktivoreLMavgROIActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreHMavgROIActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreDiatomsActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreDinoflagellatesActive">
        <False />
    </DefineArg>
    <DefineArg Name="UpwardDerivativeOfTemperatureActive">
        <False />
    </DefineArg>
    <DefineArg Name="EnabledAanderaaO2">
        <Science:Aanderaa_O2.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledNeilBrown">
        <Science:CTD_NeilBrown.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledSeabird">
        <Science:CTD_Seabird.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledWetLabsBB2FL">
        <Science:WetLabsBB2FL.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledWetLabsSeaOWL_UV_A">
        <Science:WetLabsSeaOWL_UV_A.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledWetLabsUBAT">
        <Science:WetLabsUBAT.loadAtStartup />
    </DefineArg>
    <DefineArg Name="LowPassWindowLength">
        <Units:count />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="MedianFilterLen">
        <Units:count />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="ShallowBound">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="DeepBound">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="DepChangeThreshForAttitudeFlip">
        <Units:meter />
        <Value>2.0</Value>
    </DefineArg>
    <DefineArg Name="OffPeakFractionVertical">
        <Units:percent />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="ChlPeakThresh">
        <Units:microgram_per_liter />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="ChlThreshTriggerActive">
        <False />
    </DefineArg>
    <DefineArg Name="ChlLowerThresh">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="ChlUpperThresh">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="NumProfilesThresh">
        <Units:count />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="PlanktivoreLMavgROIPeakThresh">
        <Units:count_per_second />
        <Value>0</Value>
    </DefineArg>
    <DefineOutput Name="GoDown">
        <True />
    </DefineOutput>
    <DefineOutput Name="PeakChl">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChl">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChlDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChlTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChlLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChlLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3">
        <Units:micromole_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3Depth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3Latitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3Longitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOil">
        <Units:kilogram_per_cubic_meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOilDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOilLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOilLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOM">
        <Units:part_per_billion />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSalt">
        <Units:practical_salinity_unit />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROI">
        <Units:count_per_second />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROIDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROITemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROILatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROILongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROI">
        <Units:count_per_second />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROIDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROITemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROILatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROILongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROI">
        <Units:count_per_second />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROIDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROITemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROILatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROILongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatoms">
        <Units:count_per_milliliter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellates">
        <Units:count_per_milliliter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChl">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlDistance">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSalt">
        <Units:practical_salinity_unit />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltDistance">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOil">
        <Units:practical_salinity_unit />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilDistance">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="TriggeredOnChl">
        <False />
    </DefineOutput>
    <DefineOutput Name="ChlTriggering">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <Parallel />
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledAanderaaO2" />
        </While>
        <Universal:mass_concentration_of_oxygen_in_sea_water />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledNeilBrown" />
            <Or>
                <Arg Name="EnabledSeabird" />
            </Or>
        </While>
        <Universal:sea_water_temperature />
        <Universal:sea_water_salinity />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledSeabird" />
        </While>
        <Science:CTD_Seabird.sea_water_temperature />
        <Science:CTD_Seabird.sea_water_salinity />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledNeilBrown" />
            <Or>
                <Arg Name="EnabledSeabird" />
            </Or>
            <And>
                <Arg Name="UpwardDerivativeOfTemperatureActive" />
            </And>
        </While>
        <Universal:upward_derivative_of_sea_water_temperature />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledWetLabsBB2FL" />
            <Or>
                <Arg Name="PeakDetectChlActive" />
            </Or>
        </While>
        <Universal:mass_concentration_of_chlorophyll_in_sea_water />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledWetLabsUBAT" />
        </While>
        <Science:WetLabsUBAT.average_bioluminescence />
    </ReadData>
    <ReadData Id="Read_Oil" Strategy="MinError">
        <While>
            <Arg Name="EnabledWetLabsSeaOWL_UV_A" />
            <Or>
                <Arg Name="PeakDetectOilActive" />
            </Or>
        </While>
        <Universal:mass_concentration_of_petroleum_hydrocarbons_in_sea_water />
    </ReadData>
    <Aggregate Id="OceanCurrent">
        <Sequence />
        <Estimation:CurrentEstimator>
            <Parallel />
        </Estimation:CurrentEstimator>
    </Aggregate>
    <Aggregate Id="PeakDetectChl">
        <While>
            <Arg Name="PeakDetectChlActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:mass_concentration_of_chlorophyll_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakChl">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakChlDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakChlTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakChlLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakChlLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakChl" />
            <Arg Name="PeakChlDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="EdgeDetectChl">
        <While>
            <Arg Name="EdgeDetectChlActive" />
        </While>
        <Syslog Severity="Debug">EdgeDetectVsDepth</Syslog>
        <Trigger:EdgeDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:EdgeDetectVsDepth.detect />
                <Universal:mass_concentration_of_chlorophyll_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFraction />
                <Arg Name="OffPeakFractionVertical" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.peakThresh />
                <Arg Name="ChlPeakThresh" />
            </Setting>
            <OutputArg Name="GoDown">
                <Trigger:EdgeDetectVsDepth.goDown />
            </OutputArg>
            <OutputArg Name="PeakChl">
                <Trigger:EdgeDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakChlDepth">
                <Trigger:EdgeDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakChlTemperature">
                <Trigger:EdgeDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakChlLatitude">
                <Trigger:EdgeDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakChlLongitude">
                <Trigger:EdgeDetectVsDepth.peakLongitude />
            </OutputArg>
            <OutputArg Name="EdgeChl">
                <Trigger:EdgeDetectVsDepth.edgeDetect />
            </OutputArg>
            <OutputArg Name="EdgeChlDepth">
                <Trigger:EdgeDetectVsDepth.edgeDepth />
            </OutputArg>
            <OutputArg Name="EdgeChlTemperature">
                <Trigger:EdgeDetectVsDepth.edgeTemperature />
            </OutputArg>
            <OutputArg Name="EdgeChlLatitude">
                <Trigger:EdgeDetectVsDepth.edgeLatitude />
            </OutputArg>
            <OutputArg Name="EdgeChlLongitude">
                <Trigger:EdgeDetectVsDepth.edgeLongitude />
            </OutputArg>
        </Trigger:EdgeDetectVsDepth>
        <Syslog Severity="Info">
            GoDown, ChlPeakThresh, PeakChl, PeakChlDepth, EdgeChl, EdgeChlDepth = 
            <Arg Name="GoDown" />
            <Units:bool />
            , 
            <Arg Name="ChlPeakThresh" />
            <Units:microgram_per_liter />
            , 
            <Arg Name="PeakChl" />
            <Units:microgram_per_liter />
            , 
            <Arg Name="PeakChlDepth" />
            <Units:meter />
            , 
            <Arg Name="EdgeChl" />
            <Units:microgram_per_liter />
            , 
            <Arg Name="EdgeChlDepth" />
            <Units:meter />
        </Syslog>
        <SendData Service="Express">
            <Arg Name="PeakChl" />
            <Arg Name="PeakChlDepth" />
            <Arg Name="EdgeChl" />
            <Arg Name="EdgeChlDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="HighestChlPeakReport">
        <While>
            <Arg Name="HighestChlPeakReportActive" />
        </While>
        <Trigger:PeakDetectHorizontal>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectHorizontal.detectFrom />
                <Arg Name="PeakChl" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.depthFrom />
                <Arg Name="PeakChlDepth" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.latitudeFrom />
                <Arg Name="PeakChlLatitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.longitudeFrom />
                <Arg Name="PeakChlLongitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.patchTracking />
                <Arg Name="PatchTracking" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.filterWidth />
                <Arg Name="FilterWidthHorizontal" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.numProfilesSlidingwindow />
                <Arg Name="NumProfilesSlidingwindow" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.offPeakFraction />
                <Arg Name="OffPeakFractionHorizontal" />
            </Setting>
            <OutputArg Name="PatchChl">
                <Trigger:PeakDetectHorizontal.peakDetect />
            </OutputArg>
            <OutputArg Name="PatchChlDepth">
                <Trigger:PeakDetectHorizontal.peakDepth />
            </OutputArg>
            <OutputArg Name="PatchChlLatitude">
                <Trigger:PeakDetectHorizontal.peakLatitude />
            </OutputArg>
            <OutputArg Name="PatchChlLongitude">
                <Trigger:PeakDetectHorizontal.peakLongitude />
            </OutputArg>
            <OutputArg Name="PatchChlDistance">
                <Trigger:PeakDetectHorizontal.peakDistance />
            </OutputArg>
        </Trigger:PeakDetectHorizontal>
    </Aggregate>
    <Aggregate Id="PeakDetectNO3">
        <While>
            <Arg Name="PeakDetectNO3Active" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:mole_concentration_of_nitrate_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <OutputArg Name="PeakNO3">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakNO3Depth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakNO3Latitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakNO3Longitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakNO3" />
            <Arg Name="PeakNO3Depth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectOil">
        <While>
            <Arg Name="PeakDetectOilActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:mass_concentration_of_petroleum_hydrocarbons_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <OutputArg Name="PeakOil">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakOilDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakOilLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakOilLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakOil" />
            <Arg Name="PeakOilDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="HighestOilPeakReport">
        <While>
            <Arg Name="HighestOilPeakReportActive" />
        </While>
        <Trigger:PeakDetectHorizontal>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectHorizontal.detectFrom />
                <Arg Name="PeakOil" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.depthFrom />
                <Arg Name="PeakOilDepth" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.latitudeFrom />
                <Arg Name="PeakOilLatitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.longitudeFrom />
                <Arg Name="PeakOilLongitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.patchTracking />
                <Arg Name="PatchTracking" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.filterWidth />
                <Arg Name="FilterWidthHorizontal" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.numProfilesSlidingwindow />
                <Arg Name="NumProfilesSlidingwindow" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.offPeakFraction />
                <Arg Name="OffPeakFractionHorizontal" />
            </Setting>
            <OutputArg Name="PatchOil">
                <Trigger:PeakDetectHorizontal.peakDetect />
            </OutputArg>
            <OutputArg Name="PatchOilDepth">
                <Trigger:PeakDetectHorizontal.peakDepth />
            </OutputArg>
            <OutputArg Name="PatchOilLatitude">
                <Trigger:PeakDetectHorizontal.peakLatitude />
            </OutputArg>
            <OutputArg Name="PatchOilLongitude">
                <Trigger:PeakDetectHorizontal.peakLongitude />
            </OutputArg>
            <OutputArg Name="PatchOilDistance">
                <Trigger:PeakDetectHorizontal.peakDistance />
            </OutputArg>
        </Trigger:PeakDetectHorizontal>
    </Aggregate>
    <Aggregate Id="PeakDetectFDOM">
        <While>
            <Arg Name="PeakDetectFDOMActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:concentration_of_colored_dissolved_organic_matter_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <OutputArg Name="PeakFDOM">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakFDOMDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakFDOMTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakFDOMLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakFDOMLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakFDOM" />
            <Arg Name="PeakFDOMDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectSalinity">
        <While>
            <Arg Name="PeakDetectSalinityActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:sea_water_salinity />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakSalt">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakSaltDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakSaltTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakSaltLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakSaltLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakSalt" />
            <Arg Name="PeakSaltDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="HighestSaltPeakReport">
        <While>
            <Arg Name="HighestSaltPeakReportActive" />
        </While>
        <Trigger:PeakDetectHorizontal>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectHorizontal.detectFrom />
                <Arg Name="PeakSalt" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.depthFrom />
                <Arg Name="PeakSaltDepth" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.latitudeFrom />
                <Arg Name="PeakSaltLatitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.longitudeFrom />
                <Arg Name="PeakSaltLongitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.patchTracking />
                <Arg Name="PatchTracking" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.filterWidth />
                <Arg Name="FilterWidthHorizontal" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.numProfilesSlidingwindow />
                <Arg Name="NumProfilesSlidingwindow" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.offPeakFraction />
                <Arg Name="OffPeakFractionHorizontal" />
            </Setting>
            <OutputArg Name="PatchSalt">
                <Trigger:PeakDetectHorizontal.peakDetect />
            </OutputArg>
            <OutputArg Name="PatchSaltDepth">
                <Trigger:PeakDetectHorizontal.peakDepth />
            </OutputArg>
            <OutputArg Name="PatchSaltLatitude">
                <Trigger:PeakDetectHorizontal.peakLatitude />
            </OutputArg>
            <OutputArg Name="PatchSaltLongitude">
                <Trigger:PeakDetectHorizontal.peakLongitude />
            </OutputArg>
            <OutputArg Name="PatchSaltDistance">
                <Trigger:PeakDetectHorizontal.peakDistance />
            </OutputArg>
        </Trigger:PeakDetectHorizontal>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreLMavgROI">
        <While>
            <Arg Name="PeakDetectPlanktivoreLMavgROIActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_LM_AvgRois</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreLMavgROI">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROIDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROITemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROILatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROILongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreLMavgROI" />
            <Arg Name="PeakPlanktivoreLMavgROIDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="EdgeDetectPlanktivoreLMavgROI">
        <While>
            <Arg Name="EdgeDetectPlanktivoreLMavgROIActive" />
        </While>
        <Syslog Severity="Debug">EdgeDetectVsDepth</Syslog>
        <Trigger:EdgeDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:EdgeDetectVsDepth.detect />
                <String>_.planktivore_LM_AvgRois</String>
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFraction />
                <Arg Name="OffPeakFractionVertical" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.peakThresh />
                <Arg Name="PlanktivoreLMavgROIPeakThresh" />
            </Setting>
            <OutputArg Name="GoDown">
                <Trigger:EdgeDetectVsDepth.goDown />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROI">
                <Trigger:EdgeDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROIDepth">
                <Trigger:EdgeDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROITemperature">
                <Trigger:EdgeDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROILatitude">
                <Trigger:EdgeDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROILongitude">
                <Trigger:EdgeDetectVsDepth.peakLongitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROI">
                <Trigger:EdgeDetectVsDepth.edgeDetect />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROIDepth">
                <Trigger:EdgeDetectVsDepth.edgeDepth />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROITemperature">
                <Trigger:EdgeDetectVsDepth.edgeTemperature />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROILatitude">
                <Trigger:EdgeDetectVsDepth.edgeLatitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROILongitude">
                <Trigger:EdgeDetectVsDepth.edgeLongitude />
            </OutputArg>
        </Trigger:EdgeDetectVsDepth>
        <Syslog Severity="Important">
            GoDown, PlanktivoreLMavgROIPeakThresh, PeakPlanktivoreLMavgROI, PeakPlanktivoreLMavgROIDepth, EdgePlanktivoreLMavgROI, EdgePlanktivoreLMavgROIDepth = 
            <Arg Name="GoDown" />
            <Units:bool />
            , 
            <Arg Name="PlanktivoreLMavgROIPeakThresh" />
            <Units:microgram_per_liter />
            , 
            <Arg Name="PeakPlanktivoreLMavgROI" />
            <Units:microgram_per_liter />
            , 
            <Arg Name="PeakPlanktivoreLMavgROIDepth" />
            <Units:meter />
            , 
            <Arg Name="EdgePlanktivoreLMavgROI" />
            <Units:microgram_per_liter />
            , 
            <Arg Name="EdgePlanktivoreLMavgROIDepth" />
            <Units:meter />
        </Syslog>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreLMavgROI" />
            <Arg Name="PeakPlanktivoreLMavgROIDepth" />
            <Arg Name="EdgePlanktivoreLMavgROI" />
            <Arg Name="EdgePlanktivoreLMavgROIDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreHMavgROI">
        <While>
            <Arg Name="PeakDetectPlanktivoreHMavgROIActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_HM_AvgRois</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreHMavgROI">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROIDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROITemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROILatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROILongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreHMavgROI" />
            <Arg Name="PeakPlanktivoreHMavgROIDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreDiatoms">
        <While>
            <Arg Name="PeakDetectPlanktivoreDiatomsActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_diatoms</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreDiatoms">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreDiatoms" />
            <Arg Name="PeakPlanktivoreDiatomsDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreDinoflagellates">
        <While>
            <Arg Name="PeakDetectPlanktivoreDinoflagellatesActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_dinoflagellates</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreDinoflagellates">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreDinoflagellates" />
            <Arg Name="PeakPlanktivoreDinoflagellatesDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="ChlThreshTrigger">
        <While>
            <Arg Name="ChlThreshTriggerActive" />
        </While>
        <Trigger:ValueDetect>
            <Sequence />
            <Setting>
                <Trigger:ValueDetect.detect />
                <Arg Name="PeakChl" />
            </Setting>
            <Setting>
                <Trigger:ValueDetect.lowerThreshold />
                <Arg Name="ChlLowerThresh" />
            </Setting>
            <Setting>
                <Trigger:ValueDetect.upperThreshold />
                <Arg Name="ChlUpperThresh" />
            </Setting>
            <Setting>
                <Trigger:ValueDetect.numProfilesThreshold />
                <Arg Name="NumProfilesThresh" />
            </Setting>
            <OutputArg Name="ChlTriggering">
                <Trigger:ValueDetect.outputValue />
            </OutputArg>
        </Trigger:ValueDetect>
        <Assign>
            <Sequence />
            <Arg Name="TriggeredOnChl" />
            <True />
        </Assign>
        <Syslog Severity="Important">
            Triggered. PeakChl values on 
            <Arg Name="NumProfilesThresh" />
            <Units:count />
             consecutive yo-yo profiles fall in [
            <Arg Name="ChlLowerThresh" />
            <Units:microgram_per_liter />
            <Arg Name="ChlUpperThresh" />
            <Units:microgram_per_liter />
            ] (NaN bound is ignored).
        </Syslog>
    </Aggregate>
</Aggregate>

2025-03-12T20:51:57.438Z,1741812717.438 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.PeakDetectChlActive = 0 bool
2025-03-12T20:51:57.442Z,1741812717.442 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.EdgeDetectChlActive = 0 bool
2025-03-12T20:51:57.452Z,1741812717.452 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.TimeWindowPeakReport = nan min
2025-03-12T20:51:57.454Z,1741812717.454 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.HighestChlPeakReportActive = 0 bool
2025-03-12T20:51:57.461Z,1741812717.461 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.HighestSaltPeakReportActive = 0 bool
2025-03-12T20:51:57.465Z,1741812717.465 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.HighestOilPeakReportActive = 0 bool
2025-03-12T20:51:57.467Z,1741812717.467 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.PatchTracking = 0 bool
2025-03-12T20:51:57.469Z,1741812717.469 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.FilterWidthHorizontal = 3.000000 count
2025-03-12T20:51:57.472Z,1741812717.472 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.NumProfilesSlidingwindow = 100.000000 count
2025-03-12T20:51:57.474Z,1741812717.474 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.OffPeakFractionHorizontal = 80.000000 %
2025-03-12T20:51:57.489Z,1741812717.489 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.PeakDetectNO3Active = 0 bool
2025-03-12T20:51:57.491Z,1741812717.491 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.PeakDetectOilActive = 0 bool
2025-03-12T20:51:57.497Z,1741812717.497 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.PeakDetectFDOMActive = 0 bool
2025-03-12T20:51:57.499Z,1741812717.499 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.PeakDetectSalinityActive = 0 bool
2025-03-12T20:51:57.505Z,1741812717.505 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.PeakDetectPlanktivoreLMavgROIActive = 0 bool
2025-03-12T20:51:57.511Z,1741812717.511 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.EdgeDetectPlanktivoreLMavgROIActive = 0 bool
2025-03-12T20:51:57.513Z,1741812717.513 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.PeakDetectPlanktivoreHMavgROIActive = 0 bool
2025-03-12T20:51:57.520Z,1741812717.520 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.PeakDetectPlanktivoreDiatomsActive = 0 bool
2025-03-12T20:51:57.522Z,1741812717.522 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.PeakDetectPlanktivoreDinoflagellatesActive = 0 bool
2025-03-12T20:51:57.524Z,1741812717.524 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2025-03-12T20:51:57.531Z,1741812717.531 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.EnabledAanderaaO2 = 0 bool
2025-03-12T20:51:57.534Z,1741812717.534 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.EnabledNeilBrown = 0 bool
2025-03-12T20:51:57.541Z,1741812717.541 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.EnabledSeabird = 1 bool
2025-03-12T20:51:57.544Z,1741812717.544 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.EnabledWetLabsBB2FL = 1 bool
2025-03-12T20:51:57.546Z,1741812717.546 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.EnabledWetLabsSeaOWL_UV_A = 0 bool
2025-03-12T20:51:57.561Z,1741812717.561 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.EnabledWetLabsUBAT = 0 bool
2025-03-12T20:51:57.568Z,1741812717.568 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.LowPassWindowLength = 20.000000 count
2025-03-12T20:51:57.570Z,1741812717.570 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.MedianFilterLen = 5.000000 count
2025-03-12T20:51:57.581Z,1741812717.581 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.ShallowBound = nan m
2025-03-12T20:51:57.588Z,1741812717.588 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.DeepBound = nan m
2025-03-12T20:51:57.590Z,1741812717.590 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.DepChangeThreshForAttitudeFlip = 2.000000 m
2025-03-12T20:51:57.602Z,1741812717.602 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.OffPeakFractionVertical = nan %
2025-03-12T20:51:57.618Z,1741812717.618 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.ChlPeakThresh = 0.000000 ug/l
2025-03-12T20:51:57.620Z,1741812717.620 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.ChlThreshTriggerActive = 0 bool
2025-03-12T20:51:57.622Z,1741812717.622 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.ChlLowerThresh = nan ug/l
2025-03-12T20:51:57.624Z,1741812717.624 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.ChlUpperThresh = nan ug/l
2025-03-12T20:51:57.626Z,1741812717.626 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.NumProfilesThresh = 5.000000 count
2025-03-12T20:51:57.644Z,1741812717.644 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.PlanktivoreLMavgROIPeakThresh = 0.000000 count/s
2025-03-12T20:51:57.646Z,1741812717.646 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.GoDown = 1 bool
2025-03-12T20:51:57.649Z,1741812717.649 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakChl = nan ug/l
2025-03-12T20:51:57.666Z,1741812717.666 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakChlDepth = nan m
2025-03-12T20:51:57.669Z,1741812717.669 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakChlTemperature = nan degC
2025-03-12T20:51:57.682Z,1741812717.682 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakChlLatitude = nan arcdeg
2025-03-12T20:51:57.685Z,1741812717.685 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakChlLongitude = nan arcdeg
2025-03-12T20:51:57.698Z,1741812717.698 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.EdgeChl = nan ug/l
2025-03-12T20:51:57.701Z,1741812717.701 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.EdgeChlDepth = nan m
2025-03-12T20:51:57.703Z,1741812717.703 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.EdgeChlTemperature = nan degC
2025-03-12T20:51:57.706Z,1741812717.706 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.EdgeChlLatitude = nan arcdeg
2025-03-12T20:51:57.731Z,1741812717.731 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.EdgeChlLongitude = nan arcdeg
2025-03-12T20:51:57.734Z,1741812717.734 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakNO3 = nan umol/l
2025-03-12T20:51:57.736Z,1741812717.736 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakNO3Depth = nan m
2025-03-12T20:51:57.738Z,1741812717.738 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakNO3Latitude = nan arcdeg
2025-03-12T20:51:57.763Z,1741812717.763 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakNO3Longitude = nan arcdeg
2025-03-12T20:51:57.765Z,1741812717.765 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakOil = nan kg/m3
2025-03-12T20:51:57.767Z,1741812717.767 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakOilDepth = nan m
2025-03-12T20:51:57.770Z,1741812717.770 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakOilLatitude = nan arcdeg
2025-03-12T20:51:57.788Z,1741812717.788 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakOilLongitude = nan arcdeg
2025-03-12T20:51:57.790Z,1741812717.790 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakFDOM = nan ppb
2025-03-12T20:51:57.837Z,1741812717.837 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakFDOMDepth = nan m
2025-03-12T20:51:57.852Z,1741812717.852 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakFDOMTemperature = nan degC
2025-03-12T20:51:57.854Z,1741812717.854 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakFDOMLatitude = nan arcdeg
2025-03-12T20:51:57.872Z,1741812717.872 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakFDOMLongitude = nan arcdeg
2025-03-12T20:51:57.874Z,1741812717.874 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakSalt = nan psu
2025-03-12T20:51:57.893Z,1741812717.893 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakSaltDepth = nan m
2025-03-12T20:51:57.908Z,1741812717.908 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakSaltTemperature = nan degC
2025-03-12T20:51:57.910Z,1741812717.910 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakSaltLatitude = nan arcdeg
2025-03-12T20:51:57.913Z,1741812717.913 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakSaltLongitude = nan arcdeg
2025-03-12T20:51:57.915Z,1741812717.915 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreLMavgROI = nan count/s
2025-03-12T20:51:57.934Z,1741812717.934 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreLMavgROIDepth = nan m
2025-03-12T20:51:57.937Z,1741812717.937 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreLMavgROITemperature = nan degC
2025-03-12T20:51:57.952Z,1741812717.952 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreLMavgROILatitude = nan arcdeg
2025-03-12T20:51:57.954Z,1741812717.954 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreLMavgROILongitude = nan arcdeg
2025-03-12T20:51:57.961Z,1741812717.961 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.EdgePlanktivoreLMavgROI = nan count/s
2025-03-12T20:51:57.967Z,1741812717.967 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.EdgePlanktivoreLMavgROIDepth = nan m
2025-03-12T20:51:57.970Z,1741812717.970 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.EdgePlanktivoreLMavgROITemperature = nan degC
2025-03-12T20:51:57.974Z,1741812717.974 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.EdgePlanktivoreLMavgROILatitude = nan arcdeg
2025-03-12T20:51:57.989Z,1741812717.989 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.EdgePlanktivoreLMavgROILongitude = nan arcdeg
2025-03-12T20:51:57.996Z,1741812717.996 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreHMavgROI = nan count/s
2025-03-12T20:51:57.999Z,1741812717.999 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreHMavgROIDepth = nan m
2025-03-12T20:51:58.009Z,1741812718.009 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreHMavgROITemperature = nan degC
2025-03-12T20:51:58.014Z,1741812718.014 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreHMavgROILatitude = nan arcdeg
2025-03-12T20:51:58.029Z,1741812718.029 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreHMavgROILongitude = nan arcdeg
2025-03-12T20:51:58.036Z,1741812718.036 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreDiatoms = nan count/ml
2025-03-12T20:51:58.041Z,1741812718.041 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreDiatomsDepth = nan m
2025-03-12T20:51:58.043Z,1741812718.043 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreDiatomsTemperature = nan degC
2025-03-12T20:51:58.045Z,1741812718.045 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreDiatomsLatitude = nan arcdeg
2025-03-12T20:51:58.048Z,1741812718.048 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreDiatomsLongitude = nan arcdeg
2025-03-12T20:51:58.050Z,1741812718.050 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreDinoflagellates = nan count/ml
2025-03-12T20:51:58.061Z,1741812718.061 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreDinoflagellatesDepth = nan m
2025-03-12T20:51:58.068Z,1741812718.068 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreDinoflagellatesTemperature = nan degC
2025-03-12T20:51:58.070Z,1741812718.070 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreDinoflagellatesLatitude = nan arcdeg
2025-03-12T20:51:58.079Z,1741812718.079 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreDinoflagellatesLongitude = nan arcdeg
2025-03-12T20:51:58.105Z,1741812718.105 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchChl = nan ug/l
2025-03-12T20:51:58.115Z,1741812718.115 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchChlDepth = nan m
2025-03-12T20:51:58.118Z,1741812718.118 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchChlLatitude = nan arcdeg
2025-03-12T20:51:58.123Z,1741812718.123 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchChlLongitude = nan arcdeg
2025-03-12T20:51:58.134Z,1741812718.134 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchChlDistance = nan m
2025-03-12T20:51:58.140Z,1741812718.140 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchSalt = nan psu
2025-03-12T20:51:58.143Z,1741812718.143 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchSaltDepth = nan m
2025-03-12T20:51:58.157Z,1741812718.157 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchSaltLatitude = nan arcdeg
2025-03-12T20:51:58.164Z,1741812718.164 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchSaltLongitude = nan arcdeg
2025-03-12T20:51:58.166Z,1741812718.166 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchSaltDistance = nan m
2025-03-12T20:51:58.173Z,1741812718.173 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchOil = nan psu
2025-03-12T20:51:58.184Z,1741812718.184 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchOilDepth = nan m
2025-03-12T20:51:58.187Z,1741812718.187 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchOilLatitude = nan arcdeg
2025-03-12T20:51:58.194Z,1741812718.194 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchOilLongitude = nan arcdeg
2025-03-12T20:51:58.239Z,1741812718.239 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchOilDistance = nan m
2025-03-12T20:51:58.245Z,1741812718.245 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.TriggeredOnChl = 0 bool
2025-03-12T20:51:58.264Z,1741812718.264 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.ChlTriggering = nan ug/l
2025-03-12T20:51:58.311Z,1741812718.311 [sci2_noyo_optim:Science:PeakDetectChl:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-03-12T20:51:58.344Z,1741812718.344 [sci2_noyo_optim:Science:EdgeDetectChl:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-03-12T20:51:58.426Z,1741812718.426 [sci2_noyo_optim:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-03-12T20:51:58.469Z,1741812718.469 [sci2_noyo_optim:Science:PeakDetectNO3:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-03-12T20:51:58.502Z,1741812718.502 [sci2_noyo_optim:Science:PeakDetectOil:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-03-12T20:51:58.529Z,1741812718.529 [sci2_noyo_optim:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-03-12T20:51:58.557Z,1741812718.557 [sci2_noyo_optim:Science:PeakDetectFDOM:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-03-12T20:51:58.632Z,1741812718.632 [sci2_noyo_optim:Science:PeakDetectSalinity:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-03-12T20:51:58.666Z,1741812718.666 [sci2_noyo_optim:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-03-12T20:51:58.698Z,1741812718.698 [sci2_noyo_optim:Science:PeakDetectPlanktivoreLMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-03-12T20:51:58.728Z,1741812718.728 [sci2_noyo_optim:Science:EdgeDetectPlanktivoreLMavgROI:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-03-12T20:51:58.770Z,1741812718.770 [sci2_noyo_optim:Science:PeakDetectPlanktivoreHMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-03-12T20:51:58.791Z,1741812718.791 [sci2_noyo_optim:Science:PeakDetectPlanktivoreDiatoms:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-03-12T20:51:58.819Z,1741812718.819 [sci2_noyo_optim:Science:PeakDetectPlanktivoreDinoflagellates:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-03-12T20:51:58.834Z,1741812718.834 [sci2_noyo_optim:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Construct ValueDetect.
2025-03-12T20:51:58.841Z,1741812718.841 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-03-12T20:51:58.841Z,1741812718.841 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-03-12T20:51:58.842Z,1741812718.842 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-03-12T20:51:58.925Z,1741812718.925 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/StandardEnvelopes.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="StandardEnvelopes">
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="MaxDepthIgnore">
        <Units:meter />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>200</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:meter />
        <Value>2000</Value>
    </DefineArg>
    <Parallel />
    <Guidance:AltitudeEnvelope>
        <Parallel />
        <Setting>
            <Guidance:AltitudeEnvelope.minAltitude />
            <Arg Name="MinAltitude" />
        </Setting>
        <Setting>
            <Guidance:AltitudeEnvelope.maxDepthIgnore />
            <Arg Name="MaxDepthIgnore" />
        </Setting>
    </Guidance:AltitudeEnvelope>
    <Guidance:DepthEnvelope>
        <Parallel />
        <Setting>
            <Guidance:DepthEnvelope.maxDepth />
            <Arg Name="MaxDepth" />
        </Setting>
    </Guidance:DepthEnvelope>
    <Guidance:OffshoreEnvelope>
        <Parallel />
        <Setting>
            <Guidance:OffshoreEnvelope.minOffshore />
            <Arg Name="MinOffshore" />
        </Setting>
    </Guidance:OffshoreEnvelope>
</Aggregate>

2025-03-12T20:51:58.929Z,1741812718.929 [MissionManager](INFO): DefineArg sci2_noyo_optim:StandardEnvelopes.MinAltitude = 5.000000 m
2025-03-12T20:51:58.931Z,1741812718.931 [MissionManager](INFO): DefineArg sci2_noyo_optim:StandardEnvelopes.MaxDepthIgnore = 0.000000 m
2025-03-12T20:51:58.934Z,1741812718.934 [MissionManager](INFO): DefineArg sci2_noyo_optim:StandardEnvelopes.MaxDepth = 200.000000 m
2025-03-12T20:51:58.936Z,1741812718.936 [MissionManager](INFO): DefineArg sci2_noyo_optim:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-03-12T20:51:58.937Z,1741812718.937 [sci2_noyo_optim:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-03-12T20:51:58.943Z,1741812718.943 [sci2_noyo_optim:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-03-12T20:51:58.950Z,1741812718.950 [sci2_noyo_optim:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-03-12T20:51:58.959Z,1741812718.959 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl
2025-03-12T20:51:58.959Z,1741812718.959 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl
2025-03-12T20:51:58.961Z,1741812718.961 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl
2025-03-12T20:51:59.248Z,1741812719.248 [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>

2025-03-12T20:51:59.253Z,1741812719.253 [MissionManager](INFO): DefineArg sci2_noyo_optim:NeedComms.DiveInterval = 1.000000 h
2025-03-12T20:51:59.255Z,1741812719.255 [MissionManager](INFO): DefineArg sci2_noyo_optim:NeedComms.WaitForPitchUp = 10.000000 min
2025-03-12T20:51:59.257Z,1741812719.257 [MissionManager](INFO): DefineArg sci2_noyo_optim:NeedComms.SurfacePitch = 20.000000 arcdeg
2025-03-12T20:51:59.260Z,1741812719.260 [MissionManager](INFO): DefineArg sci2_noyo_optim:NeedComms.SurfaceDepthRate = nan m/s
2025-03-12T20:51:59.262Z,1741812719.262 [MissionManager](INFO): DefineArg sci2_noyo_optim:NeedComms.SurfaceSpeed = 1.000000 m/s
2025-03-12T20:51:59.264Z,1741812719.264 [MissionManager](INFO): DefineArg sci2_noyo_optim:NeedComms.SurfacingTimeout = 1000.000000 s
2025-03-12T20:51:59.266Z,1741812719.266 [MissionManager](INFO): DefineArg sci2_noyo_optim:NeedComms.GPSTimeout = 7.000000 min
2025-03-12T20:51:59.269Z,1741812719.269 [MissionManager](INFO): DefineArg sci2_noyo_optim:NeedComms.CommsTimeout = 30.000000 min
2025-03-12T20:51:59.275Z,1741812719.275 [sci2_noyo_optim:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2025-03-12T20:51:59.338Z,1741812719.338 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2025-03-12T20:51:59.338Z,1741812719.338 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2025-03-12T20:51:59.339Z,1741812719.339 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2025-03-12T20:51:59.376Z,1741812719.376 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/BackseatDriver.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="BackseatDriver">
    <DefineArg Name="EnableBackseat">
        <False />
    </DefineArg>
    <Parallel />
    <Guidance:BackseatDriver>
        <Sequence />
        <Setting>
            <Guidance:BackseatDriver.powerBackseat />
            <Arg Name="EnableBackseat" />
        </Setting>
    </Guidance:BackseatDriver>
</Aggregate>

2025-03-12T20:51:59.383Z,1741812719.383 [MissionManager](INFO): DefineArg sci2_noyo_optim:BackseatDriver.EnableBackseat = 0 bool
2025-03-12T20:51:59.385Z,1741812719.385 [sci2_noyo_optim:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2025-03-12T20:51:59.389Z,1741812719.389 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2025-03-12T20:51:59.390Z,1741812719.390 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2025-03-12T20:51:59.391Z,1741812719.391 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2025-03-12T20:51:59.475Z,1741812719.475 [DataOverHttps](INFO): Received command: sched 20250312T2110 "gfscan"
2025-03-12T20:51:59.582Z,1741812719.582 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/PowerOnly.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="PowerOnly">
    <DefineArg Name="SampleAll">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad1">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad2">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad3">
        <False />
    </DefineArg>
    <DefineArg Name="EnabledPowerOnly">
        <Sensor:PowerOnly.loadAtStartup />
    </DefineArg>
    <Parallel />
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleAll" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.samplePowerOnly />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad1" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad1 />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad2" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad2 />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad3" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad3 />
    </ReadData>
    <Guidance:Wait>
        <Sequence />
        <Setting>
            <Guidance:Wait.duration />
            <Units:hour />
            <Value>99999</Value>
        </Setting>
    </Guidance:Wait>
</Aggregate>

2025-03-12T20:51:59.586Z,1741812719.586 [MissionManager](INFO): DefineArg sci2_noyo_optim:PowerOnly.SampleAll = 0 bool
2025-03-12T20:51:59.588Z,1741812719.588 [MissionManager](INFO): DefineArg sci2_noyo_optim:PowerOnly.SampleLoad1 = 0 bool
2025-03-12T20:51:59.590Z,1741812719.590 [MissionManager](INFO): DefineArg sci2_noyo_optim:PowerOnly.SampleLoad2 = 0 bool
2025-03-12T20:51:59.611Z,1741812719.611 [MissionManager](INFO): DefineArg sci2_noyo_optim:PowerOnly.SampleLoad3 = 0 bool
2025-03-12T20:51:59.614Z,1741812719.614 [MissionManager](INFO): DefineArg sci2_noyo_optim:PowerOnly.EnabledPowerOnly = 1 bool
2025-03-12T20:51:59.621Z,1741812719.621 [sci2_noyo_optim:PowerOnly:E.Wait](DEBUG): Construct Wait.
2025-03-12T20:51:59.628Z,1741812719.628 [sci2_noyo_optim:O.Buoyancy](DEBUG): Construct Buoyancy.
2025-03-12T20:51:59.641Z,1741812719.641 [sci2_noyo_optim:DiveCmd:InitialDive:dive:C.Mass](DEBUG): Construct.
2025-03-12T20:51:59.660Z,1741812719.660 [sci2_noyo_optim:DiveCmd:InitialDive:dive:E.Wait](DEBUG): Construct Wait.
2025-03-12T20:51:59.663Z,1741812719.663 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:A.SetSpeed](DEBUG): Construct.
2025-03-12T20:51:59.666Z,1741812719.666 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:B.Pitch](DEBUG): Construct.
2025-03-12T20:51:59.672Z,1741812719.672 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:B.Pitch:A_Timeout:B.Execute](DEBUG): Construct Execute.
2025-03-12T20:51:59.680Z,1741812719.680 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:B.Pitch](DEBUG): Construct.
2025-03-12T20:51:59.686Z,1741812719.686 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:C.Wait](DEBUG): Construct Wait.
2025-03-12T20:51:59.710Z,1741812719.710 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass](DEBUG): Construct.
2025-03-12T20:51:59.713Z,1741812719.713 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed](DEBUG): Construct.
2025-03-12T20:51:59.717Z,1741812719.717 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:B.Pitch](DEBUG): Construct.
2025-03-12T20:51:59.726Z,1741812719.726 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:A.SetSpeed](DEBUG): Construct.
2025-03-12T20:51:59.730Z,1741812719.730 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:C.Buoyancy](DEBUG): Construct Buoyancy.
2025-03-12T20:51:59.733Z,1741812719.733 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:D.Pitch](DEBUG): Construct.
2025-03-12T20:51:59.745Z,1741812719.745 [sci2_noyo_optim:Lap:DepthByLap:Wpt1:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T20:51:59.761Z,1741812719.761 [sci2_noyo_optim:Lap:DepthByLap:Wpt2:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T20:51:59.767Z,1741812719.767 [sci2_noyo_optim:Lap:DepthByLap:Wpt3:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T20:51:59.772Z,1741812719.772 [sci2_noyo_optim:Lap:DepthByLap:Wpt4:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T20:51:59.778Z,1741812719.778 [sci2_noyo_optim:Lap:DepthByLap:Wpt5:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T20:51:59.784Z,1741812719.784 [sci2_noyo_optim:Lap:DepthByLap:Wpt6:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T20:51:59.789Z,1741812719.789 [sci2_noyo_optim:Lap:DepthByLap:Wpt7:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T20:51:59.795Z,1741812719.795 [sci2_noyo_optim:Lap:DepthByLap:Wpt8:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T20:51:59.848Z,1741812719.848 [sci2_noyo_optim:Lap:DepthByLap:Leg2:Wpt1:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T20:51:59.874Z,1741812719.874 [sci2_noyo_optim:Lap:DepthByLap:Leg2:Wpt2:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T20:51:59.887Z,1741812719.887 [sci2_noyo_optim:Lap:DepthByLap:Leg2:Wpt3:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T20:51:59.897Z,1741812719.897 [sci2_noyo_optim:Lap:DepthByLap:Leg2:Wpt4:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T20:51:59.903Z,1741812719.903 [sci2_noyo_optim:Lap:DepthByLap:Leg2:Wpt5:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T20:51:59.920Z,1741812719.920 [sci2_noyo_optim:Lap:DepthByLap:Leg2:Wpt6:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T20:51:59.925Z,1741812719.925 [sci2_noyo_optim:Lap:DepthByLap:Leg2:Wpt7:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T20:51:59.931Z,1741812719.931 [sci2_noyo_optim:Lap:DepthByLap:Leg2:Wpt8:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T20:51:59.940Z,1741812719.940 [sci2_noyo_optim:Lap:DepthByLap:Leg3:Wpt1:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T20:51:59.946Z,1741812719.946 [sci2_noyo_optim:Lap:DepthByLap:Leg3:Wpt2:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T20:51:59.952Z,1741812719.952 [sci2_noyo_optim:Lap:DepthByLap:Leg3:Wpt3:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T20:51:59.967Z,1741812719.967 [sci2_noyo_optim:Lap:DepthByLap:Leg3:Wpt4:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T20:51:59.972Z,1741812719.972 [sci2_noyo_optim:Lap:DepthByLap:Leg3:Wpt5:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T20:51:59.978Z,1741812719.978 [sci2_noyo_optim:Lap:DepthByLap:Leg3:Wpt6:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T20:51:59.983Z,1741812719.983 [sci2_noyo_optim:Lap:DepthByLap:Leg3:Wpt7:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T20:51:59.988Z,1741812719.988 [sci2_noyo_optim:Lap:DepthByLap:Leg3:Wpt8:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T20:51:59.997Z,1741812719.997 [sci2_noyo_optim:Lap:DepthByLap:Leg4:Wpt1:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T20:52:00.003Z,1741812720.003 [sci2_noyo_optim:Lap:DepthByLap:Leg4:Wpt2:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T20:52:00.018Z,1741812720.018 [sci2_noyo_optim:Lap:DepthByLap:Leg4:Wpt3:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T20:52:00.024Z,1741812720.024 [sci2_noyo_optim:Lap:DepthByLap:Leg4:Wpt4:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T20:52:00.029Z,1741812720.029 [sci2_noyo_optim:Lap:DepthByLap:Leg4:Wpt5:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T20:52:00.035Z,1741812720.035 [sci2_noyo_optim:Lap:DepthByLap:Leg4:Wpt6:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T20:52:00.041Z,1741812720.041 [sci2_noyo_optim:Lap:DepthByLap:Leg4:Wpt7:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T20:52:00.046Z,1741812720.046 [sci2_noyo_optim:Lap:DepthByLap:Leg4:Wpt8:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T20:52:00.055Z,1741812720.055 [sci2_noyo_optim:Lap:DepthByLap:Leg5:Wpt1:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T20:52:00.070Z,1741812720.070 [sci2_noyo_optim:Lap:DepthByLap:Leg5:Wpt2:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T20:52:00.076Z,1741812720.076 [sci2_noyo_optim:Lap:DepthByLap:Leg5:Wpt3:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T20:52:00.081Z,1741812720.081 [sci2_noyo_optim:Lap:DepthByLap:Leg5:Wpt4:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T20:52:00.092Z,1741812720.092 [sci2_noyo_optim:Lap:DepthByLap:Leg5:Wpt5:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T20:52:00.098Z,1741812720.098 [sci2_noyo_optim:Lap:DepthByLap:Leg5:Wpt6:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T20:52:00.103Z,1741812720.103 [sci2_noyo_optim:Lap:DepthByLap:Leg5:Wpt7:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T20:52:00.109Z,1741812720.109 [sci2_noyo_optim:Lap:DepthByLap:Leg5:Wpt8:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T20:52:00.130Z,1741812720.130 [sci2_noyo_optim:Lap:DepthByLap:Leg6:Wpt1:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T20:52:00.136Z,1741812720.136 [sci2_noyo_optim:Lap:DepthByLap:Leg6:Wpt2:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T20:52:00.141Z,1741812720.141 [sci2_noyo_optim:Lap:DepthByLap:Leg6:Wpt3:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T20:52:00.146Z,1741812720.146 [sci2_noyo_optim:Lap:DepthByLap:Leg6:Wpt4:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T20:52:00.152Z,1741812720.152 [sci2_noyo_optim:Lap:DepthByLap:Leg6:Wpt5:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T20:52:00.157Z,1741812720.157 [sci2_noyo_optim:Lap:DepthByLap:Leg6:Wpt6:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T20:52:00.162Z,1741812720.162 [sci2_noyo_optim:Lap:DepthByLap:Leg6:Wpt7:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T20:52:00.178Z,1741812720.178 [sci2_noyo_optim:Lap:DepthByLap:Leg6:Wpt8:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T20:52:00.186Z,1741812720.186 [sci2_noyo_optim:Lap:DepthByLap:Leg7:Wpt1:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T20:52:00.192Z,1741812720.192 [sci2_noyo_optim:Lap:DepthByLap:Leg7:Wpt2:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T20:52:00.197Z,1741812720.197 [sci2_noyo_optim:Lap:DepthByLap:Leg7:Wpt3:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T20:52:00.203Z,1741812720.203 [sci2_noyo_optim:Lap:DepthByLap:Leg7:Wpt4:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T20:52:00.208Z,1741812720.208 [sci2_noyo_optim:Lap:DepthByLap:Leg7:Wpt5:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T20:52:00.214Z,1741812720.214 [sci2_noyo_optim:Lap:DepthByLap:Leg7:Wpt6:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T20:52:00.259Z,1741812720.259 [sci2_noyo_optim:Lap:DepthByLap:Leg7:Wpt7:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T20:52:00.285Z,1741812720.285 [sci2_noyo_optim:Lap:DepthByLap:Leg7:Wpt8:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T20:52:00.311Z,1741812720.311 [sci2_noyo_optim:Lap:DepthByLap:Leg8:Wpt1:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T20:52:00.316Z,1741812720.316 [sci2_noyo_optim:Lap:DepthByLap:Leg8:Wpt2:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T20:52:00.325Z,1741812720.325 [sci2_noyo_optim:Lap:DepthByLap:Leg8:Wpt3:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T20:52:00.331Z,1741812720.331 [sci2_noyo_optim:Lap:DepthByLap:Leg8:Wpt4:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T20:52:00.337Z,1741812720.337 [sci2_noyo_optim:Lap:DepthByLap:Leg8:Wpt5:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T20:52:00.342Z,1741812720.342 [sci2_noyo_optim:Lap:DepthByLap:Leg8:Wpt6:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T20:52:00.348Z,1741812720.348 [sci2_noyo_optim:Lap:DepthByLap:Leg8:Wpt7:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T20:52:00.354Z,1741812720.354 [sci2_noyo_optim:Lap:DepthByLap:Leg8:Wpt8:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T20:52:00.362Z,1741812720.362 [sci2_noyo_optim:Lap:DepthByLeg:Leg1:B.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T20:52:00.382Z,1741812720.382 [sci2_noyo_optim:Lap:DepthByLeg:Leg2:Wpt2:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T20:52:00.392Z,1741812720.392 [sci2_noyo_optim:Lap:DepthByLeg:Leg3:Wpt3:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T20:52:00.401Z,1741812720.401 [sci2_noyo_optim:Lap:DepthByLeg:Leg4:Wpt4:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T20:52:00.410Z,1741812720.410 [sci2_noyo_optim:Lap:DepthByLeg:Leg5:Wpt5:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T20:52:00.419Z,1741812720.419 [sci2_noyo_optim:Lap:DepthByLeg:Leg6:Wpt6:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T20:52:00.435Z,1741812720.435 [sci2_noyo_optim:Lap:DepthByLeg:Leg7:Wpt7:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T20:52:00.445Z,1741812720.445 [sci2_noyo_optim:Lap:DepthByLeg:Leg8:Wpt8:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T20:52:00.556Z,1741812720.556 [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 sci2_noyo_optim {
  """
  Vehicle transits to the specified waypoints at the commanded depth
  (flat-and-level, no yoyos) with science, Optim camera, and multiray
  lights on.
  """

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

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

    Depth1 = 35 meter
      """
      Depth of flat and level flight during the mission for the first transit leg or lap.
      """

    Depth[2..8] = NaN meter
      """
      Depth of flat and level flight during the mission for subsequent transit legs or laps.
      Skipped if NaN.
      """

    DepthPerLeg = false
      """
      Indicates whether additional depths correspond to laps (cycle through all waypoints at
      each depth, default) or legs (use depth for transit leg ending at corresponding waypoint,
      each lap repeats all depths and waypoints).
      """

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

    Lat[1..8] = NaN degree
      """
      Latitude of waypoint {$}. If nan, waypoint is skipped.
      """

    Lon[1..8] = NaN degree
      """
      Longitude of waypoint {$}. If nan, waypoint is skipped.
      """

    FastSpeed = 1 meter_per_second
      """
      Speed while transiting to waypoint.
      """

    ApproachDepth = 30 meter
      """
      Depth for initial descent form the surface.
      """

    ApproachSpeed = 0.7 meter_per_second
      """
      Speed while descending to target depth.
      """

    ApproachDepthRate = 0.05 meter_per_second
      """
      Descent depth rate (Positive depth rate means going down).
      """

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

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

    ApproachSettleTimePreDive = 1 minute
      """
      Time duration for the vehicle to pump down the VBS *BEFORE* leaving the
      surface.
      """

    ApproachSettleTimePostDive = 3 minute
      """
      Time duration for the vehicle to settle *AFTER* reaching the target
      depth.
      """

    kpDepth = 0.07 radian_per_meter
      """
      Dive loop proportional gain (applied only while the vehicle is
      descending to target depth).
      """

    SlowSpeed = 0.25 meter_per_second
      """
      Set this to something other than Nan if slow speed filming with a
      wide depth deadband is desired.
      """

    DepthDeviationSlow = 3 meter
      """
      Allowable +/- deviation from depth during slow flight. Needs a SlowSpeed
      to be set.
      """

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

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

    MinAltitude = 2 meter
      """
      Minimum height above the sea floor for the entire mission.
      """

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

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

  output {
    DiveMode = 0 count
      """
      Mission variable (don't change). The mission sets this variable to
      switch between dive modes. Initialized to DoingComms.
      """

    DoingComms = 0 count
      """
      Mission variable (don't change). The mission will run in this to mode
      when doing surface comms.
      """

    InitialDive = 1 count
      """
      Mission variable (don't change). The mission will run in this mode after
      surface comms are done to dive the vehicle to the approach depth.
      """

    SettleAtDepth = 2 count
      """
      Mission variable (don't change). The mission will run in this mode to
      settle the vehicle at the target depth.
      """

    MaintainDepth = 3 count
      """
      Mission variable (don't change). The mission will run in this mode to
      maintain the vehicle at the target depth.
      """

    LegDepth = Depth1
      """
      Mission variable to track the current depth for the current leg.
      """
  }

  # Mission timeout

  timeout duration=MissionTimeout

  # Science!

  insert Insert/Science.tl {
    """
    Run the science sensors.
    """
  }

  # 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 = MissionTimeout

  assign in sequence NeedComms:WaitForPitchUp = 0 minute

  insert Insert/BackseatDriver.tl
  assign in parallel BackseatDriver:EnableBackseat = true

  insert Insert/PowerOnly.tl
  assign in parallel PowerOnly:SampleLoad1 = true

  assign in sequence Sensor:MultiRay.lightModeCommand = 2 count
  readData strategy="MinError" {
    while ( Sensor:MultiRay.loadAtStartup )

    Sensor:MultiRay.lightModeLog
  }

  behavior Guidance:Buoyancy {
    run in parallel

    set position = BuoyancyNeutral
  }

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

    assign in sequence DiveMode = DoingComms

    call refId="NeedComms"

    assign in sequence DiveMode = InitialDive
  }

  aggregate DiveCmd {
    """
    Called when the vehicle should be underwater. Arbitrates between 4
    dive modes: 1) descend from the surface to initial depth. 2) settle
    at target depth using the VB. 3) cruise at target depth and go slow
    while within depth deviation bounds if a slow speed is set.
    """

    run when ( called )

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

      run while ( DiveMode == InitialDive )

      aggregate dive {
        run in sequence

        assign in parallel Control:VerticalControl.pitchLimit = ApproachPitchLimit

        assign in parallel Control:VerticalControl.kpDepth = kpDepth

        behavior Guidance:Mass {
          run in parallel

          set position = MassDefault
        }

        # behavior Guidance:Buoyancy {
        #   run in parallel

        #   set position = BuoyancyNeutral
        # }

        syslog info "Waiting for "
             + ApproachSettleTimePreDive~minute + "while pumping down to neutral."

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

          run in sequence

          set duration = ApproachSettleTimePreDive
        }

        syslog "Moving to " + ApproachDepth~meter

        aggregate ApproachDepth {
          run in sequence

          behavior Guidance:SetSpeed {
            run in parallel

            set speed = ApproachSpeed
          }

          behavior Guidance:Pitch {
            run in sequence

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

              behavior Guidance:Execute {
                run in sequence

                set command = "stop"
              }
            }

            set depth = ApproachDepth
            set depthRate = ApproachDepthRate
          }
        }

        assign in sequence DiveMode = SettleAtDepth
      }
    }

    aggregate SettleAtDepth {
      """
      Take a few more moments here to make sure the vehicle is settled
      at the target depth.
      """

      run while ( DiveMode == SettleAtDepth )

      aggregate dive {
        run in sequence

        syslog info "Reached " + Universal:depth~meter + ", settling for "
             + ApproachSettleTimePostDive~minute

        behavior Guidance:Pitch {
          run in parallel

          set depth = LegDepth
        }

        behavior Guidance:Wait {
          run in sequence

          set duration = ApproachSettleTimePostDive
        }

        assign in sequence DiveMode = MaintainDepth
      }
    }

    aggregate MaintainDepth {
      """
      Cruise at the target depth.
      """

      run while (
        DiveMode == MaintainDepth
        and ( Universal:depth > ( LegDepth + DepthDeviationSlow ) )
        or ( Universal:depth < ( LegDepth - DepthDeviationSlow ) )
      )

      aggregate dive {
        run in parallel

        aggregate ThrusterDive {
          run while ( FastSpeed > 0.0 meter_per_second )

          behavior Guidance:Mass {
            run in parallel

            set position = MassDefault
          }

          # behavior Guidance:Buoyancy {
          #   run in parallel

          #   set position = BuoyancyNeutral
          # }

          behavior Guidance:SetSpeed {
            run in parallel

            set speed = FastSpeed
          }
        }

        behavior Guidance:Pitch {
          run in parallel

          set depth = LegDepth
        }
      }
    }

    aggregate MaintainDepthSlow {
      """
      Cruise slow at the target depth.
      """

      run while (
        ( not isNaN ( SlowSpeed ) )
        and ( DiveMode == MaintainDepth )
        and ( Universal:depth <= ( LegDepth + DepthDeviationSlow ) )
        and ( Universal:depth >= ( LegDepth - DepthDeviationSlow ) )
      )

      behavior Guidance:SetSpeed {
        run in parallel

        set speed = SlowSpeed
      }

      # Let's make sure the vertical control depth deadband doesn't interfere with our mission
      # level version of the deadband. And we'll add an extra 3m so we don't trigger any
      # faults inside vertical control when attempting to regain the commanded depth.
      assign in parallel Control:VerticalControl.depthDeadband = ( DepthDeviationSlow + 3 m )

      behavior Guidance:Buoyancy {
        run in parallel

        set position = NaN cc
      }

      behavior Guidance:Pitch {
        run in parallel

        set depth = LegDepth
      }
    }
  }

  # Start mission sequence

  call id="StartingMission" refId="SurfaceComms"

  aggregate Lap {
    run in sequence repeat=Repeat

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

      call refId="DiveCmd"
    }

    # Default behavior: Depths correspond to laps
    # Run through all waypoints at each depth
    aggregate DepthByLap {
      run in sequence

      break if ( DepthPerLeg )

      assign in sequence LegDepth = Depth1

      aggregate Wpt1 {
        run in sequence

        behavior Guidance:Waypoint {
          run in sequence

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

      macro $i = 2..8 {
        aggregate Wpt$i {
          run in sequence

          behavior Guidance:Waypoint {
            run in sequence

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

      macro $j = 2..8 {
        aggregate Leg$j {
          run in sequence

          break if ( isNaN ( Depth[$j] ) )

          syslog important "Transiting waypoints at depth " + Depth[$j]~meter
          assign in sequence LegDepth = Depth[$j]

          macro $i = 1..8 {
            aggregate Wpt$i {
              run in sequence

              behavior Guidance:Waypoint {
                run in sequence

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

    # Non-default behavior: depth by leg
    # Transit to waypoint at corresponding depth, repeat per lap
    # (e.g. Transit to waypoint 1 at depth 1, waypoint 2 at depth 2, and so on)
    aggregate DepthByLeg {
      run in sequence

      break if ( not DepthPerLeg )

      aggregate Leg1 {
        run in sequence

        assign in sequence LegDepth = Depth1

        behavior Guidance:Waypoint {
          run in sequence

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

      macro $i = 2..8 {
        aggregate Leg$i {
          run in sequence

          break if ( isNaN ( Depth[$i] ) )

          syslog info "Transiting to next waypoint at depth " + Depth[$i]~meter
          assign in sequence LegDepth = Depth[$i]

          aggregate Wpt$i {
            run in sequence

            behavior Guidance:Waypoint {
              run in sequence

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


2025-03-12T20:52:00.557Z,1741812720.557 [CommandExec](IMPORTANT): Loaded ./Missions/Science/sci2_noyo_optim.tl id=sci2_noyo_optim
2025-03-12T20:52:32.089Z,1741812752.089 [CommandExec](IMPORTANT): got command set sci2_noyo_optim.MissionTimeout 1 hour
2025-03-12T20:52:32.090Z,1741812752.090 [CommandExec](IMPORTANT): got command set sci2_noyo_optim.NeedCommsTime 45 minute
2025-03-12T20:52:32.091Z,1741812752.091 [CommandExec](IMPORTANT): got command set sci2_noyo_optim.Depth1 200 meter
2025-03-12T20:52:32.096Z,1741812752.096 [CommandExec](IMPORTANT): got command set sci2_noyo_optim.Depth2 200 meter
2025-03-12T20:52:32.097Z,1741812752.097 [CommandExec](IMPORTANT): got command set sci2_noyo_optim.Depth3 NaN meter
2025-03-12T20:52:32.105Z,1741812752.105 [CommandExec](IMPORTANT): got command schedule 20250312T211000 "gfscan"
2025-03-12T20:52:32.106Z,1741812752.106 [CommandExec](IMPORTANT): Scheduled #21: "gfscan", AT TIME: 2025-03-12T21:10:00Z
2025-03-12T20:52:32.106Z,1741812752.106 [CommandExec](FAULT): Scheduling was paused by a command at 2025-03-12T05:38:04Z
2025-03-12T20:52:56.738Z,1741812776.738 [CommandExec](IMPORTANT): got command set sci2_noyo_optim.Lat1 36.79612 degree
2025-03-12T20:52:56.739Z,1741812776.739 [CommandExec](IMPORTANT): got command set sci2_noyo_optim.Lon1 -121.88988 degree
2025-03-12T20:52:56.740Z,1741812776.740 [CommandExec](IMPORTANT): got command set sci2_noyo_optim.Lat2 36.79784 degree
2025-03-12T20:52:56.741Z,1741812776.741 [CommandExec](IMPORTANT): got command set sci2_noyo_optim.Lon2 -121.87265 degree
2025-03-12T20:52:56.741Z,1741812776.741 [CommandExec](IMPORTANT): got command set sci2_noyo_optim.ApproachDepth 10 meter
2025-03-12T20:53:26.705Z,1741812806.705 [CommandExec](IMPORTANT): got command set sci2_noyo_optim.SlowSpeed 0.4 meter_per_second
2025-03-12T20:53:26.706Z,1741812806.706 [CommandExec](IMPORTANT): got command set sci2_noyo_optim.MinAltitude 10 meter
2025-03-12T20:53:26.707Z,1741812806.707 [CommandExec](IMPORTANT): got command set sci2_noyo_optim.MaxDepth 210 meter
2025-03-12T20:53:26.716Z,1741812806.716 [CommandExec](IMPORTANT): got command set sci2_noyo_optim:PowerOnly.SampleLoad1 1 bool
2025-03-12T20:53:26.747Z,1741812806.747 [CommandExec](IMPORTANT): got command run
2025-03-12T20:53:26.750Z,1741812806.750 [CommandExec](IMPORTANT): Running 
2025-03-12T20:53:27.114Z,1741812807.114 [Default] Stopped
2025-03-12T20:53:27.114Z,1741812807.114 [Default](DEBUG): Aggregate::uninitialize Default
2025-03-12T20:53:27.114Z,1741812807.114 [Default:B.GoToSurface] Stopped
2025-03-12T20:53:27.114Z,1741812807.114 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-03-12T20:53:27.114Z,1741812807.114 [Default:CheckIn] Stopped
2025-03-12T20:53:27.115Z,1741812807.115 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-03-12T20:53:27.115Z,1741812807.115 [Default:CheckIn:C.Wait] Stopped
2025-03-12T20:53:27.115Z,1741812807.115 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2025-03-12T20:53:27.115Z,1741812807.115 [MissionManager](IMPORTANT): Started mission sci2_noyo_optim
2025-03-12T20:53:27.115Z,1741812807.115 [sci2_noyo_optim] Running Loop=1
2025-03-12T20:53:27.115Z,1741812807.115 [sci2_noyo_optim](DEBUG): Aggregate::initialize sci2_noyo_optim
2025-03-12T20:53:27.116Z,1741812807.116 [sci2_noyo_optim:Science] Running Loop=1
2025-03-12T20:53:27.116Z,1741812807.116 [sci2_noyo_optim:Science](DEBUG): Aggregate::initialize sci2_noyo_optim:Science
2025-03-12T20:53:27.116Z,1741812807.116 [sci2_noyo_optim:Science:A] Running Loop=1
2025-03-12T20:53:27.116Z,1741812807.116 [sci2_noyo_optim:Science:B] Running Loop=1
2025-03-12T20:53:27.116Z,1741812807.116 [sci2_noyo_optim:Science:C] Running Loop=1
2025-03-12T20:53:27.116Z,1741812807.116 [sci2_noyo_optim:Science:D] Running Loop=1
2025-03-12T20:53:27.116Z,1741812807.116 [sci2_noyo_optim:Science:E] Running Loop=1
2025-03-12T20:53:27.116Z,1741812807.116 [sci2_noyo_optim:Science:F] Running Loop=1
2025-03-12T20:53:27.116Z,1741812807.116 [sci2_noyo_optim:Science:Read_Oil] Running Loop=1
2025-03-12T20:53:27.116Z,1741812807.116 [sci2_noyo_optim:Science:PeakDetectChl] Running Loop=1
2025-03-12T20:53:27.116Z,1741812807.116 [sci2_noyo_optim:Science:PeakDetectChl](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:PeakDetectChl
2025-03-12T20:53:27.116Z,1741812807.116 [sci2_noyo_optim:Science:PeakDetectChl:A] Running Loop=1
2025-03-12T20:53:27.117Z,1741812807.117 [sci2_noyo_optim:Science:EdgeDetectChl] Running Loop=1
2025-03-12T20:53:27.117Z,1741812807.117 [sci2_noyo_optim:Science:EdgeDetectChl](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:EdgeDetectChl
2025-03-12T20:53:27.117Z,1741812807.117 [sci2_noyo_optim:Science:EdgeDetectChl:A] Running Loop=1
2025-03-12T20:53:27.117Z,1741812807.117 [sci2_noyo_optim:Science:HighestChlPeakReport] Running Loop=1
2025-03-12T20:53:27.117Z,1741812807.117 [sci2_noyo_optim:Science:HighestChlPeakReport](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:HighestChlPeakReport
2025-03-12T20:53:27.117Z,1741812807.117 [sci2_noyo_optim:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-03-12T20:53:27.117Z,1741812807.117 [sci2_noyo_optim:Science:HighestChlPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-03-12T20:53:27.118Z,1741812807.118 [sci2_noyo_optim:Science:PeakDetectNO3] Running Loop=1
2025-03-12T20:53:27.118Z,1741812807.118 [sci2_noyo_optim:Science:PeakDetectNO3](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:PeakDetectNO3
2025-03-12T20:53:27.118Z,1741812807.118 [sci2_noyo_optim:Science:PeakDetectNO3:A] Running Loop=1
2025-03-12T20:53:27.118Z,1741812807.118 [sci2_noyo_optim:Science:PeakDetectOil] Running Loop=1
2025-03-12T20:53:27.118Z,1741812807.118 [sci2_noyo_optim:Science:PeakDetectOil](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:PeakDetectOil
2025-03-12T20:53:27.118Z,1741812807.118 [sci2_noyo_optim:Science:PeakDetectOil:A] Running Loop=1
2025-03-12T20:53:27.118Z,1741812807.118 [sci2_noyo_optim:Science:HighestOilPeakReport] Running Loop=1
2025-03-12T20:53:27.118Z,1741812807.118 [sci2_noyo_optim:Science:HighestOilPeakReport](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:HighestOilPeakReport
2025-03-12T20:53:27.118Z,1741812807.118 [sci2_noyo_optim:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-03-12T20:53:27.118Z,1741812807.118 [sci2_noyo_optim:Science:HighestOilPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-03-12T20:53:27.119Z,1741812807.119 [sci2_noyo_optim:Science:PeakDetectFDOM] Running Loop=1
2025-03-12T20:53:27.119Z,1741812807.119 [sci2_noyo_optim:Science:PeakDetectFDOM](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:PeakDetectFDOM
2025-03-12T20:53:27.119Z,1741812807.119 [sci2_noyo_optim:Science:PeakDetectFDOM:A] Running Loop=1
2025-03-12T20:53:27.119Z,1741812807.119 [sci2_noyo_optim:Science:PeakDetectSalinity] Running Loop=1
2025-03-12T20:53:27.120Z,1741812807.120 [sci2_noyo_optim:Science:PeakDetectSalinity](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:PeakDetectSalinity
2025-03-12T20:53:27.120Z,1741812807.120 [sci2_noyo_optim:Science:PeakDetectSalinity:A] Running Loop=1
2025-03-12T20:53:27.120Z,1741812807.120 [sci2_noyo_optim:Science:HighestSaltPeakReport] Running Loop=1
2025-03-12T20:53:27.120Z,1741812807.120 [sci2_noyo_optim:Science:HighestSaltPeakReport](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:HighestSaltPeakReport
2025-03-12T20:53:27.120Z,1741812807.120 [sci2_noyo_optim:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-03-12T20:53:27.120Z,1741812807.120 [sci2_noyo_optim:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-03-12T20:53:27.120Z,1741812807.120 [sci2_noyo_optim:Science:PeakDetectPlanktivoreLMavgROI] Running Loop=1
2025-03-12T20:53:27.121Z,1741812807.121 [sci2_noyo_optim:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:PeakDetectPlanktivoreLMavgROI
2025-03-12T20:53:27.121Z,1741812807.121 [sci2_noyo_optim:Science:PeakDetectPlanktivoreLMavgROI:A] Running Loop=1
2025-03-12T20:53:27.121Z,1741812807.121 [sci2_noyo_optim:Science:EdgeDetectPlanktivoreLMavgROI] Running Loop=1
2025-03-12T20:53:27.121Z,1741812807.121 [sci2_noyo_optim:Science:EdgeDetectPlanktivoreLMavgROI](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:EdgeDetectPlanktivoreLMavgROI
2025-03-12T20:53:27.121Z,1741812807.121 [sci2_noyo_optim:Science:EdgeDetectPlanktivoreLMavgROI:A] Running Loop=1
2025-03-12T20:53:27.121Z,1741812807.121 [sci2_noyo_optim:Science:PeakDetectPlanktivoreHMavgROI] Running Loop=1
2025-03-12T20:53:27.122Z,1741812807.122 [sci2_noyo_optim:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:PeakDetectPlanktivoreHMavgROI
2025-03-12T20:53:27.122Z,1741812807.122 [sci2_noyo_optim:Science:PeakDetectPlanktivoreHMavgROI:A] Running Loop=1
2025-03-12T20:53:27.122Z,1741812807.122 [sci2_noyo_optim:Science:PeakDetectPlanktivoreDiatoms] Running Loop=1
2025-03-12T20:53:27.122Z,1741812807.122 [sci2_noyo_optim:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:PeakDetectPlanktivoreDiatoms
2025-03-12T20:53:27.122Z,1741812807.122 [sci2_noyo_optim:Science:PeakDetectPlanktivoreDiatoms:A] Running Loop=1
2025-03-12T20:53:27.122Z,1741812807.122 [sci2_noyo_optim:Science:PeakDetectPlanktivoreDinoflagellates] Running Loop=1
2025-03-12T20:53:27.122Z,1741812807.122 [sci2_noyo_optim:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:PeakDetectPlanktivoreDinoflagellates
2025-03-12T20:53:27.122Z,1741812807.122 [sci2_noyo_optim:Science:PeakDetectPlanktivoreDinoflagellates:A] Running Loop=1
2025-03-12T20:53:27.122Z,1741812807.122 [sci2_noyo_optim:Science:ChlThreshTrigger] Running Loop=1
2025-03-12T20:53:27.123Z,1741812807.123 [sci2_noyo_optim:Science:ChlThreshTrigger](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:ChlThreshTrigger
2025-03-12T20:53:27.123Z,1741812807.123 [sci2_noyo_optim:Science:ChlThreshTrigger:A.ValueDetect] Running Loop=1
2025-03-12T20:53:27.123Z,1741812807.123 [sci2_noyo_optim:Science:ChlThreshTrigger:A.ValueDetect](INFO): Initialize.
2025-03-12T20:53:27.123Z,1741812807.123 [sci2_noyo_optim:Science:OceanCurrent] Running Loop=1
2025-03-12T20:53:27.123Z,1741812807.123 [sci2_noyo_optim:Science:OceanCurrent](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:OceanCurrent
2025-03-12T20:53:27.124Z,1741812807.124 [sci2_noyo_optim:Science:OceanCurrent:A.] Running Loop=1
2025-03-12T20:53:27.124Z,1741812807.124 [sci2_noyo_optim:Science:OceanCurrent:A.](INFO): Initializing CurrentEstimator.
2025-03-12T20:53:27.124Z,1741812807.124 [sci2_noyo_optim:StandardEnvelopes] Running Loop=1
2025-03-12T20:53:27.124Z,1741812807.124 [sci2_noyo_optim:StandardEnvelopes](DEBUG): Aggregate::initialize sci2_noyo_optim:StandardEnvelopes
2025-03-12T20:53:27.124Z,1741812807.124 [sci2_noyo_optim:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-03-12T20:53:27.124Z,1741812807.124 [sci2_noyo_optim:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-03-12T20:53:27.124Z,1741812807.124 [sci2_noyo_optim:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-03-12T20:53:27.124Z,1741812807.124 [sci2_noyo_optim:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-03-12T20:53:27.124Z,1741812807.124 [sci2_noyo_optim:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-03-12T20:53:27.124Z,1741812807.124 [sci2_noyo_optim:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-03-12T20:53:27.125Z,1741812807.125 [sci2_noyo_optim:BackseatDriver] Running Loop=1
2025-03-12T20:53:27.125Z,1741812807.125 [sci2_noyo_optim:BackseatDriver](DEBUG): Aggregate::initialize sci2_noyo_optim:BackseatDriver
2025-03-12T20:53:27.125Z,1741812807.125 [sci2_noyo_optim:BackseatDriver:A.BackseatDriver] Running Loop=1
2025-03-12T20:53:27.125Z,1741812807.125 [sci2_noyo_optim:J] Running Loop=1
2025-03-12T20:53:27.125Z,1741812807.125 [sci2_noyo_optim:PowerOnly] Running Loop=1
2025-03-12T20:53:27.125Z,1741812807.125 [sci2_noyo_optim:PowerOnly](DEBUG): Aggregate::initialize sci2_noyo_optim:PowerOnly
2025-03-12T20:53:27.125Z,1741812807.125 [sci2_noyo_optim:PowerOnly:A] Running Loop=1
2025-03-12T20:53:27.125Z,1741812807.125 [sci2_noyo_optim:PowerOnly:B] Running Loop=1
2025-03-12T20:53:27.125Z,1741812807.125 [sci2_noyo_optim:PowerOnly:C] Running Loop=1
2025-03-12T20:53:27.125Z,1741812807.125 [sci2_noyo_optim:PowerOnly:D] Running Loop=1
2025-03-12T20:53:27.125Z,1741812807.125 [sci2_noyo_optim:PowerOnly:E.Wait] Running Loop=1
2025-03-12T20:53:27.126Z,1741812807.126 [sci2_noyo_optim:PowerOnly:E.Wait](DEBUG): Initialize Wait Component.
2025-03-12T20:53:27.126Z,1741812807.126 [sci2_noyo_optim:L] Running Loop=1
2025-03-12T20:53:27.126Z,1741812807.126 [sci2_noyo_optim:N] Running Loop=1
2025-03-12T20:53:27.126Z,1741812807.126 [sci2_noyo_optim:O.Buoyancy] Running Loop=1
2025-03-12T20:53:27.126Z,1741812807.126 [sci2_noyo_optim:O.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-03-12T20:53:27.126Z,1741812807.126 [sci2_noyo_optim:C] Running Loop=1
2025-03-12T20:53:27.127Z,1741812807.127 [sci2_noyo_optim:O.Buoyancy] Running Loop=1
2025-03-12T20:53:27.128Z,1741812807.128 [sci2_noyo_optim:N] Running Loop=1
2025-03-12T20:53:27.128Z,1741812807.128 [sci2_noyo_optim:N](DEBUG): Initialize ReadDataComponent to sense MultiRay.lightModeLog
2025-03-12T20:53:27.128Z,1741812807.128 [sci2_noyo_optim:L] Running Loop=1
2025-03-12T20:53:27.129Z,1741812807.129 [sci2_noyo_optim:PowerOnly] Running Loop=1
2025-03-12T20:53:27.129Z,1741812807.129 [sci2_noyo_optim:PowerOnly:D] Stopped
2025-03-12T20:53:27.129Z,1741812807.129 [sci2_noyo_optim:PowerOnly:C] Stopped
2025-03-12T20:53:27.129Z,1741812807.129 [sci2_noyo_optim:PowerOnly:B] Running Loop=1
2025-03-12T20:53:27.130Z,1741812807.130 [sci2_noyo_optim:PowerOnly:B](DEBUG): Initialize ReadDataComponent to sense PowerOnly.sampleLoad1
2025-03-12T20:53:27.130Z,1741812807.130 [sci2_noyo_optim:PowerOnly:A] Stopped
2025-03-12T20:53:27.130Z,1741812807.130 [sci2_noyo_optim:J] Running Loop=1
2025-03-12T20:53:27.130Z,1741812807.130 [sci2_noyo_optim:BackseatDriver] Running Loop=1
2025-03-12T20:53:27.130Z,1741812807.130 [sci2_noyo_optim:BackseatDriver:A.BackseatDriver](INFO): Initializing backseat
2025-03-12T20:53:27.173Z,1741812807.173 [sci2_noyo_optim:C] Stopped
2025-03-12T20:53:27.174Z,1741812807.174 [sci2_noyo_optim:D] Running Loop=1
2025-03-12T20:53:27.174Z,1741812807.174 [sci2_noyo_optim:StandardEnvelopes] Running Loop=1
2025-03-12T20:53:27.174Z,1741812807.174 [sci2_noyo_optim:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-03-12T20:53:27.174Z,1741812807.174 [sci2_noyo_optim:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-03-12T20:53:27.174Z,1741812807.174 [sci2_noyo_optim:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-03-12T20:53:27.175Z,1741812807.175 [sci2_noyo_optim:Science] Running Loop=1
2025-03-12T20:53:27.180Z,1741812807.180 [sci2_noyo_optim:Science:ChlThreshTrigger] Stopped
2025-03-12T20:53:27.180Z,1741812807.180 [sci2_noyo_optim:Science:ChlThreshTrigger](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:ChlThreshTrigger
2025-03-12T20:53:27.181Z,1741812807.181 [sci2_noyo_optim:Science:ChlThreshTrigger:A.ValueDetect] Stopped
2025-03-12T20:53:27.181Z,1741812807.181 [sci2_noyo_optim:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Uninitialize.
2025-03-12T20:53:27.181Z,1741812807.181 [sci2_noyo_optim:Science:PeakDetectPlanktivoreDinoflagellates] Stopped
2025-03-12T20:53:27.181Z,1741812807.181 [sci2_noyo_optim:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:PeakDetectPlanktivoreDinoflagellates
2025-03-12T20:53:27.181Z,1741812807.181 [sci2_noyo_optim:Science:PeakDetectPlanktivoreDinoflagellates:A] Stopped
2025-03-12T20:53:27.181Z,1741812807.181 [sci2_noyo_optim:Science:PeakDetectPlanktivoreDiatoms] Stopped
2025-03-12T20:53:27.181Z,1741812807.181 [sci2_noyo_optim:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:PeakDetectPlanktivoreDiatoms
2025-03-12T20:53:27.181Z,1741812807.181 [sci2_noyo_optim:Science:PeakDetectPlanktivoreDiatoms:A] Stopped
2025-03-12T20:53:27.181Z,1741812807.181 [sci2_noyo_optim:Science:PeakDetectPlanktivoreHMavgROI] Stopped
2025-03-12T20:53:27.181Z,1741812807.181 [sci2_noyo_optim:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:PeakDetectPlanktivoreHMavgROI
2025-03-12T20:53:27.181Z,1741812807.181 [sci2_noyo_optim:Science:PeakDetectPlanktivoreHMavgROI:A] Stopped
2025-03-12T20:53:27.181Z,1741812807.181 [sci2_noyo_optim:Science:EdgeDetectPlanktivoreLMavgROI] Stopped
2025-03-12T20:53:27.181Z,1741812807.181 [sci2_noyo_optim:Science:EdgeDetectPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:EdgeDetectPlanktivoreLMavgROI
2025-03-12T20:53:27.182Z,1741812807.182 [sci2_noyo_optim:Science:EdgeDetectPlanktivoreLMavgROI:A] Stopped
2025-03-12T20:53:27.182Z,1741812807.182 [sci2_noyo_optim:Science:PeakDetectPlanktivoreLMavgROI] Stopped
2025-03-12T20:53:27.182Z,1741812807.182 [sci2_noyo_optim:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:PeakDetectPlanktivoreLMavgROI
2025-03-12T20:53:27.182Z,1741812807.182 [sci2_noyo_optim:Science:PeakDetectPlanktivoreLMavgROI:A] Stopped
2025-03-12T20:53:27.182Z,1741812807.182 [sci2_noyo_optim:Science:HighestSaltPeakReport] Stopped
2025-03-12T20:53:27.182Z,1741812807.182 [sci2_noyo_optim:Science:HighestSaltPeakReport](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:HighestSaltPeakReport
2025-03-12T20:53:27.182Z,1741812807.182 [sci2_noyo_optim:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Stopped
2025-03-12T20:53:27.182Z,1741812807.182 [sci2_noyo_optim:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-03-12T20:53:27.182Z,1741812807.182 [sci2_noyo_optim:Science:PeakDetectSalinity] Stopped
2025-03-12T20:53:27.182Z,1741812807.182 [sci2_noyo_optim:Science:PeakDetectSalinity](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:PeakDetectSalinity
2025-03-12T20:53:27.182Z,1741812807.182 [sci2_noyo_optim:Science:PeakDetectSalinity:A] Stopped
2025-03-12T20:53:27.182Z,1741812807.182 [sci2_noyo_optim:Science:PeakDetectFDOM] Stopped
2025-03-12T20:53:27.182Z,1741812807.182 [sci2_noyo_optim:Science:PeakDetectFDOM](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:PeakDetectFDOM
2025-03-12T20:53:27.183Z,1741812807.183 [sci2_noyo_optim:Science:PeakDetectFDOM:A] Stopped
2025-03-12T20:53:27.183Z,1741812807.183 [sci2_noyo_optim:Science:HighestOilPeakReport] Stopped
2025-03-12T20:53:27.183Z,1741812807.183 [sci2_noyo_optim:Science:HighestOilPeakReport](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:HighestOilPeakReport
2025-03-12T20:53:27.183Z,1741812807.183 [sci2_noyo_optim:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Stopped
2025-03-12T20:53:27.183Z,1741812807.183 [sci2_noyo_optim:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-03-12T20:53:27.188Z,1741812807.188 [BackseatComponent](INFO): Powering up
2025-03-12T20:53:27.188Z,1741812807.188 [BackseatComponent](INFO): Subscribing to LCM channels.
2025-03-12T20:53:27.190Z,1741812807.190 [sci2_noyo_optim:Science:PeakDetectOil] Stopped
2025-03-12T20:53:27.190Z,1741812807.190 [sci2_noyo_optim:Science:PeakDetectOil](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:PeakDetectOil
2025-03-12T20:53:27.190Z,1741812807.190 [sci2_noyo_optim:Science:PeakDetectOil:A] Stopped
2025-03-12T20:53:27.190Z,1741812807.190 [sci2_noyo_optim:Science:PeakDetectNO3] Stopped
2025-03-12T20:53:27.190Z,1741812807.190 [sci2_noyo_optim:Science:PeakDetectNO3](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:PeakDetectNO3
2025-03-12T20:53:27.190Z,1741812807.190 [sci2_noyo_optim:Science:PeakDetectNO3:A] Stopped
2025-03-12T20:53:27.190Z,1741812807.190 [sci2_noyo_optim:Science:HighestChlPeakReport] Stopped
2025-03-12T20:53:27.191Z,1741812807.191 [sci2_noyo_optim:Science:HighestChlPeakReport](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:HighestChlPeakReport
2025-03-12T20:53:27.191Z,1741812807.191 [sci2_noyo_optim:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Stopped
2025-03-12T20:53:27.191Z,1741812807.191 [sci2_noyo_optim:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-03-12T20:53:27.191Z,1741812807.191 [sci2_noyo_optim:Science:EdgeDetectChl] Stopped
2025-03-12T20:53:27.191Z,1741812807.191 [sci2_noyo_optim:Science:EdgeDetectChl](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:EdgeDetectChl
2025-03-12T20:53:27.199Z,1741812807.199 [sci2_noyo_optim:Science:EdgeDetectChl:A] Stopped
2025-03-12T20:53:27.200Z,1741812807.200 [sci2_noyo_optim:Science:PeakDetectChl] Stopped
2025-03-12T20:53:27.200Z,1741812807.200 [sci2_noyo_optim:Science:PeakDetectChl](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:PeakDetectChl
2025-03-12T20:53:27.200Z,1741812807.200 [sci2_noyo_optim:Science:PeakDetectChl:A] Stopped
2025-03-12T20:53:27.200Z,1741812807.200 [sci2_noyo_optim:Science:OceanCurrent:A.] Running Loop=1
2025-03-12T20:53:27.200Z,1741812807.200 [sci2_noyo_optim:Science:Read_Oil] Stopped
2025-03-12T20:53:27.200Z,1741812807.200 [sci2_noyo_optim:Science:F] Stopped
2025-03-12T20:53:27.200Z,1741812807.200 [sci2_noyo_optim:Science:E] Running Loop=1
2025-03-12T20:53:27.201Z,1741812807.201 [sci2_noyo_optim:Science:E](DEBUG): Initialize ReadDataComponent to sense mass_concentration_of_chlorophyll_in_sea_water
2025-03-12T20:53:27.201Z,1741812807.201 [sci2_noyo_optim:Science:D] Stopped
2025-03-12T20:53:27.201Z,1741812807.201 [sci2_noyo_optim:Science:C] Running Loop=1
2025-03-12T20:53:27.201Z,1741812807.201 [sci2_noyo_optim:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_temperature
2025-03-12T20:53:27.202Z,1741812807.202 [sci2_noyo_optim:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_salinity
2025-03-12T20:53:27.202Z,1741812807.202 [sci2_noyo_optim:Science:B] Running Loop=1
2025-03-12T20:53:27.202Z,1741812807.202 [sci2_noyo_optim:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_temperature
2025-03-12T20:53:27.203Z,1741812807.203 [sci2_noyo_optim:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_salinity
2025-03-12T20:53:27.203Z,1741812807.203 [sci2_noyo_optim:Science:A] Stopped
2025-03-12T20:53:27.249Z,1741812807.249 [WetLabsBB2FL](INFO): Powering up
2025-03-12T20:53:27.502Z,1741812807.502 [PowerOnly](INFO): Powering up loadControl
2025-03-12T20:53:27.548Z,1741812807.548 [sci2_noyo_optim:D] Stopped
2025-03-12T20:53:27.548Z,1741812807.548 [sci2_noyo_optim:E] Running Loop=1
2025-03-12T20:53:27.919Z,1741812807.919 [sci2_noyo_optim:E] Stopped
2025-03-12T20:53:27.920Z,1741812807.920 [sci2_noyo_optim:G] Running Loop=1
2025-03-12T20:53:28.323Z,1741812808.323 [sci2_noyo_optim:G] Stopped
2025-03-12T20:53:28.324Z,1741812808.324 [sci2_noyo_optim:H] Running Loop=1
2025-03-12T20:53:28.727Z,1741812808.727 [sci2_noyo_optim:H] Stopped
2025-03-12T20:53:28.728Z,1741812808.728 [sci2_noyo_optim:M] Running Loop=1
2025-03-12T20:53:29.136Z,1741812809.136 [sci2_noyo_optim:M] Stopped
2025-03-12T20:53:29.137Z,1741812809.137 [sci2_noyo_optim:StartingMission] Running Loop=1
2025-03-12T20:53:29.137Z,1741812809.137 [sci2_noyo_optim:StartingMission](DEBUG): Aggregate::initialize sci2_noyo_optim:StartingMission
2025-03-12T20:53:29.529Z,1741812809.529 [sci2_noyo_optim:SurfaceComms] Running Loop=1
2025-03-12T20:53:29.529Z,1741812809.529 [sci2_noyo_optim:SurfaceComms](DEBUG): Aggregate::initialize sci2_noyo_optim:SurfaceComms
2025-03-12T20:53:29.529Z,1741812809.529 [sci2_noyo_optim:SurfaceComms:A] Running Loop=1
2025-03-12T20:53:29.530Z,1741812809.530 [sci2_noyo_optim:SurfaceComms:A] Stopped
2025-03-12T20:53:29.530Z,1741812809.530 [sci2_noyo_optim:SurfaceComms:B] Running Loop=1
2025-03-12T20:53:29.530Z,1741812809.530 [sci2_noyo_optim:SurfaceComms:B](DEBUG): Aggregate::initialize sci2_noyo_optim:SurfaceComms:B
2025-03-12T20:53:29.971Z,1741812809.971 [sci2_noyo_optim:NeedComms] Running Loop=1
2025-03-12T20:53:29.971Z,1741812809.971 [sci2_noyo_optim:NeedComms](DEBUG): Aggregate::initialize sci2_noyo_optim:NeedComms
2025-03-12T20:53:29.971Z,1741812809.971 [sci2_noyo_optim:NeedComms:B.GoToSurface] Running Loop=1
2025-03-12T20:53:29.972Z,1741812809.972 [sci2_noyo_optim:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-03-12T20:53:29.972Z,1741812809.972 [sci2_noyo_optim:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-03-12T20:53:29.972Z,1741812809.972 [sci2_noyo_optim:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-03-12T20:53:29.973Z,1741812809.973 [sci2_noyo_optim:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-03-12T20:53:29.973Z,1741812809.973 [sci2_noyo_optim:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-03-12T20:53:29.973Z,1741812809.973 [sci2_noyo_optim:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-03-12T20:53:29.974Z,1741812809.974 [sci2_noyo_optim:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-03-12T20:53:29.974Z,1741812809.974 [sci2_noyo_optim:NeedComms:A] Running Loop=1
2025-03-12T20:53:29.975Z,1741812809.975 [sci2_noyo_optim:NeedComms:A](INFO): last time_fix was:  1741812528.000000 second since 1970/01/01T00:00:00Z 
2025-03-12T20:53:29.975Z,1741812809.975 [sci2_noyo_optim:NeedComms:A] Stopped
2025-03-12T20:53:30.209Z,1741812810.209 [CTD_Seabird](ERROR): Pressure reading out of range: -10.100000 decibar
2025-03-12T20:53:30.210Z,1741812810.210 [CTD_Seabird](INFO): some bad data, not updating bins
2025-03-12T20:53:30.393Z,1741812810.393 [sci2_noyo_optim:NeedComms:C] Running Loop=1
2025-03-12T20:53:30.764Z,1741812810.764 [sci2_noyo_optim:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-03-12T20:53:31.213Z,1741812811.213 [CTD_Seabird](ERROR): Pressure reading out of range: -49.639999 decibar
2025-03-12T20:53:31.214Z,1741812811.214 [CTD_Seabird](INFO): some bad data, not updating bins
2025-03-12T20:53:31.541Z,1741812811.541 [MultiRay](IMPORTANT): MultiRay white lights ON
2025-03-12T20:53:52.549Z,1741812832.549 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2025-03-12T20:53:53.762Z,1741812833.762 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,205352.00,A,3647.87559,N,12153.40794,W,1.050,153.02,120325,,,A*73
2025-03-12T20:53:53.765Z,1741812833.765 [NAL9602](INFO): GPS fix at 20250312T205352: (36.797927, -121.890132)
2025-03-12T20:53:53.803Z,1741812833.803 [sci2_noyo_optim:NeedComms:C] Stopped
2025-03-12T20:53:53.804Z,1741812833.804 [sci2_noyo_optim:NeedComms:D] Running Loop=1
2025-03-12T20:53:54.212Z,1741812834.212 [sci2_noyo_optim:NeedComms:D](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-03-12T20:54:17.732Z,1741812857.732 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.247490
2025-03-12T20:54:25.488Z,1741812865.488 [BackseatComponent](IMPORTANT): ikshana: running backseat application.
2025-03-12T20:54:48.860Z,1741812888.860 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T20:55:24.008Z,1741812924.008 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T20:55:59.148Z,1741812959.148 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T20:56:20.924Z,1741812980.924 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003110
2025-03-12T20:56:28.527Z,1741812988.527 [DataOverHttps](INFO): Sending 84 bytes from file Logs/20250311T232940/Courier0162.lzma
2025-03-12T20:56:29.530Z,1741812989.530 [DataOverHttps](INFO): Moved sent file to Logs/20250311T232940/Courier0162.lzma.bak
2025-03-12T20:56:29.530Z,1741812989.530 [DataOverHttps](INFO): SBD MOMSN=24197872
2025-03-12T20:56:45.759Z,1741813005.759 [DataOverHttps](INFO): Sending 1027 bytes from file Logs/20250311T232940/Express0163.lzma
2025-03-12T20:56:46.758Z,1741813006.758 [DataOverHttps](INFO): Moved sent file to Logs/20250311T232940/Express0163.lzma.bak
2025-03-12T20:56:46.758Z,1741813006.758 [DataOverHttps](INFO): SBD MOMSN=24197875
2025-03-12T20:56:51.525Z,1741813011.525 [NAL9602](INFO): Not Powering down - fast GPS
2025-03-12T20:57:05.116Z,1741813025.116 [DataOverHttps](INFO): Sending 79 bytes from file Logs/20250311T232940/Express0166.lzma
2025-03-12T20:57:06.118Z,1741813026.118 [DataOverHttps](INFO): Moved sent file to Logs/20250311T232940/Express0166.lzma.bak
2025-03-12T20:57:06.118Z,1741813026.118 [DataOverHttps](INFO): SBD MOMSN=24198374
2025-03-12T20:57:07.291Z,1741813027.291 [sci2_noyo_optim:NeedComms:D] Stopped
2025-03-12T20:57:07.292Z,1741813027.292 [sci2_noyo_optim:NeedComms:E] Running Loop=1
2025-03-12T20:57:07.692Z,1741813027.692 [sci2_noyo_optim:NeedComms:E](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-03-12T20:57:09.298Z,1741813029.298 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,205707.00,A,3647.89040,N,12153.35649,W,0.661,44.75,120325,,,A*45
2025-03-12T20:57:09.301Z,1741813029.301 [NAL9602](INFO): GPS fix at 20250312T205707: (36.798173, -121.889275)
2025-03-12T20:57:09.323Z,1741813029.323 [sci2_noyo_optim:NeedComms:E] Stopped
2025-03-12T20:57:09.324Z,1741813029.324 [sci2_noyo_optim:NeedComms](INFO): Completed sci2_noyo_optim:NeedComms
2025-03-12T20:57:09.324Z,1741813029.324 [sci2_noyo_optim:NeedComms] Stopped
2025-03-12T20:57:09.325Z,1741813029.325 [sci2_noyo_optim:NeedComms](DEBUG): Aggregate::uninitialize sci2_noyo_optim:NeedComms
2025-03-12T20:57:09.325Z,1741813029.325 [sci2_noyo_optim:NeedComms:B.GoToSurface] Stopped
2025-03-12T20:57:09.325Z,1741813029.325 [sci2_noyo_optim:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-03-12T20:57:09.771Z,1741813029.771 [sci2_noyo_optim:SurfaceComms:B](INFO): Completed sci2_noyo_optim:SurfaceComms:B
2025-03-12T20:57:09.771Z,1741813029.771 [sci2_noyo_optim:SurfaceComms:B] Stopped
2025-03-12T20:57:09.772Z,1741813029.772 [sci2_noyo_optim:SurfaceComms:B](DEBUG): Aggregate::uninitialize sci2_noyo_optim:SurfaceComms:B
2025-03-12T20:57:09.772Z,1741813029.772 [sci2_noyo_optim:SurfaceComms:C] Running Loop=1
2025-03-12T20:57:10.139Z,1741813030.139 [sci2_noyo_optim:SurfaceComms:C] Stopped
2025-03-12T20:57:10.139Z,1741813030.139 [sci2_noyo_optim:SurfaceComms](INFO): Completed sci2_noyo_optim:SurfaceComms
2025-03-12T20:57:10.139Z,1741813030.139 [sci2_noyo_optim:SurfaceComms] Stopped
2025-03-12T20:57:10.143Z,1741813030.143 [sci2_noyo_optim:SurfaceComms](DEBUG): Aggregate::uninitialize sci2_noyo_optim:SurfaceComms
2025-03-12T20:57:10.529Z,1741813030.529 [sci2_noyo_optim:StartingMission](INFO): Completed sci2_noyo_optim:StartingMission
2025-03-12T20:57:10.529Z,1741813030.529 [sci2_noyo_optim:StartingMission] Stopped
2025-03-12T20:57:10.529Z,1741813030.529 [sci2_noyo_optim:StartingMission](DEBUG): Aggregate::uninitialize sci2_noyo_optim:StartingMission
2025-03-12T20:57:10.529Z,1741813030.529 [sci2_noyo_optim:Lap] Running Loop=1
2025-03-12T20:57:10.529Z,1741813030.529 [sci2_noyo_optim:Lap](DEBUG): Aggregate::initialize sci2_noyo_optim:Lap
2025-03-12T20:57:10.529Z,1741813030.529 [sci2_noyo_optim:Lap:Dive] Running Loop=1
2025-03-12T20:57:10.529Z,1741813030.529 [sci2_noyo_optim:Lap:Dive](DEBUG): Aggregate::initialize sci2_noyo_optim:Lap:Dive
2025-03-12T20:57:10.529Z,1741813030.529 [sci2_noyo_optim:Lap:Dive:A] Running Loop=1
2025-03-12T20:57:10.530Z,1741813030.530 [sci2_noyo_optim:Lap:Dive:A](DEBUG): Aggregate::initialize sci2_noyo_optim:Lap:Dive:A
2025-03-12T20:57:10.530Z,1741813030.530 [sci2_noyo_optim:Lap:DepthByLap] Running Loop=1
2025-03-12T20:57:10.530Z,1741813030.530 [sci2_noyo_optim:Lap:DepthByLap](DEBUG): Aggregate::initialize sci2_noyo_optim:Lap:DepthByLap
2025-03-12T20:57:10.530Z,1741813030.530 [sci2_noyo_optim:Lap:DepthByLap:A] Running Loop=1
2025-03-12T20:57:10.952Z,1741813030.952 [sci2_noyo_optim:Lap:DepthByLap:A] Stopped
2025-03-12T20:57:10.952Z,1741813030.952 [sci2_noyo_optim:Lap:DepthByLap:Wpt1] Running Loop=1
2025-03-12T20:57:10.952Z,1741813030.952 [sci2_noyo_optim:Lap:DepthByLap:Wpt1](DEBUG): Aggregate::initialize sci2_noyo_optim:Lap:DepthByLap:Wpt1
2025-03-12T20:57:10.952Z,1741813030.952 [sci2_noyo_optim:Lap:DepthByLap:Wpt1:A.Waypoint] Running Loop=1
2025-03-12T20:57:10.952Z,1741813030.952 [sci2_noyo_optim:Lap:DepthByLap:Wpt1:A.Waypoint](DEBUG): Initialize WaypointComponent.
2025-03-12T20:57:10.953Z,1741813030.953 [sci2_noyo_optim:Lap:DepthByLap:Wpt1:A.Waypoint](IMPORTANT): Navigating to waypoint: 36.796120,-121.889877
2025-03-12T20:57:10.953Z,1741813030.953 [sci2_noyo_optim:Lap:Dive] Running Loop=1
2025-03-12T20:57:10.953Z,1741813030.953 [sci2_noyo_optim:DiveCmd] Running Loop=1
2025-03-12T20:57:10.953Z,1741813030.953 [sci2_noyo_optim:DiveCmd](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd
2025-03-12T20:57:10.954Z,1741813030.954 [sci2_noyo_optim:DiveCmd:InitialDive] Running Loop=1
2025-03-12T20:57:10.954Z,1741813030.954 [sci2_noyo_optim:DiveCmd:InitialDive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:InitialDive
2025-03-12T20:57:10.954Z,1741813030.954 [sci2_noyo_optim:DiveCmd:InitialDive:dive] Running Loop=1
2025-03-12T20:57:10.954Z,1741813030.954 [sci2_noyo_optim:DiveCmd:InitialDive:dive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:InitialDive:dive
2025-03-12T20:57:10.954Z,1741813030.954 [sci2_noyo_optim:DiveCmd:InitialDive:dive:A] Running Loop=1
2025-03-12T20:57:10.954Z,1741813030.954 [sci2_noyo_optim:DiveCmd:InitialDive:dive:B] Running Loop=1
2025-03-12T20:57:10.954Z,1741813030.954 [sci2_noyo_optim:DiveCmd:InitialDive:dive:C.Mass] Running Loop=1
2025-03-12T20:57:10.954Z,1741813030.954 [sci2_noyo_optim:DiveCmd:InitialDive:dive:C.Mass](DEBUG): Initialize.
2025-03-12T20:57:10.954Z,1741813030.954 [sci2_noyo_optim:DiveCmd:InitialDive:dive:D] Running Loop=1
2025-03-12T20:57:10.954Z,1741813030.954 [sci2_noyo_optim:DiveCmd:SettleAtDepth] Running Loop=1
2025-03-12T20:57:10.955Z,1741813030.955 [sci2_noyo_optim:DiveCmd:SettleAtDepth](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:SettleAtDepth
2025-03-12T20:57:10.955Z,1741813030.955 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive] Running Loop=1
2025-03-12T20:57:10.955Z,1741813030.955 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:SettleAtDepth:dive
2025-03-12T20:57:10.979Z,1741813030.979 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:B.Pitch] Running Loop=1
2025-03-12T20:57:10.979Z,1741813030.979 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:B.Pitch](DEBUG): Initialize.
2025-03-12T20:57:10.979Z,1741813030.979 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:A] Running Loop=1
2025-03-12T20:57:10.980Z,1741813030.980 [sci2_noyo_optim:DiveCmd:MaintainDepth] Running Loop=1
2025-03-12T20:57:10.980Z,1741813030.980 [sci2_noyo_optim:DiveCmd:MaintainDepth](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepth
2025-03-12T20:57:10.980Z,1741813030.980 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive] Running Loop=1
2025-03-12T20:57:10.980Z,1741813030.980 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive
2025-03-12T20:57:10.980Z,1741813030.980 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive] Running Loop=1
2025-03-12T20:57:10.980Z,1741813030.980 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive
2025-03-12T20:57:10.980Z,1741813030.980 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass] Running Loop=1
2025-03-12T20:57:10.980Z,1741813030.980 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass](DEBUG): Initialize.
2025-03-12T20:57:10.980Z,1741813030.980 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed] Running Loop=1
2025-03-12T20:57:10.980Z,1741813030.980 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed](DEBUG): Initialize.
2025-03-12T20:57:10.981Z,1741813030.981 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:B.Pitch] Running Loop=1
2025-03-12T20:57:10.981Z,1741813030.981 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:B.Pitch](DEBUG): Initialize.
2025-03-12T20:57:10.981Z,1741813030.981 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow] Running Loop=1
2025-03-12T20:57:10.981Z,1741813030.981 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepthSlow
2025-03-12T20:57:10.981Z,1741813030.981 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:A.SetSpeed] Running Loop=1
2025-03-12T20:57:10.981Z,1741813030.981 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:A.SetSpeed](DEBUG): Initialize.
2025-03-12T20:57:10.981Z,1741813030.981 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:B] Running Loop=1
2025-03-12T20:57:10.981Z,1741813030.981 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:C.Buoyancy] Running Loop=1
2025-03-12T20:57:10.981Z,1741813030.981 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:C.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-03-12T20:57:10.981Z,1741813030.981 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:D.Pitch] Running Loop=1
2025-03-12T20:57:10.981Z,1741813030.981 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:D.Pitch](DEBUG): Initialize.
2025-03-12T20:57:10.982Z,1741813030.982 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow] Stopped
2025-03-12T20:57:10.983Z,1741813030.983 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepthSlow
2025-03-12T20:57:10.983Z,1741813030.983 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:A.SetSpeed] Stopped
2025-03-12T20:57:10.983Z,1741813030.983 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:A.SetSpeed](DEBUG): Uninitialize.
2025-03-12T20:57:10.983Z,1741813030.983 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:B] Stopped
2025-03-12T20:57:10.983Z,1741813030.983 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:C.Buoyancy] Stopped
2025-03-12T20:57:10.983Z,1741813030.983 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-03-12T20:57:10.991Z,1741813030.991 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:D.Pitch] Stopped
2025-03-12T20:57:10.991Z,1741813030.991 [sci2_noyo_optim:DiveCmd:MaintainDepth] Running Loop=1
2025-03-12T20:57:10.991Z,1741813030.991 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive] Running Loop=1
2025-03-12T20:57:10.992Z,1741813030.992 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:B.Pitch] Running Loop=1
2025-03-12T20:57:10.992Z,1741813030.992 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive] Running Loop=1
2025-03-12T20:57:10.992Z,1741813030.992 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed] Running Loop=1
2025-03-12T20:57:10.992Z,1741813030.992 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass] Running Loop=1
2025-03-12T20:57:10.993Z,1741813030.993 [sci2_noyo_optim:DiveCmd:SettleAtDepth] Stopped
2025-03-12T20:57:10.993Z,1741813030.993 [sci2_noyo_optim:DiveCmd:SettleAtDepth](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:SettleAtDepth
2025-03-12T20:57:10.993Z,1741813030.993 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive] Stopped
2025-03-12T20:57:10.993Z,1741813030.993 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:SettleAtDepth:dive
2025-03-12T20:57:10.993Z,1741813030.993 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:A] Stopped
2025-03-12T20:57:10.993Z,1741813030.993 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:B.Pitch] Stopped
2025-03-12T20:57:10.993Z,1741813030.993 [sci2_noyo_optim:DiveCmd:InitialDive] Running Loop=1
2025-03-12T20:57:10.994Z,1741813030.994 [sci2_noyo_optim:DiveCmd:InitialDive:dive:D](INFO): Waiting for  1.000000 min while pumping down to neutral.
2025-03-12T20:57:10.994Z,1741813030.994 [sci2_noyo_optim:DiveCmd:InitialDive:dive:D] Stopped
2025-03-12T20:57:11.004Z,1741813031.004 [sci2_noyo_optim:DiveCmd:InitialDive:dive:E.Wait] Running Loop=1
2025-03-12T20:57:11.004Z,1741813031.004 [sci2_noyo_optim:DiveCmd:InitialDive:dive:E.Wait](DEBUG): Initialize Wait Component.
2025-03-12T20:57:11.004Z,1741813031.004 [sci2_noyo_optim:DiveCmd:InitialDive:dive:C.Mass] Running Loop=1
2025-03-12T20:57:11.004Z,1741813031.004 [sci2_noyo_optim:DiveCmd:InitialDive:dive:B] Running Loop=1
2025-03-12T20:57:11.004Z,1741813031.004 [sci2_noyo_optim:DiveCmd:InitialDive:dive:A] Running Loop=1
2025-03-12T20:57:11.387Z,1741813031.387 [sci2_noyo_optim:Lap:DepthByLap:Wpt1:A.Waypoint](INFO): Navigating to waypoint: 36.796120,-121.889877
2025-03-12T20:58:10.941Z,1741813090.941 [ElevatorOffsetCalculator](INFO): New estimator for commanded vars: speed 1.00 m/s, pitch 30.00 deg, mass-position 6.85 mm (3 active estimators).
2025-03-12T20:58:11.752Z,1741813091.752 [sci2_noyo_optim:DiveCmd:InitialDive:dive:E.Wait](INFO): Done Waiting.
2025-03-12T20:58:11.752Z,1741813091.752 [sci2_noyo_optim:DiveCmd:InitialDive:dive:E.Wait] Stopped
2025-03-12T20:58:11.752Z,1741813091.752 [sci2_noyo_optim:DiveCmd:InitialDive:dive:E.Wait](DEBUG): Uninitialize Wait Component.
2025-03-12T20:58:11.753Z,1741813091.753 [sci2_noyo_optim:DiveCmd:InitialDive:dive:F] Running Loop=1
2025-03-12T20:58:12.160Z,1741813092.160 [sci2_noyo_optim:DiveCmd:InitialDive:dive:F](INFO): Moving to  10.000000 m 
2025-03-12T20:58:12.160Z,1741813092.160 [sci2_noyo_optim:DiveCmd:InitialDive:dive:F] Stopped
2025-03-12T20:58:12.160Z,1741813092.160 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth] Running Loop=1
2025-03-12T20:58:12.160Z,1741813092.160 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth
2025-03-12T20:58:12.160Z,1741813092.160 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:A.SetSpeed] Running Loop=1
2025-03-12T20:58:12.161Z,1741813092.161 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:A.SetSpeed](DEBUG): Initialize.
2025-03-12T20:58:12.161Z,1741813092.161 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:B.Pitch] Running Loop=1
2025-03-12T20:58:12.161Z,1741813092.161 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:B.Pitch](DEBUG): Initialize.
2025-03-12T20:58:12.622Z,1741813092.622 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:A.SetSpeed] Running Loop=1
2025-03-12T20:58:15.876Z,1741813095.876 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.335297
2025-03-12T20:58:48.004Z,1741813128.004 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T20:59:11.264Z,1741813151.264 [Radio_Surface](INFO): Powering down
2025-03-12T20:59:23.145Z,1741813163.145 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T20:59:24.148Z,1741813164.148 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-03-12T20:59:54.036Z,1741813194.036 [Waterlinked](ERROR): only read 0 of 1 data item for altitude. Device response::BD,       +0.00,       +0.00,       +.00
2025-03-12T21:01:02.544Z,1741813262.544 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:B.Pitch] Stopped
2025-03-12T21:01:02.545Z,1741813262.545 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth](INFO): Completed sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth
2025-03-12T21:01:02.545Z,1741813262.545 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth] Stopped
2025-03-12T21:01:02.545Z,1741813262.545 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth
2025-03-12T21:01:02.545Z,1741813262.545 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:A.SetSpeed] Stopped
2025-03-12T21:01:02.545Z,1741813262.545 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:A.SetSpeed](DEBUG): Uninitialize.
2025-03-12T21:01:02.546Z,1741813262.546 [sci2_noyo_optim:DiveCmd:InitialDive:dive:H] Running Loop=1
2025-03-12T21:01:02.973Z,1741813262.973 [sci2_noyo_optim:DiveCmd:InitialDive:dive:H] Stopped
2025-03-12T21:01:02.973Z,1741813262.973 [sci2_noyo_optim:DiveCmd:InitialDive:dive](INFO): Completed sci2_noyo_optim:DiveCmd:InitialDive:dive
2025-03-12T21:01:02.973Z,1741813262.973 [sci2_noyo_optim:DiveCmd:InitialDive:dive] Stopped
2025-03-12T21:01:02.974Z,1741813262.974 [sci2_noyo_optim:DiveCmd:InitialDive:dive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:InitialDive:dive
2025-03-12T21:01:02.974Z,1741813262.974 [sci2_noyo_optim:DiveCmd:InitialDive:dive:A] Stopped
2025-03-12T21:01:02.974Z,1741813262.974 [sci2_noyo_optim:DiveCmd:InitialDive:dive:B] Stopped
2025-03-12T21:01:02.974Z,1741813262.974 [sci2_noyo_optim:DiveCmd:InitialDive:dive:C.Mass] Stopped
2025-03-12T21:01:02.974Z,1741813262.974 [sci2_noyo_optim:DiveCmd:InitialDive:dive:C.Mass](DEBUG): Uninitialize.
2025-03-12T21:01:02.974Z,1741813262.974 [sci2_noyo_optim:DiveCmd:InitialDive](INFO): Completed sci2_noyo_optim:DiveCmd:InitialDive
2025-03-12T21:01:03.490Z,1741813263.490 [sci2_noyo_optim:DiveCmd:SettleAtDepth] Running Loop=1
2025-03-12T21:01:03.490Z,1741813263.490 [sci2_noyo_optim:DiveCmd:SettleAtDepth](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:SettleAtDepth
2025-03-12T21:01:03.491Z,1741813263.491 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive] Running Loop=1
2025-03-12T21:01:03.495Z,1741813263.495 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:SettleAtDepth:dive
2025-03-12T21:01:03.496Z,1741813263.496 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:B.Pitch] Running Loop=1
2025-03-12T21:01:03.496Z,1741813263.496 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:B.Pitch](DEBUG): Initialize.
2025-03-12T21:01:03.496Z,1741813263.496 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:A] Running Loop=1
2025-03-12T21:01:03.496Z,1741813263.496 [sci2_noyo_optim:DiveCmd:SettleAtDepth] Running Loop=1
2025-03-12T21:01:03.497Z,1741813263.497 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:B.Pitch] Running Loop=1
2025-03-12T21:01:03.504Z,1741813263.504 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:A](INFO): Reached  10.086390 m , settling for  3.000000 min 
2025-03-12T21:01:03.504Z,1741813263.504 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:A] Stopped
2025-03-12T21:01:03.504Z,1741813263.504 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:C.Wait] Running Loop=1
2025-03-12T21:01:03.505Z,1741813263.505 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:C.Wait](DEBUG): Initialize Wait Component.
2025-03-12T21:02:09.394Z,1741813329.394 [sci2_noyo_optim:Lap:DepthByLap:Wpt1:A.Waypoint](IMPORTANT): Reached waypoint: 36.796120,-121.889877
2025-03-12T21:02:09.394Z,1741813329.394 [sci2_noyo_optim:Lap:DepthByLap:Wpt1:A.Waypoint] Stopped
2025-03-12T21:02:09.394Z,1741813329.394 [sci2_noyo_optim:Lap:DepthByLap:Wpt1:A.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-03-12T21:02:09.394Z,1741813329.394 [sci2_noyo_optim:Lap:DepthByLap:Wpt1](INFO): Completed sci2_noyo_optim:Lap:DepthByLap:Wpt1
2025-03-12T21:02:09.394Z,1741813329.394 [sci2_noyo_optim:Lap:DepthByLap:Wpt1] Stopped
2025-03-12T21:02:09.394Z,1741813329.394 [sci2_noyo_optim:Lap:DepthByLap:Wpt1](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Lap:DepthByLap:Wpt1
2025-03-12T21:02:09.395Z,1741813329.395 [sci2_noyo_optim:Lap:DepthByLap:Wpt2] Running Loop=1
2025-03-12T21:02:09.395Z,1741813329.395 [sci2_noyo_optim:Lap:DepthByLap:Wpt2](DEBUG): Aggregate::initialize sci2_noyo_optim:Lap:DepthByLap:Wpt2
2025-03-12T21:02:09.395Z,1741813329.395 [sci2_noyo_optim:Lap:DepthByLap:Wpt2:A.Waypoint] Running Loop=1
2025-03-12T21:02:09.395Z,1741813329.395 [sci2_noyo_optim:Lap:DepthByLap:Wpt2:A.Waypoint](DEBUG): Initialize WaypointComponent.
2025-03-12T21:02:09.396Z,1741813329.396 [sci2_noyo_optim:Lap:DepthByLap:Wpt2:A.Waypoint](IMPORTANT): Navigating to waypoint: 36.797840,-121.872650
2025-03-12T21:02:10.069Z,1741813330.069 [sci2_noyo_optim:Lap:DepthByLap:Wpt2:A.Waypoint](INFO): Navigating to waypoint: 36.797840,-121.872650
2025-03-12T21:02:11.528Z,1741813331.528 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2025-03-12T21:02:42.164Z,1741813362.164 [NAL9602](INFO): Not Powering down - fast GPS
2025-03-12T21:04:04.254Z,1741813444.254 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:C.Wait](INFO): Done Waiting.
2025-03-12T21:04:04.254Z,1741813444.254 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:C.Wait] Stopped
2025-03-12T21:04:04.254Z,1741813444.254 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:C.Wait](DEBUG): Uninitialize Wait Component.
2025-03-12T21:04:04.254Z,1741813444.254 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:D] Running Loop=1
2025-03-12T21:04:04.458Z,1741813444.458 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:D] Stopped
2025-03-12T21:04:04.458Z,1741813444.458 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive](INFO): Completed sci2_noyo_optim:DiveCmd:SettleAtDepth:dive
2025-03-12T21:04:04.458Z,1741813444.458 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive] Stopped
2025-03-12T21:04:04.458Z,1741813444.458 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:SettleAtDepth:dive
2025-03-12T21:04:04.458Z,1741813444.458 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:B.Pitch] Stopped
2025-03-12T21:04:04.459Z,1741813444.459 [sci2_noyo_optim:DiveCmd:SettleAtDepth](INFO): Completed sci2_noyo_optim:DiveCmd:SettleAtDepth
2025-03-12T21:04:08.000Z,1741813449.000 [ElevatorServo](ERROR): getPosition uart error serial timeout
2025-03-12T21:04:09.000Z,1741813449.000 [ElevatorServo](FAULT): Elevator uart error - getPosition.serial timeout
2025-03-12T21:04:09.000Z,1741813449.000 [ElevatorServo] Communications Fault, FailCount= 1
2025-03-12T21:04:09.001Z,1741813449.001 [ElevatorServo](ERROR): Communications Fault
2025-03-12T21:04:09.117Z,1741813449.117 [CBIT](ERROR): Communications Fault in component: ElevatorServo
2025-03-12T21:04:09.501Z,1741813449.501 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2025-03-12T21:04:09.501Z,1741813449.501 [ElevatorServo](INFO): Powering down
2025-03-12T21:04:10.221Z,1741813450.221 [ElevatorServo](DEBUG): Initializing EZServoServo.
2025-03-12T21:04:10.336Z,1741813450.336 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2025-03-12T21:04:10.415Z,1741813450.415 [CBIT](INFO): Clearing failed state for component ElevatorServo
2025-03-12T21:04:10.415Z,1741813450.415 [ElevatorServo] No Fault, FailCount= 1
2025-03-12T21:04:26.102Z,1741813466.102 [sci2_noyo_optim:BackseatDriver:A.BackseatDriver](INFO): Created data writer for _.data_dir_logging_rate with code: 2169
2025-03-12T21:08:50.155Z,1741813730.155 [DAT](INFO): DAT read: Rx Time:21:08:49.5208

2025-03-12T21:08:50.156Z,1741813730.156 [DAT](INFO): Rx dataTimestamp_ set to:1741813730.155246
2025-03-12T21:08:50.715Z,1741813730.715 [DAT](INFO): DAT read: 21:08:49.5208 LVL= 20384, 16673, 16306, 18499, AGC= 82, IDX= 425,-0.10, 2.754, 2.000, 1.164, 1.692, PHS= 1.031, 0.281,-0.532, RAW=  58.7, -11.5, CAL=  67.8, -21.5, ROT=  82.2,  21.5

2025-03-12T21:08:50.735Z,1741813730.735 [DAT](INFO): got valid direction response:
 21:08:49.5208 LVL= 20384, 16673, 16306, 18499, AGC= 82, IDX= 425,-0.10, 2.754, 2.000, 1.164, 1.692, PHS= 1.031, 0.281,-0.532, RAW=  58.7, -11.5, CAL=  67.8, -21.5, ROT=  82.2,  21.5

2025-03-12T21:08:50.736Z,1741813730.736 [DAT](INFO): DAT read: $Error in header

2025-03-12T21:08:50.736Z,1741813730.736 [DAT](INFO): Received a bad header
2025-03-12T21:08:50.748Z,1741813730.748 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-03-12T21:08:50.749Z,1741813730.749 [DAT](INFO): direction in FSK: [0.126272,0.921809,-0.366501]
2025-03-12T21:09:27.471Z,1741813767.471 [DAT](INFO): DAT read: 21:09:26.8272 LVL= 13856, 12721, 11602, 12787, AGC= 82, IDX=  16,-0.47,-3.087, 2.326, 1.573, 1.942, PHS= 1.223, 0.357,-0.374, RAW=  62.8, -17.1, CAL=  70.5, -26.7, ROT=  79.5,  26.7

2025-03-12T21:09:27.484Z,1741813767.484 [DAT](INFO): got valid direction response:
 21:09:26.8272 LVL= 13856, 12721, 11602, 12787, AGC= 82, IDX=  16,-0.47,-3.087, 2.326, 1.573, 1.942, PHS= 1.223, 0.357,-0.374, RAW=  62.8, -17.1, CAL=  70.5, -26.7, ROT=  79.5,  26.7

2025-03-12T21:09:27.486Z,1741813767.486 [DAT](INFO): DAT read: Rx Time:21:09:26.8272

2025-03-12T21:09:27.500Z,1741813767.500 [DAT](INFO): Rx dataTimestamp_ set to:1741813767.486442
2025-03-12T21:09:27.501Z,1741813767.501 [DAT](INFO): DAT read: $Low SNR acquisition

2025-03-12T21:09:27.502Z,1741813767.502 [DAT](INFO): Received low SNR in chirp
2025-03-12T21:09:27.516Z,1741813767.516 [DAT](INFO): #Rx 2: Read direction message, but no range.
2025-03-12T21:09:27.518Z,1741813767.518 [DAT](INFO): direction in FSK: [0.162804,0.878412,-0.449319]
2025-03-12T21:10:00.032Z,1741813800.032 [sci2_noyo_optim:StandardEnvelopes:A.AltitudeEnvelope](IMPORTANT): Altitude envelope ACTIVE
2025-03-12T21:10:00.104Z,1741813800.104 [CommandExec](FAULT): Schedule is paused. Ignoring time-scheduled command: gfscan
2025-03-12T21:10:04.579Z,1741813804.579 [Waterlinked](ERROR): only read 0 of 1 data item for BIT error. Device response::TS,24052713135028, 0.0, +00,1475.0,  0
2025-03-12T21:10:42.114Z,1741813842.114 [DAT](INFO): DAT read: Rx Time:21:10:41.4445

2025-03-12T21:10:42.115Z,1741813842.115 [DAT](INFO): Rx dataTimestamp_ set to:1741813842.114555
2025-03-12T21:10:42.633Z,1741813842.633 [DAT](INFO): DAT read: 21:10:41.4445 LVL= 12880, 10881, 11106, 13507, AGC= 80, IDX= 119, 0.38,-3.076, 2.451, 1.613, 2.305, PHS= 0.872, 0.120,-0.696, RAW=  58.7,  -4.4, CAL=  66.1, -14.0, ROT=  83.9,  14.0

2025-03-12T21:10:42.636Z,1741813842.636 [DAT](INFO): got valid direction response:
 21:10:41.4445 LVL= 12880, 10881, 11106, 13507, AGC= 80, IDX= 119, 0.38,-3.076, 2.451, 1.613, 2.305, PHS= 0.872, 0.120,-0.696, RAW=  58.7,  -4.4, CAL=  66.1, -14.0, ROT=  83.9,  14.0

2025-03-12T21:10:42.637Z,1741813842.637 [DAT](INFO): DAT read: $Error in header

2025-03-12T21:10:42.638Z,1741813842.638 [DAT](INFO): Received a bad header
2025-03-12T21:10:42.652Z,1741813842.652 [DAT](INFO): #Rx 3: Read direction message, but no range.
2025-03-12T21:10:42.654Z,1741813842.654 [DAT](INFO): direction in FSK: [0.103108,0.964802,-0.241922]
2025-03-12T21:11:32.038Z,1741813892.038 [DAT](INFO): DAT read: 21:11:31.1856 LVL= 10816, 12529, 10498, 13811, AGC= 81, IDX= 364,-0.23,-2.423, 2.465, 2.146, 3.059, PHS= 0.770,-0.621,-0.917, RAW=  80.5,   9.9, CAL=  81.2,   1.8, ROT=  68.8,  -1.8

2025-03-12T21:11:32.039Z,1741813892.039 [DAT](INFO): got valid direction response:
 21:11:31.1856 LVL= 10816, 12529, 10498, 13811, AGC= 81, IDX= 364,-0.23,-2.423, 2.465, 2.146, 3.059, PHS= 0.770,-0.621,-0.917, RAW=  80.5,   9.9, CAL=  81.2,   1.8, ROT=  68.8,  -1.8

2025-03-12T21:11:32.040Z,1741813892.040 [DAT](INFO): DAT read: Rx Time:21:11:31.1856

2025-03-12T21:11:32.040Z,1741813892.040 [DAT](INFO): Rx dataTimestamp_ set to:1741813892.039725
2025-03-12T21:11:32.041Z,1741813892.041 [DAT](INFO): DAT read: $Low SNR acquisition

2025-03-12T21:11:32.041Z,1741813892.041 [DAT](INFO): Received low SNR in chirp
2025-03-12T21:11:32.055Z,1741813892.055 [DAT](INFO): #Rx 4: Read direction message, but no range.
2025-03-12T21:11:32.056Z,1741813892.056 [DAT](INFO): direction in FSK: [0.361446,0.931864,0.031411]
2025-03-12T21:11:56.759Z,1741813916.759 [DAT](INFO): DAT read: Rx Time:21:11:56.0556

2025-03-12T21:11:56.760Z,1741813916.760 [DAT](INFO): Rx dataTimestamp_ set to:1741813916.759706
2025-03-12T21:11:57.265Z,1741813917.265 [DAT](INFO): DAT read: 21:11:56.0556 LVL=  2656,  2721,  2418,  3379, AGC= 68, IDX= 160, 0.06,-0.672,-1.938,-2.563,-1.653, PHS= 0.950,-0.312,-0.914, RAW=  71.5,   3.4, CAL=  74.8,  -5.4, ROT=  75.2,   5.4

2025-03-12T21:11:57.266Z,1741813917.266 [DAT](INFO): got valid direction response:
 21:11:56.0556 LVL=  2656,  2721,  2418,  3379, AGC= 68, IDX= 160, 0.06,-0.672,-1.938,-2.563,-1.653, PHS= 0.950,-0.312,-0.914, RAW=  71.5,   3.4, CAL=  74.8,  -5.4, ROT=  75.2,   5.4

2025-03-12T21:11:57.267Z,1741813917.267 [DAT](INFO): DAT read: Unsupported packet type received!

2025-03-12T21:11:57.268Z,1741813917.268 [DAT](INFO): unknown deviceResponse_: Unsupported packet type received!

2025-03-12T21:11:57.268Z,1741813917.268 [DAT](INFO): DAT read: 

2025-03-12T21:11:57.269Z,1741813917.269 [DAT](INFO): DAT read: $Packet for address 226

2025-03-12T21:11:57.269Z,1741813917.269 [DAT](INFO): received a packet notification
2025-03-12T21:11:57.283Z,1741813917.283 [DAT](INFO): #Rx 5: Read direction message, but no range.
2025-03-12T21:11:57.285Z,1741813917.285 [DAT](INFO): direction in FSK: [0.254312,0.962533,-0.094108]
2025-03-12T21:12:09.119Z,1741813929.119 [DAT](INFO): DAT read: 21:12:08.4910 LVL= 32752, 32753, 32754, 32755, AGC= 87, IDX= 262,-0.14, 0.659,-0.136,-0.871,-0.075, PHS= 0.703,-0.089,-0.800, RAW=  61.8,   2.9, CAL=  66.4,  -6.0, ROT=  83.6,   6.0

2025-03-12T21:12:09.121Z,1741813929.121 [DAT](INFO): got valid direction response:
 21:12:08.4910 LVL= 32752, 32753, 32754, 32755, AGC= 87, IDX= 262,-0.14, 0.659,-0.136,-0.871,-0.075, PHS= 0.703,-0.089,-0.800, RAW=  61.8,   2.9, CAL=  66.4,  -6.0, ROT=  83.6,   6.0

2025-03-12T21:12:09.122Z,1741813929.122 [DAT](INFO): DAT read: Rx Time:21:12:08.4910

2025-03-12T21:12:09.122Z,1741813929.122 [DAT](INFO): Rx dataTimestamp_ set to:1741813929.121858
2025-03-12T21:12:09.123Z,1741813929.123 [DAT](INFO): DAT read: $Low SNR acquisition

2025-03-12T21:12:09.123Z,1741813929.123 [DAT](INFO): Received low SNR in chirp
2025-03-12T21:12:09.135Z,1741813929.135 [DAT](INFO): #Rx 6: Read direction message, but no range.
2025-03-12T21:12:09.136Z,1741813929.136 [DAT](INFO): direction in FSK: [0.110858,0.988324,-0.104528]
2025-03-12T21:12:21.704Z,1741813941.704 [DAT](INFO): DAT read: Rx Time:21:12:20.9267

2025-03-12T21:12:21.705Z,1741813941.705 [DAT](INFO): Rx dataTimestamp_ set to:1741813941.704414
2025-03-12T21:12:22.224Z,1741813942.224 [DAT](INFO): DAT read: 21:12:20.9268 LVL= 16080, 12321,  6738,  8179, AGC= 74, IDX= 320, 0.10,-2.107,-2.925, 2.584,-2.894, PHS= 0.757,-0.058,-0.809, RAW=  61.3,   1.6, CAL=  66.4,  -7.4, ROT=  83.6,   7.4

2025-03-12T21:12:22.227Z,1741813942.227 [DAT](INFO): got valid direction response:
 21:12:20.9268 LVL= 16080, 12321,  6738,  8179, AGC= 74, IDX= 320, 0.10,-2.107,-2.925, 2.584,-2.894, PHS= 0.757,-0.058,-0.809, RAW=  61.3,   1.6, CAL=  66.4,  -7.4, ROT=  83.6,   7.4

2025-03-12T21:12:22.229Z,1741813942.229 [DAT](INFO): DAT read: $Error in header

2025-03-12T21:12:22.229Z,1741813942.229 [DAT](INFO): Received a bad header
2025-03-12T21:12:22.244Z,1741813942.244 [DAT](INFO): #Rx 7: Read direction message, but no range.
2025-03-12T21:12:22.246Z,1741813942.246 [DAT](INFO): direction in FSK: [0.110541,0.985491,-0.128796]
2025-03-12T21:15:28.039Z,1741814128.039 [DAT](INFO): DAT read: Rx Time:21:15:27.4588

2025-03-12T21:15:28.041Z,1741814128.041 [DAT](INFO): Rx dataTimestamp_ set to:1741814128.039729
2025-03-12T21:15:28.806Z,1741814128.806 [DAT](INFO): DAT read: 21:15:27.4588 LVL=  6448,  6449,  9394,  8643, AGC= 78, IDX= 187, 0.23, 2.426, 1.317, 0.815, 1.541, PHS= 0.854,-0.251,-0.730, RAW=  72.8,   1.8, CAL=  76.3,  -6.9, ROT=  73.7,   6.9

2025-03-12T21:15:28.809Z,1741814128.809 [DAT](INFO): got valid direction response:
 21:15:27.4588 LVL=  6448,  6449,  9394,  8643, AGC= 78, IDX= 187, 0.23, 2.426, 1.317, 0.815, 1.541, PHS= 0.854,-0.251,-0.730, RAW=  72.8,   1.8, CAL=  76.3,  -6.9, ROT=  73.7,   6.9

2025-03-12T21:15:28.810Z,1741814128.810 [DAT](INFO): DAT read: $Error in header

2025-03-12T21:15:28.812Z,1741814128.812 [DAT](INFO): Received a bad header
2025-03-12T21:15:28.824Z,1741814128.824 [DAT](INFO): #Rx 8: Read direction message, but no range.
2025-03-12T21:15:28.827Z,1741814128.827 [DAT](INFO): direction in FSK: [0.278634,0.952854,-0.120137]
2025-03-12T21:16:05.394Z,1741814165.394 [DAT](INFO): DAT read: 21:16:04.7664 LVL= 32752, 32753, 32754, 32755, AGC= 88, IDX=  76, 0.10, 1.318, 0.415,-0.180, 0.517, PHS= 0.770,-0.129,-0.702, RAW=  67.3,   1.0, CAL=  71.9,  -7.9, ROT=  78.1,   7.9

2025-03-12T21:16:05.400Z,1741814165.400 [DAT](INFO): got valid direction response:
 21:16:04.7664 LVL= 32752, 32753, 32754, 32755, AGC= 88, IDX=  76, 0.10, 1.318, 0.415,-0.180, 0.517, PHS= 0.770,-0.129,-0.702, RAW=  67.3,   1.0, CAL=  71.9,  -7.9, ROT=  78.1,   7.9

2025-03-12T21:16:05.400Z,1741814165.400 [DAT](INFO): DAT read: Rx Time:21:16:04.7664

2025-03-12T21:16:05.401Z,1741814165.401 [DAT](INFO): Rx dataTimestamp_ set to:1741814165.400638
2025-03-12T21:16:05.402Z,1741814165.402 [DAT](INFO): DAT read: $Low SNR acquisition

2025-03-12T21:16:05.402Z,1741814165.402 [DAT](INFO): Received low SNR in chirp
2025-03-12T21:16:05.415Z,1741814165.415 [DAT](INFO): #Rx 9: Read direction message, but no range.
2025-03-12T21:16:05.417Z,1741814165.417 [DAT](INFO): direction in FSK: [0.204247,0.969222,-0.137445]
2025-03-12T21:16:42.718Z,1741814202.718 [DAT](INFO): DAT read: 21:16:42.0738 LVL= 23472, 30897, 29074, 32755, AGC= 89, IDX=  28,-0.25,-2.617, 2.412, 1.865, 2.627, PHS= 1.008,-0.243,-0.766, RAW=  73.3,   0.0, CAL=  77.2,  -8.6, ROT=  72.8,   8.6

2025-03-12T21:16:42.719Z,1741814202.719 [DAT](INFO): got valid direction response:
 21:16:42.0738 LVL= 23472, 30897, 29074, 32755, AGC= 89, IDX=  28,-0.25,-2.617, 2.412, 1.865, 2.627, PHS= 1.008,-0.243,-0.766, RAW=  73.3,   0.0, CAL=  77.2,  -8.6, ROT=  72.8,   8.6

2025-03-12T21:16:42.720Z,1741814202.720 [DAT](INFO): DAT read: Rx Time:21:16:42.0738

2025-03-12T21:16:42.720Z,1741814202.720 [DAT](INFO): Rx dataTimestamp_ set to:1741814202.719897
2025-03-12T21:16:42.721Z,1741814202.721 [DAT](INFO): DAT read: $Low SNR acquisition

2025-03-12T21:16:42.721Z,1741814202.721 [DAT](INFO): Received low SNR in chirp
2025-03-12T21:16:42.736Z,1741814202.736 [DAT](INFO): #Rx 10: Read direction message, but no range.
2025-03-12T21:16:42.737Z,1741814202.737 [DAT](INFO): direction in FSK: [0.292383,0.944538,-0.149535]
2025-03-12T21:16:53.108Z,1741814213.108 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow] Running Loop=1
2025-03-12T21:16:53.108Z,1741814213.108 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepthSlow
2025-03-12T21:16:53.108Z,1741814213.108 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:A.SetSpeed] Running Loop=1
2025-03-12T21:16:53.108Z,1741814213.108 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:A.SetSpeed](DEBUG): Initialize.
2025-03-12T21:16:53.108Z,1741814213.108 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:B] Running Loop=1
2025-03-12T21:16:53.108Z,1741814213.108 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:C.Buoyancy] Running Loop=1
2025-03-12T21:16:53.108Z,1741814213.108 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:C.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-03-12T21:16:53.108Z,1741814213.108 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:D.Pitch] Running Loop=1
2025-03-12T21:16:53.108Z,1741814213.108 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:D.Pitch](DEBUG): Initialize.
2025-03-12T21:16:53.109Z,1741814213.109 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow] Running Loop=1
2025-03-12T21:16:53.109Z,1741814213.109 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:D.Pitch] Running Loop=1
2025-03-12T21:16:53.109Z,1741814213.109 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:C.Buoyancy] Running Loop=1
2025-03-12T21:16:53.109Z,1741814213.109 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:B] Running Loop=1
2025-03-12T21:16:53.110Z,1741814213.110 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:A.SetSpeed] Running Loop=1
2025-03-12T21:16:53.110Z,1741814213.110 [sci2_noyo_optim:DiveCmd:MaintainDepth] Stopped
2025-03-12T21:16:53.110Z,1741814213.110 [sci2_noyo_optim:DiveCmd:MaintainDepth](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepth
2025-03-12T21:16:53.110Z,1741814213.110 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive] Stopped
2025-03-12T21:16:53.110Z,1741814213.110 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive
2025-03-12T21:16:53.110Z,1741814213.110 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive] Stopped
2025-03-12T21:16:53.110Z,1741814213.110 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive
2025-03-12T21:16:53.110Z,1741814213.110 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass] Stopped
2025-03-12T21:16:53.110Z,1741814213.110 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass](DEBUG): Uninitialize.
2025-03-12T21:16:53.110Z,1741814213.110 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed] Stopped
2025-03-12T21:16:53.111Z,1741814213.111 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed](DEBUG): Uninitialize.
2025-03-12T21:16:53.111Z,1741814213.111 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:B.Pitch] Stopped
2025-03-12T21:20:12.990Z,1741814412.990 [Waterlinked](ERROR): only read 0 of 1 data item for BIT error. Device response::TS,240, +0.0,   0.0,1475.0,  0
2025-03-12T21:20:42.043Z,1741814442.043 [CTD_Seabird](ERROR): Failed to parse device response: 78,1603.26
2025-03-12T21:24:13.867Z,1741814653.867 [Waterlinked](ERROR): DVL uart error: serial timeout
2025-03-12T21:24:13.867Z,1741814653.867 [Waterlinked] Communications Fault, FailCount= 1
2025-03-12T21:24:13.867Z,1741814653.867 [Waterlinked](ERROR): Communications Fault
2025-03-12T21:24:14.027Z,1741814654.027 [CBIT](ERROR): Communications Fault in component: Waterlinked
2025-03-12T21:24:14.339Z,1741814654.339 [Waterlinked](INFO): Powering down
2025-03-12T21:24:15.118Z,1741814655.118 [CBIT](INFO): Clearing failed state for component Waterlinked
2025-03-12T21:24:15.118Z,1741814655.118 [Waterlinked] No Fault, FailCount= 1
2025-03-12T21:26:27.528Z,1741814787.528 [DAT](INFO): DAT read: Rx Time:21:26:26.7407

2025-03-12T21:26:27.529Z,1741814787.529 [DAT](INFO): Rx dataTimestamp_ set to:1741814787.528603
2025-03-12T21:26:28.052Z,1741814788.052 [DAT](INFO): DAT read: 21:26:26.7407 LVL= 14672, 20449, 20162, 30243, AGC= 82, IDX= 436, 0.12,-0.910,-2.511,-2.570,-1.906, PHS= 0.965,-0.633,-0.668, RAW=  88.9,   4.2, CAL=  89.0,  -4.1, ROT=  61.0,   4.1

2025-03-12T21:26:28.063Z,1741814788.063 [DAT](INFO): got valid direction response:
 21:26:26.7407 LVL= 14672, 20449, 20162, 30243, AGC= 82, IDX= 436, 0.12,-0.910,-2.511,-2.570,-1.906, PHS= 0.965,-0.633,-0.668, RAW=  88.9,   4.2, CAL=  89.0,  -4.1, ROT=  61.0,   4.1

2025-03-12T21:26:28.065Z,1741814788.065 [DAT](INFO): DAT read: $Error in header

2025-03-12T21:26:28.066Z,1741814788.066 [DAT](INFO): Received a bad header
2025-03-12T21:26:28.080Z,1741814788.080 [DAT](INFO): #Rx 11: Read direction message, but no range.
2025-03-12T21:26:28.083Z,1741814788.083 [DAT](INFO): direction in FSK: [0.483569,0.872381,-0.071497]
2025-03-12T21:28:19.278Z,1741814899.278 [DAT](INFO): DAT read: Rx Time:21:28:18.7075

2025-03-12T21:28:19.280Z,1741814899.280 [DAT](INFO): Rx dataTimestamp_ set to:1741814899.278795
2025-03-12T21:28:20.050Z,1741814900.050 [DAT](INFO): DAT read: 21:28:18.7075 LVL=  5616,  8385,  8610, 15635, AGC= 70, IDX=  91,-0.39,-0.390,-1.960,-2.139,-1.571, PHS= 1.150,-0.416,-0.573, RAW=  85.3,  -2.0, CAL=  87.1,  -9.9, ROT=  62.9,   9.9

2025-03-12T21:28:20.052Z,1741814900.052 [DAT](INFO): got valid direction response:
 21:28:18.7075 LVL=  5616,  8385,  8610, 15635, AGC= 70, IDX=  91,-0.39,-0.390,-1.960,-2.139,-1.571, PHS= 1.150,-0.416,-0.573, RAW=  85.3,  -2.0, CAL=  87.1,  -9.9, ROT=  62.9,   9.9

2025-03-12T21:28:20.054Z,1741814900.054 [DAT](INFO): DAT read: $Error in header

2025-03-12T21:28:20.054Z,1741814900.054 [DAT](INFO): Received a bad header
2025-03-12T21:28:20.068Z,1741814900.068 [DAT](INFO): #Rx 12: Read direction message, but no range.
2025-03-12T21:28:20.071Z,1741814900.071 [DAT](INFO): direction in FSK: [0.448761,0.876957,-0.171929]
2025-03-12T21:28:26.980Z,1741814906.980 [CTD_Seabird](ERROR): Failed to parse device response: 21617.50
2025-03-12T21:29:09.224Z,1741814949.224 [DAT](INFO): DAT read: Rx Time:21:29:08.4590

2025-03-12T21:29:09.225Z,1741814949.225 [DAT](INFO): Rx dataTimestamp_ set to:1741814949.224440
2025-03-12T21:29:09.756Z,1741814949.756 [DAT](INFO): DAT read: 21:29:08.4590 LVL= 28928, 32753, 32754, 32755, AGC= 79, IDX= 508,-0.04, 2.532, 0.927, 0.752, 2.237, PHS= 0.264,-1.336,-1.489, RAW=  85.5,  28.3, CAL=  85.1,  42.1, ROT=  64.9, -42.1

2025-03-12T21:29:09.758Z,1741814949.758 [DAT](INFO): got valid direction response:
 21:29:08.4590 LVL= 28928, 32753, 32754, 32755, AGC= 79, IDX= 508,-0.04, 2.532, 0.927, 0.752, 2.237, PHS= 0.264,-1.336,-1.489, RAW=  85.5,  28.3, CAL=  85.1,  42.1, ROT=  64.9, -42.1

2025-03-12T21:29:09.796Z,1741814949.796 [DAT](INFO): DAT read: $Error in header

2025-03-12T21:29:09.797Z,1741814949.797 [DAT](INFO): Received a bad header
2025-03-12T21:29:09.812Z,1741814949.812 [DAT](INFO): #Rx 13: Read direction message, but no range.
2025-03-12T21:29:09.813Z,1741814949.813 [DAT](INFO): direction in FSK: [0.314746,0.671910,0.670427]
2025-03-12T21:29:21.577Z,1741814961.577 [DAT](INFO): DAT read: Rx Time:21:29:20.8994

2025-03-12T21:29:21.578Z,1741814961.578 [DAT](INFO): Rx dataTimestamp_ set to:1741814961.577237
2025-03-12T21:29:22.091Z,1741814962.091 [DAT](INFO): DAT read: 21:29:20.8995 LVL= 29856, 29553, 31250, 32755, AGC= 71, IDX= 388, 0.05,-1.098,-2.982,-2.641,-2.182, PHS= 1.053,-0.828,-0.463, RAW= 100.5,   2.8, CAL=  98.5,  -4.9, ROT=  51.5,   4.9

2025-03-12T21:29:22.093Z,1741814962.093 [DAT](INFO): got valid direction response:
 21:29:20.8995 LVL= 29856, 29553, 31250, 32755, AGC= 71, IDX= 388, 0.05,-1.098,-2.982,-2.641,-2.182, PHS= 1.053,-0.828,-0.463, RAW= 100.5,   2.8, CAL=  98.5,  -4.9, ROT=  51.5,   4.9

2025-03-12T21:29:22.093Z,1741814962.093 [DAT](INFO): DAT read: $Error in header

2025-03-12T21:29:22.094Z,1741814962.094 [DAT](INFO): Received a bad header
2025-03-12T21:29:22.107Z,1741814962.107 [DAT](INFO): #Rx 14: Read direction message, but no range.
2025-03-12T21:29:22.108Z,1741814962.108 [DAT](INFO): direction in FSK: [0.620240,0.779748,-0.085417]
2025-03-12T21:29:46.538Z,1741814986.538 [DAT](INFO): DAT read: Rx Time:21:29:45.7802

2025-03-12T21:29:46.539Z,1741814986.539 [DAT](INFO): Rx dataTimestamp_ set to:1741814986.538458
2025-03-12T21:29:47.046Z,1741814987.046 [DAT](INFO): DAT read: 21:29:45.7803 LVL= 26784, 32753, 32754, 32755, AGC= 80, IDX= 296, 0.24, 1.643, 0.038,-0.099, 0.565, PHS= 1.047,-0.555,-0.668, RAW=  86.6,   2.1, CAL=  87.5,  -6.1, ROT=  62.5,   6.1

2025-03-12T21:29:47.048Z,1741814987.048 [DAT](INFO): got valid direction response:
 21:29:45.7803 LVL= 26784, 32753, 32754, 32755, AGC= 80, IDX= 296, 0.24, 1.643, 0.038,-0.099, 0.565, PHS= 1.047,-0.555,-0.668, RAW=  86.6,   2.1, CAL=  87.5,  -6.1, ROT=  62.5,   6.1

2025-03-12T21:29:47.048Z,1741814987.048 [DAT](INFO): DAT read: $Error in header

2025-03-12T21:29:47.048Z,1741814987.048 [DAT](INFO): Received a bad header
2025-03-12T21:29:47.059Z,1741814987.059 [DAT](INFO): #Rx 15: Read direction message, but no range.
2025-03-12T21:29:47.061Z,1741814987.061 [DAT](INFO): direction in FSK: [0.459134,0.881989,-0.106264]
2025-03-12T21:30:32.412Z,1741815032.412 [BPC1](INFO): Calculating totals. Valid battery stick count: 50. Valid reserve battery stick count: 5.
2025-03-12T21:30:32.416Z,1741815032.416 [BPC1](FAULT): Failed to receive data from 2 sticks prior to timeout. Will not retry this scan cycle. Missing stick IDs are: 21, 24.
2025-03-12T21:31:13.528Z,1741815073.528 [DAT](INFO): DAT read: Rx Time:21:31:12.8627

2025-03-12T21:31:13.529Z,1741815073.529 [DAT](INFO): Rx dataTimestamp_ set to:1741815073.528602
2025-03-12T21:31:14.048Z,1741815074.048 [DAT](INFO): DAT read: 21:31:12.8627 LVL= 20112, 32753, 32754, 32755, AGC= 79, IDX= 280, 0.28,-0.273,-1.868,-2.050,-1.117, PHS= 0.813,-0.778,-0.937, RAW=  85.3,  10.8, CAL=  85.3,   3.8, ROT=  64.7,  -3.8

2025-03-12T21:31:14.050Z,1741815074.050 [DAT](INFO): got valid direction response:
 21:31:12.8627 LVL= 20112, 32753, 32754, 32755, AGC= 79, IDX= 280, 0.28,-0.273,-1.868,-2.050,-1.117, PHS= 0.813,-0.778,-0.937, RAW=  85.3,  10.8, CAL=  85.3,   3.8, ROT=  64.7,  -3.8

2025-03-12T21:31:14.052Z,1741815074.052 [DAT](INFO): DAT read: $Error in header

2025-03-12T21:31:14.053Z,1741815074.053 [DAT](INFO): Received a bad header
2025-03-12T21:31:14.068Z,1741815074.068 [DAT](INFO): #Rx 16: Read direction message, but no range.
2025-03-12T21:31:14.071Z,1741815074.071 [DAT](INFO): direction in FSK: [0.426418,0.902095,0.066274]
2025-03-12T21:31:26.128Z,1741815086.128 [DAT](INFO): DAT read: Rx Time:21:31:25.3033

2025-03-12T21:31:26.129Z,1741815086.129 [DAT](INFO): Rx dataTimestamp_ set to:1741815086.128425
2025-03-12T21:31:26.646Z,1741815086.646 [DAT](INFO): DAT read: 21:31:25.3033 LVL= 32400, 32753, 32754, 32755, AGC= 81, IDX= 387, 0.22,-2.610, 2.225, 2.080, 2.933, PHS= 0.709,-0.735,-0.857, RAW=  86.0,  11.7, CAL=  85.9,   5.6, ROT=  64.1,  -5.6

2025-03-12T21:31:26.648Z,1741815086.648 [DAT](INFO): got valid direction response:
 21:31:25.3033 LVL= 32400, 32753, 32754, 32755, AGC= 81, IDX= 387, 0.22,-2.610, 2.225, 2.080, 2.933, PHS= 0.709,-0.735,-0.857, RAW=  86.0,  11.7, CAL=  85.9,   5.6, ROT=  64.1,  -5.6

2025-03-12T21:31:26.649Z,1741815086.649 [DAT](INFO): DAT read: $Error in header

2025-03-12T21:31:26.649Z,1741815086.649 [DAT](INFO): Received a bad header
2025-03-12T21:31:26.663Z,1741815086.663 [DAT](INFO): #Rx 17: Read direction message, but no range.
2025-03-12T21:31:26.664Z,1741815086.664 [DAT](INFO): direction in FSK: [0.434717,0.895265,0.097583]
2025-03-12T21:31:50.832Z,1741815110.832 [DAT](INFO): DAT read: Rx Time:21:31:50.1830

2025-03-12T21:31:50.833Z,1741815110.833 [DAT](INFO): Rx dataTimestamp_ set to:1741815110.832482
2025-03-12T21:31:51.356Z,1741815111.356 [DAT](INFO): DAT read: 21:31:50.1830 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 314, 0.20, 1.634,-0.134, 0.165,-0.124, PHS= 1.727,-0.036, 0.285, RAW=  99.9, -23.2, CAL=  99.5, -30.2, ROT=  50.5,  30.2

2025-03-12T21:31:51.387Z,1741815111.387 [DAT](INFO): got valid direction response:
 21:31:50.1830 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 314, 0.20, 1.634,-0.134, 0.165,-0.124, PHS= 1.727,-0.036, 0.285, RAW=  99.9, -23.2, CAL=  99.5, -30.2, ROT=  50.5,  30.2

2025-03-12T21:31:51.393Z,1741815111.393 [DAT](INFO): DAT read: $Error in header

2025-03-12T21:31:51.393Z,1741815111.393 [DAT](INFO): Received a bad header
2025-03-12T21:31:51.408Z,1741815111.408 [DAT](INFO): #Rx 18: Read direction message, but no range.
2025-03-12T21:31:51.411Z,1741815111.411 [DAT](INFO): direction in FSK: [0.549746,0.666896,-0.503020]
2025-03-12T21:33:05.514Z,1741815185.514 [DAT](INFO): DAT read: Rx Time:21:33:04.8256

2025-03-12T21:33:05.523Z,1741815185.523 [DAT](INFO): Rx dataTimestamp_ set to:1741815185.514367
2025-03-12T21:33:06.030Z,1741815186.030 [DAT](INFO): DAT read: 21:33:04.8257 LVL= 27024, 32753, 32754, 32755, AGC= 81, IDX= 481,-0.45,-1.463,-3.017, 3.093,-2.531, PHS= 1.036,-0.513,-0.663, RAW=  85.4,   1.7, CAL=  86.6,  -6.5, ROT=  63.4,   6.5

2025-03-12T21:33:06.031Z,1741815186.031 [DAT](INFO): got valid direction response:
 21:33:04.8257 LVL= 27024, 32753, 32754, 32755, AGC= 81, IDX= 481,-0.45,-1.463,-3.017, 3.093,-2.531, PHS= 1.036,-0.513,-0.663, RAW=  85.4,   1.7, CAL=  86.6,  -6.5, ROT=  63.4,   6.5

2025-03-12T21:33:06.032Z,1741815186.032 [DAT](INFO): DAT read: $Error in header

2025-03-12T21:33:06.032Z,1741815186.032 [DAT](INFO): Received a bad header
2025-03-12T21:33:06.043Z,1741815186.043 [DAT](INFO): #Rx 19: Read direction message, but no range.
2025-03-12T21:33:06.044Z,1741815186.044 [DAT](INFO): direction in FSK: [0.444881,0.888406,-0.113203]
2025-03-12T21:33:55.191Z,1741815235.191 [DAT](INFO): DAT read: Rx Time:21:33:54.5875

2025-03-12T21:33:55.192Z,1741815235.192 [DAT](INFO): Rx dataTimestamp_ set to:1741815235.191566
2025-03-12T21:33:55.961Z,1741815235.961 [DAT](INFO): DAT read: 21:33:54.5875 LVL= 10880, 18929, 16242, 25795, AGC= 76, IDX=  81,-0.08,-1.309,-2.923,-2.882,-2.257, PHS= 0.917,-0.693,-0.629, RAW=  92.0,   5.2, CAL=  91.4,  -3.2, ROT=  58.6,   3.2

2025-03-12T21:33:55.964Z,1741815235.964 [DAT](INFO): got valid direction response:
 21:33:54.5875 LVL= 10880, 18929, 16242, 25795, AGC= 76, IDX=  81,-0.08,-1.309,-2.923,-2.882,-2.257, PHS= 0.917,-0.693,-0.629, RAW=  92.0,   5.2, CAL=  91.4,  -3.2, ROT=  58.6,   3.2

2025-03-12T21:33:55.966Z,1741815235.966 [DAT](INFO): DAT read: $Error in header

2025-03-12T21:33:55.966Z,1741815235.966 [DAT](INFO): Received a bad header
2025-03-12T21:33:55.980Z,1741815235.980 [DAT](INFO): #Rx 20: Read direction message, but no range.
2025-03-12T21:33:55.982Z,1741815235.982 [DAT](INFO): direction in FSK: [0.520197,0.852220,-0.055822]
2025-03-12T21:34:27.264Z,1741815267.264 [BackseatComponent](CRITICAL): ikshana: Data dir size (638.67 GB) did not increase within 10 minutes
2025-03-12T21:34:27.264Z,1741815267.264 [BackseatComponent] Data Fault, FailCount= 1
2025-03-12T21:34:27.264Z,1741815267.264 [BackseatComponent](ERROR): Data Fault
2025-03-12T21:34:27.428Z,1741815267.428 [CommandExec](FAULT): Scheduling is paused
2025-03-12T21:34:27.429Z,1741815267.429 [CBIT](INFO): Critical error at 20250312T213427
2025-03-12T21:34:27.429Z,1741815267.429 [Supervisor](INFO): Stop Mission called by CBIT::checkCriticals
2025-03-12T21:34:27.431Z,1741815267.431 [CBIT](ERROR): Data Fault in component: BackseatComponent
2025-03-12T21:34:27.672Z,1741815267.672 [BackseatComponent](INFO): Sent LCM shutdown request.
2025-03-12T21:34:27.673Z,1741815267.673 [BackseatComponent](INFO): Shutdown requested. Waiting (18.00 sec to power down.).
2025-03-12T21:34:27.727Z,1741815267.727 [MissionManager](INFO): MissionManager is completed.
2025-03-12T21:34:27.731Z,1741815267.731 [MissionManager](INFO): Uninitializing Mission sci2_noyo_optim
2025-03-12T21:34:27.732Z,1741815267.732 [sci2_noyo_optim] Stopped
2025-03-12T21:34:27.732Z,1741815267.732 [sci2_noyo_optim](DEBUG): Aggregate::uninitialize sci2_noyo_optim
2025-03-12T21:34:27.732Z,1741815267.732 [sci2_noyo_optim:Science] Stopped
2025-03-12T21:34:27.733Z,1741815267.733 [sci2_noyo_optim:Science](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science
2025-03-12T21:34:27.733Z,1741815267.733 [sci2_noyo_optim:Science:B] Stopped
2025-03-12T21:34:27.733Z,1741815267.733 [sci2_noyo_optim:Science:C] Stopped
2025-03-12T21:34:27.733Z,1741815267.733 [sci2_noyo_optim:Science:E] Stopped
2025-03-12T21:34:27.733Z,1741815267.733 [sci2_noyo_optim:Science:OceanCurrent] Stopped
2025-03-12T21:34:27.733Z,1741815267.733 [sci2_noyo_optim:Science:OceanCurrent](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:OceanCurrent
2025-03-12T21:34:27.734Z,1741815267.734 [sci2_noyo_optim:Science:OceanCurrent:A.] Stopped
2025-03-12T21:34:27.734Z,1741815267.734 [sci2_noyo_optim:StandardEnvelopes] Stopped
2025-03-12T21:34:27.734Z,1741815267.734 [sci2_noyo_optim:StandardEnvelopes](DEBUG): Aggregate::uninitialize sci2_noyo_optim:StandardEnvelopes
2025-03-12T21:34:27.734Z,1741815267.734 [sci2_noyo_optim:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-03-12T21:34:27.734Z,1741815267.734 [sci2_noyo_optim:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-03-12T21:34:27.735Z,1741815267.735 [sci2_noyo_optim:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-03-12T21:34:27.735Z,1741815267.735 [sci2_noyo_optim:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-03-12T21:34:27.739Z,1741815267.739 [sci2_noyo_optim:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-03-12T21:34:27.740Z,1741815267.740 [sci2_noyo_optim:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-03-12T21:34:27.740Z,1741815267.740 [sci2_noyo_optim:BackseatDriver] Stopped
2025-03-12T21:34:27.740Z,1741815267.740 [sci2_noyo_optim:BackseatDriver](DEBUG): Aggregate::uninitialize sci2_noyo_optim:BackseatDriver
2025-03-12T21:34:27.740Z,1741815267.740 [sci2_noyo_optim:BackseatDriver:A.BackseatDriver] Stopped
2025-03-12T21:34:27.741Z,1741815267.741 [sci2_noyo_optim:J] Stopped
2025-03-12T21:34:27.741Z,1741815267.741 [sci2_noyo_optim:PowerOnly] Stopped
2025-03-12T21:34:27.741Z,1741815267.741 [sci2_noyo_optim:PowerOnly](DEBUG): Aggregate::uninitialize sci2_noyo_optim:PowerOnly
2025-03-12T21:34:27.741Z,1741815267.741 [sci2_noyo_optim:PowerOnly:B] Stopped
2025-03-12T21:34:27.741Z,1741815267.741 [sci2_noyo_optim:PowerOnly:E.Wait] Stopped
2025-03-12T21:34:27.742Z,1741815267.742 [sci2_noyo_optim:PowerOnly:E.Wait](DEBUG): Uninitialize Wait Component.
2025-03-12T21:34:27.742Z,1741815267.742 [sci2_noyo_optim:L] Stopped
2025-03-12T21:34:27.742Z,1741815267.742 [sci2_noyo_optim:N] Stopped
2025-03-12T21:34:27.742Z,1741815267.742 [sci2_noyo_optim:O.Buoyancy] Stopped
2025-03-12T21:34:27.742Z,1741815267.742 [sci2_noyo_optim:O.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-03-12T21:34:27.742Z,1741815267.742 [sci2_noyo_optim:DiveCmd] Stopped
2025-03-12T21:34:27.743Z,1741815267.743 [sci2_noyo_optim:DiveCmd](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd
2025-03-12T21:34:27.743Z,1741815267.743 [sci2_noyo_optim:DiveCmd:InitialDive] Stopped
2025-03-12T21:34:27.748Z,1741815267.748 [sci2_noyo_optim:DiveCmd:InitialDive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:InitialDive
2025-03-12T21:34:27.748Z,1741815267.748 [sci2_noyo_optim:DiveCmd:SettleAtDepth] Stopped
2025-03-12T21:34:27.748Z,1741815267.748 [sci2_noyo_optim:DiveCmd:SettleAtDepth](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:SettleAtDepth
2025-03-12T21:34:27.748Z,1741815267.748 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow] Stopped
2025-03-12T21:34:27.749Z,1741815267.749 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepthSlow
2025-03-12T21:34:27.749Z,1741815267.749 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:A.SetSpeed] Stopped
2025-03-12T21:34:27.749Z,1741815267.749 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:A.SetSpeed](DEBUG): Uninitialize.
2025-03-12T21:34:27.749Z,1741815267.749 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:B] Stopped
2025-03-12T21:34:27.749Z,1741815267.749 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:C.Buoyancy] Stopped
2025-03-12T21:34:27.750Z,1741815267.750 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-03-12T21:34:27.750Z,1741815267.750 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:D.Pitch] Stopped
2025-03-12T21:34:27.750Z,1741815267.750 [sci2_noyo_optim:Lap] Stopped
2025-03-12T21:34:27.750Z,1741815267.750 [sci2_noyo_optim:Lap](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Lap
2025-03-12T21:34:27.750Z,1741815267.750 [sci2_noyo_optim:Lap:Dive] Stopped
2025-03-12T21:34:27.751Z,1741815267.751 [sci2_noyo_optim:Lap:Dive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Lap:Dive
2025-03-12T21:34:27.751Z,1741815267.751 [sci2_noyo_optim:Lap:Dive:A] Stopped
2025-03-12T21:34:27.751Z,1741815267.751 [sci2_noyo_optim:Lap:Dive:A](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Lap:Dive:A
2025-03-12T21:34:27.761Z,1741815267.761 [sci2_noyo_optim:Lap:DepthByLap] Stopped
2025-03-12T21:34:27.761Z,1741815267.761 [sci2_noyo_optim:Lap:DepthByLap](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Lap:DepthByLap
2025-03-12T21:34:27.761Z,1741815267.761 [sci2_noyo_optim:Lap:DepthByLap:Wpt2] Stopped
2025-03-12T21:34:27.762Z,1741815267.762 [sci2_noyo_optim:Lap:DepthByLap:Wpt2](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Lap:DepthByLap:Wpt2
2025-03-12T21:34:27.762Z,1741815267.762 [sci2_noyo_optim:Lap:DepthByLap:Wpt2:A.Waypoint] Stopped
2025-03-12T21:34:27.762Z,1741815267.762 [sci2_noyo_optim:Lap:DepthByLap:Wpt2:A.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-03-12T21:34:28.307Z,1741815268.307 [WetLabsBB2FL](INFO): Powering down
2025-03-12T21:34:28.868Z,1741815268.868 [MissionManager](IMPORTANT): Started mission Default
2025-03-12T21:34:28.868Z,1741815268.868 [Default] Running Loop=1
2025-03-12T21:34:28.868Z,1741815268.868 [Default](DEBUG): Aggregate::initialize Default
2025-03-12T21:34:28.868Z,1741815268.868 [Default:B.GoToSurface] Running Loop=1
2025-03-12T21:34:28.868Z,1741815268.868 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-03-12T21:34:28.869Z,1741815268.869 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-03-12T21:34:28.869Z,1741815268.869 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-03-12T21:34:28.869Z,1741815268.869 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-03-12T21:34:28.869Z,1741815268.869 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-03-12T21:34:28.870Z,1741815268.870 [Default:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-03-12T21:34:28.870Z,1741815268.870 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-03-12T21:34:28.870Z,1741815268.870 [Default:A.Wait] Running Loop=1
2025-03-12T21:34:28.871Z,1741815268.871 [Default:A.Wait](DEBUG): Initialize Wait Component.
2025-03-12T21:34:29.539Z,1741815269.539 [Radio_Surface](INFO): Powering up
2025-03-12T21:34:32.508Z,1741815272.508 [DAT](INFO): DAT read: Rx Time:21:34:31.9087

2025-03-12T21:34:32.509Z,1741815272.509 [DAT](INFO): Rx dataTimestamp_ set to:1741815272.508456
2025-03-12T21:34:33.280Z,1741815273.280 [DAT](INFO): DAT read: 21:34:31.9088 LVL= 32752, 32753, 32754, 32755, AGC= 81, IDX= 324, 0.23, 1.466, 0.245,-0.574, 0.686, PHS= 0.749,-0.468,-1.264, RAW=  66.9,  11.2, CAL=  69.0,   4.8, ROT=  81.0,  -4.8

2025-03-12T21:34:33.284Z,1741815273.284 [DAT](INFO): got valid direction response:
 21:34:31.9088 LVL= 32752, 32753, 32754, 32755, AGC= 81, IDX= 324, 0.23, 1.466, 0.245,-0.574, 0.686, PHS= 0.749,-0.468,-1.264, RAW=  66.9,  11.2, CAL=  69.0,   4.8, ROT=  81.0,  -4.8

2025-03-12T21:34:33.285Z,1741815273.285 [DAT](INFO): DAT read: $Error in header

2025-03-12T21:34:33.286Z,1741815273.286 [DAT](INFO): Received a bad header
2025-03-12T21:34:33.300Z,1741815273.300 [DAT](INFO): #Rx 21: Read direction message, but no range.
2025-03-12T21:34:33.328Z,1741815273.328 [DAT](INFO): direction in FSK: [0.155886,0.984224,0.083678]
2025-03-12T21:34:35.033Z,1741815275.033 [DataOverHttps](INFO): Radio surface powered ON.
2025-03-12T21:34:42.048Z,1741815282.048 [Default:A.Wait](INFO): Done Waiting.
2025-03-12T21:34:42.048Z,1741815282.048 [Default:A.Wait] Stopped
2025-03-12T21:34:42.048Z,1741815282.048 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2025-03-12T21:34:45.860Z,1741815285.860 [BackseatComponent](INFO): Powering down and starting shutdown timer (18.00 sec).
2025-03-12T21:34:45.861Z,1741815285.861 [BackseatComponent](INFO): Unsubscribing from LCM channels.
2025-03-12T21:34:45.861Z,1741815285.861 [LcmUniversalReporter](INFO): Deactivating messaging.
2025-03-12T21:35:04.558Z,1741815304.558 [CBIT](INFO): Clearing failed state for component BackseatComponent
2025-03-12T21:35:04.558Z,1741815304.558 [BackseatComponent] No Fault, FailCount= 0
2025-03-12T21:35:04.852Z,1741815304.852 [BackseatComponent](INFO): Powering up
2025-03-12T21:35:04.853Z,1741815304.853 [BackseatComponent](INFO): Subscribing to LCM channels.
2025-03-12T21:35:05.153Z,1741815305.153 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T21:35:22.428Z,1741815322.428 [DAT](INFO): DAT read: Rx Time:21:35:21.6606

2025-03-12T21:35:22.429Z,1741815322.429 [DAT](INFO): Rx dataTimestamp_ set to:1741815322.428507
2025-03-12T21:35:22.941Z,1741815322.941 [DAT](INFO): DAT read: 21:35:21.6607 LVL= 15856, 14145,  7490, 11139, AGC= 75, IDX= 497, 0.23, 0.261,-1.751,-1.320,-0.469, PHS= 0.699,-1.309,-0.855, RAW= 102.4,  15.8, CAL= 100.1,  14.8, ROT=  49.9, -14.8

2025-03-12T21:35:22.942Z,1741815322.942 [DAT](INFO): got valid direction response:
 21:35:21.6607 LVL= 15856, 14145,  7490, 11139, AGC= 75, IDX= 497, 0.23, 0.261,-1.751,-1.320,-0.469, PHS= 0.699,-1.309,-0.855, RAW= 102.4,  15.8, CAL= 100.1,  14.8, ROT=  49.9, -14.8

2025-03-12T21:35:22.943Z,1741815322.943 [DAT](INFO): DAT read: range request

2025-03-12T21:35:22.943Z,1741815322.943 [DAT](INFO): received a range request message
2025-03-12T21:35:22.944Z,1741815322.944 [DAT](INFO): DAT read: Tx time:21:35:23.2635

2025-03-12T21:35:22.944Z,1741815322.944 [DAT](INFO): Ping request sent.
2025-03-12T21:35:22.944Z,1741815322.944 [DAT](INFO): transmitted an acoustic signal
2025-03-12T21:35:22.945Z,1741815322.945 [DAT](INFO): #Rx 22: Read direction message, but no range.
2025-03-12T21:35:22.946Z,1741815322.946 [DAT](INFO): direction in FSK: [0.622754,0.739544,0.255446]
2025-03-12T21:35:22.946Z,1741815322.946 [DAT](INFO): publishing transmit ping time
2025-03-12T21:35:22.946Z,1741815322.946 [DAT](INFO): publishing range request flag
2025-03-12T21:35:22.949Z,1741815322.949 [DAT](INFO): publishing transmit ping time
2025-03-12T21:35:22.950Z,1741815322.950 [DAT](INFO): publishing range request flag
2025-03-12T21:35:25.726Z,1741815325.726 [BackseatComponent](INFO): Sent LCM shutdown request.
2025-03-12T21:35:25.729Z,1741815325.729 [BackseatComponent](INFO): Shutdown requested. Waiting (18.00 sec to power down.).
2025-03-12T21:35:40.292Z,1741815340.292 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T21:35:43.927Z,1741815343.927 [BackseatComponent](INFO): Powering down and starting shutdown timer (18.00 sec).
2025-03-12T21:35:43.928Z,1741815343.928 [BackseatComponent](INFO): Unsubscribing from LCM channels.
2025-03-12T21:35:43.929Z,1741815343.929 [LcmUniversalReporter](INFO): Deactivating messaging.
2025-03-12T21:35:47.158Z,1741815347.158 [DAT](INFO): DAT read: Rx Time:21:35:46.5497

2025-03-12T21:35:47.159Z,1741815347.159 [DAT](INFO): Rx dataTimestamp_ set to:1741815347.158045
2025-03-12T21:35:47.925Z,1741815347.925 [DAT](INFO): DAT read: 21:35:46.5498 LVL= 10448, 13809, 11922, 17283, AGC= 77, IDX= 195, 0.15, 1.812, 0.030, 0.524, 1.444, PHS= 0.336,-1.441,-0.924, RAW= 106.4,  24.4, CAL= 101.9,  38.7, ROT=  48.1, -38.7

2025-03-12T21:35:47.932Z,1741815347.932 [DAT](INFO): got valid direction response:
 21:35:46.5498 LVL= 10448, 13809, 11922, 17283, AGC= 77, IDX= 195, 0.15, 1.812, 0.030, 0.524, 1.444, PHS= 0.336,-1.441,-0.924, RAW= 106.4,  24.4, CAL= 101.9,  38.7, ROT=  48.1, -38.7

2025-03-12T21:35:47.934Z,1741815347.934 [DAT](INFO): DAT read: $Error in header

2025-03-12T21:35:47.934Z,1741815347.934 [DAT](INFO): Received a bad header
2025-03-12T21:35:47.948Z,1741815347.948 [DAT](INFO): #Rx 23: Read direction message, but no range.
2025-03-12T21:35:47.951Z,1741815347.951 [DAT](INFO): direction in FSK: [0.521197,0.580883,0.625243]
2025-03-12T21:35:58.116Z,1741815358.116 [PowerOnly](INFO): Powering down loadControl
2025-03-12T21:36:15.432Z,1741815375.432 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T21:36:36.845Z,1741815396.845 [DAT](INFO): DAT read: Rx Time:21:36:36.2977

2025-03-12T21:36:36.845Z,1741815396.845 [DAT](INFO): Rx dataTimestamp_ set to:1741815396.844720
2025-03-12T21:36:37.613Z,1741815397.613 [DAT](INFO): DAT read: 21:36:36.2977 LVL= 26768, 32753, 32754, 32755, AGC= 76, IDX= 436, 0.11,-1.040,-2.663,-2.377,-1.471, PHS= 0.401,-1.218,-0.910, RAW= 100.3,  22.3, CAL=  97.4,  31.5, ROT=  52.6, -31.5

2025-03-12T21:36:37.615Z,1741815397.615 [DAT](INFO): got valid direction response:
 21:36:36.2977 LVL= 26768, 32753, 32754, 32755, AGC= 76, IDX= 436, 0.11,-1.040,-2.663,-2.377,-1.471, PHS= 0.401,-1.218,-0.910, RAW= 100.3,  22.3, CAL=  97.4,  31.5, ROT=  52.6, -31.5

2025-03-12T21:36:37.616Z,1741815397.616 [DAT](INFO): DAT read: bearing request

2025-03-12T21:36:37.617Z,1741815397.617 [DAT](INFO): received a bearing request message
2025-03-12T21:36:37.618Z,1741815397.618 [DAT](INFO): DAT read: Tx time:21:36:37.9005

2025-03-12T21:36:37.619Z,1741815397.619 [DAT](INFO): Ping request sent.
2025-03-12T21:36:37.619Z,1741815397.619 [DAT](INFO): transmitted an acoustic signal
2025-03-12T21:36:37.620Z,1741815397.620 [DAT](INFO): #Rx 24: Read direction message, but no range.
2025-03-12T21:36:37.622Z,1741815397.622 [DAT](INFO): direction in FSK: [0.517873,0.677350,0.522499]
2025-03-12T21:36:37.623Z,1741815397.623 [DAT](INFO): publishing transmit ping time
2025-03-12T21:36:37.624Z,1741815397.624 [DAT](INFO): publishing range request flag
2025-03-12T21:36:37.635Z,1741815397.635 [DAT](INFO): publishing transmit ping time
2025-03-12T21:36:37.636Z,1741815397.636 [DAT](INFO): publishing range request flag
2025-03-12T21:36:50.584Z,1741815410.584 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T21:37:14.184Z,1741815434.184 [DAT](INFO): DAT read: Rx Time:21:37:13.6020

2025-03-12T21:37:14.185Z,1741815434.185 [DAT](INFO): Rx dataTimestamp_ set to:1741815434.184463
2025-03-12T21:37:14.951Z,1741815434.951 [DAT](INFO): DAT read: 21:37:13.6020 LVL= 21376, 32753, 32754, 32755, AGC= 78, IDX= 357,-0.14,-0.569,-2.414,-1.628,-0.968, PHS= 0.368,-1.473,-0.664, RAW= 116.0,  21.4, CAL= 111.4,  30.4, ROT=  38.6, -30.4

2025-03-12T21:37:14.953Z,1741815434.953 [DAT](INFO): got valid direction response:
 21:37:13.6020 LVL= 21376, 32753, 32754, 32755, AGC= 78, IDX= 357,-0.14,-0.569,-2.414,-1.628,-0.968, PHS= 0.368,-1.473,-0.664, RAW= 116.0,  21.4, CAL= 111.4,  30.4, ROT=  38.6, -30.4

2025-03-12T21:37:14.955Z,1741815434.955 [DAT](INFO): DAT read: bearing request

2025-03-12T21:37:14.956Z,1741815434.956 [DAT](INFO): received a bearing request message
2025-03-12T21:37:14.957Z,1741815434.957 [DAT](INFO): DAT read: Tx time:21:37:15.2048

2025-03-12T21:37:14.958Z,1741815434.958 [DAT](INFO): Ping request sent.
2025-03-12T21:37:14.958Z,1741815434.958 [DAT](INFO): transmitted an acoustic signal
2025-03-12T21:37:14.959Z,1741815434.958 [DAT](INFO): #Rx 25: Read direction message, but no range.
2025-03-12T21:37:14.961Z,1741815434.961 [DAT](INFO): direction in FSK: [0.674072,0.538105,0.506034]
2025-03-12T21:37:14.961Z,1741815434.961 [DAT](INFO): publishing transmit ping time
2025-03-12T21:37:14.962Z,1741815434.962 [DAT](INFO): publishing range request flag
2025-03-12T21:37:14.969Z,1741815434.969 [DAT](INFO): publishing transmit ping time
2025-03-12T21:37:14.970Z,1741815434.970 [DAT](INFO): publishing range request flag
2025-03-12T21:37:25.725Z,1741815445.725 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T21:37:26.803Z,1741815446.803 [DAT](INFO): DAT read: Rx Time:21:37:26.0481

2025-03-12T21:37:26.803Z,1741815446.803 [DAT](INFO): Rx dataTimestamp_ set to:1741815446.803118
2025-03-12T21:37:27.314Z,1741815447.314 [DAT](INFO): DAT read: 21:37:26.0481 LVL= 32752, 32753, 30802, 32755, AGC= 69, IDX= 361,-0.28,-2.732, 1.844, 2.337, 3.053, PHS= 0.467,-1.236,-0.720, RAW= 107.2,  19.2, CAL= 104.3,  22.5, ROT=  45.7, -22.5

2025-03-12T21:37:27.316Z,1741815447.316 [DAT](INFO): got valid direction response:
 21:37:26.0481 LVL= 32752, 32753, 30802, 32755, AGC= 69, IDX= 361,-0.28,-2.732, 1.844, 2.337, 3.053, PHS= 0.467,-1.236,-0.720, RAW= 107.2,  19.2, CAL= 104.3,  22.5, ROT=  45.7, -22.5

2025-03-12T21:37:27.317Z,1741815447.317 [DAT](INFO): DAT read: bearing request

2025-03-12T21:37:27.318Z,1741815447.318 [DAT](INFO): received a bearing request message
2025-03-12T21:37:27.320Z,1741815447.320 [DAT](INFO): DAT read: Tx time:21:37:27.6509

2025-03-12T21:37:27.320Z,1741815447.320 [DAT](INFO): Ping request sent.
2025-03-12T21:37:27.320Z,1741815447.320 [DAT](INFO): transmitted an acoustic signal
2025-03-12T21:37:27.321Z,1741815447.321 [DAT](INFO): #Rx 26: Read direction message, but no range.
2025-03-12T21:37:27.324Z,1741815447.324 [DAT](INFO): direction in FSK: [0.645252,0.661214,0.382683]
2025-03-12T21:37:27.324Z,1741815447.324 [DAT](INFO): publishing transmit ping time
2025-03-12T21:37:27.325Z,1741815447.325 [DAT](INFO): publishing range request flag
2025-03-12T21:37:27.372Z,1741815447.372 [DAT](INFO): publishing transmit ping time
2025-03-12T21:37:27.372Z,1741815447.372 [DAT](INFO): publishing range request flag
2025-03-12T21:37:51.504Z,1741815471.504 [DAT](INFO): DAT read: Rx Time:21:37:50.9154

2025-03-12T21:37:51.505Z,1741815471.505 [DAT](INFO): Rx dataTimestamp_ set to:1741815471.504547
2025-03-12T21:37:52.270Z,1741815472.270 [DAT](INFO): DAT read: 21:37:50.9154 LVL= 22832, 26097, 21186, 32755, AGC= 79, IDX= 146, 0.02, 0.896,-0.978,-0.028, 0.451, PHS= 0.414,-1.456,-0.483, RAW= 121.3,  18.4, CAL= 119.0,  21.3, ROT=  31.0, -21.3

2025-03-12T21:37:52.272Z,1741815472.272 [DAT](INFO): got valid direction response:
 21:37:50.9154 LVL= 22832, 26097, 21186, 32755, AGC= 79, IDX= 146, 0.02, 0.896,-0.978,-0.028, 0.451, PHS= 0.414,-1.456,-0.483, RAW= 121.3,  18.4, CAL= 119.0,  21.3, ROT=  31.0, -21.3

2025-03-12T21:37:52.273Z,1741815472.273 [DAT](INFO): DAT read: bearing request

2025-03-12T21:37:52.273Z,1741815472.273 [DAT](INFO): received a bearing request message
2025-03-12T21:37:52.274Z,1741815472.274 [DAT](INFO): DAT read: Tx time:21:37:52.5182

2025-03-12T21:37:52.274Z,1741815472.274 [DAT](INFO): Ping request sent.
2025-03-12T21:37:52.274Z,1741815472.274 [DAT](INFO): transmitted an acoustic signal
2025-03-12T21:37:52.274Z,1741815472.274 [DAT](INFO): #Rx 27: Read direction message, but no range.
2025-03-12T21:37:52.280Z,1741815472.280 [DAT](INFO): direction in FSK: [0.798615,0.479856,0.363251]
2025-03-12T21:37:52.280Z,1741815472.280 [DAT](INFO): publishing transmit ping time
2025-03-12T21:37:52.280Z,1741815472.280 [DAT](INFO): publishing range request flag
2025-03-12T21:37:52.287Z,1741815472.287 [DAT](INFO): publishing transmit ping time
2025-03-12T21:37:52.288Z,1741815472.288 [DAT](INFO): publishing range request flag
2025-03-12T21:38:00.864Z,1741815480.864 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T21:38:04.117Z,1741815484.117 [DAT](INFO): DAT read: Rx Time:21:38:03.3532

2025-03-12T21:38:04.117Z,1741815484.117 [DAT](INFO): Rx dataTimestamp_ set to:1741815484.116753
2025-03-12T21:38:04.626Z,1741815484.626 [DAT](INFO): DAT read: 21:38:03.3532 LVL=  7872,  9137,  7330, 12915, AGC= 69, IDX= 145,-0.05,-1.238,-2.972,-2.114,-1.619, PHS= 0.350,-1.380,-0.499, RAW= 120.6,  19.8, CAL= 117.1,  25.8, ROT=  32.9, -25.8

2025-03-12T21:38:04.627Z,1741815484.627 [DAT](INFO): got valid direction response:
 21:38:03.3532 LVL=  7872,  9137,  7330, 12915, AGC= 69, IDX= 145,-0.05,-1.238,-2.972,-2.114,-1.619, PHS= 0.350,-1.380,-0.499, RAW= 120.6,  19.8, CAL= 117.1,  25.8, ROT=  32.9, -25.8

2025-03-12T21:38:04.628Z,1741815484.628 [DAT](INFO): DAT read: $Error in header

2025-03-12T21:38:04.628Z,1741815484.628 [DAT](INFO): Received a bad header
2025-03-12T21:38:04.639Z,1741815484.639 [DAT](INFO): #Rx 28: Read direction message, but no range.
2025-03-12T21:38:04.640Z,1741815484.640 [DAT](INFO): direction in FSK: [0.755926,0.489030,0.435231]
2025-03-12T21:38:28.832Z,1741815508.832 [DAT](INFO): DAT read: Rx Time:21:38:28.2297

2025-03-12T21:38:28.833Z,1741815508.833 [DAT](INFO): Rx dataTimestamp_ set to:1741815508.832455
2025-03-12T21:38:29.594Z,1741815509.594 [DAT](INFO): DAT read: 21:38:28.2297 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 217,-0.34,-1.384, 2.940,-2.546,-1.928, PHS= 0.513,-1.442,-0.622, RAW= 114.7,  17.9, CAL= 112.0,  19.5, ROT=  38.0, -19.5

2025-03-12T21:38:29.595Z,1741815509.595 [DAT](INFO): got valid direction response:
 21:38:28.2297 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 217,-0.34,-1.384, 2.940,-2.546,-1.928, PHS= 0.513,-1.442,-0.622, RAW= 114.7,  17.9, CAL= 112.0,  19.5, ROT=  38.0, -19.5

2025-03-12T21:38:29.596Z,1741815509.596 [DAT](INFO): DAT read: $Error in header

2025-03-12T21:38:29.596Z,1741815509.596 [DAT](INFO): Received a bad header
2025-03-12T21:38:29.608Z,1741815509.608 [DAT](INFO): #Rx 29: Read direction message, but no range.
2025-03-12T21:38:29.609Z,1741815509.609 [DAT](INFO): direction in FSK: [0.742812,0.580348,0.333807]
2025-03-12T21:38:36.012Z,1741815516.012 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T21:38:41.457Z,1741815521.457 [DAT](INFO): DAT read: Rx Time:21:38:40.6687

2025-03-12T21:38:41.457Z,1741815521.457 [DAT](INFO): Rx dataTimestamp_ set to:1741815521.456691
2025-03-12T21:38:41.965Z,1741815521.965 [DAT](INFO): DAT read: 21:38:40.6688 LVL= 23392, 32753, 32754, 32755, AGC= 77, IDX= 357,-0.12, 1.206,-0.709, 0.050, 0.680, PHS= 0.495,-1.416,-0.634, RAW= 114.0,  18.3, CAL= 111.2,  20.3, ROT=  38.8, -20.3

2025-03-12T21:38:41.966Z,1741815521.966 [DAT](INFO): got valid direction response:
 21:38:40.6688 LVL= 23392, 32753, 32754, 32755, AGC= 77, IDX= 357,-0.12, 1.206,-0.709, 0.050, 0.680, PHS= 0.495,-1.416,-0.634, RAW= 114.0,  18.3, CAL= 111.2,  20.3, ROT=  38.8, -20.3

2025-03-12T21:38:41.966Z,1741815521.966 [DAT](INFO): DAT read: bearing request

2025-03-12T21:38:41.967Z,1741815521.967 [DAT](INFO): received a bearing request message
2025-03-12T21:38:41.975Z,1741815521.975 [DAT](INFO): DAT read: Tx time:21:38:42.2716

2025-03-12T21:38:41.976Z,1741815521.976 [DAT](INFO): Ping request sent.
2025-03-12T21:38:41.976Z,1741815521.976 [DAT](INFO): transmitted an acoustic signal
2025-03-12T21:38:41.976Z,1741815521.976 [DAT](INFO): #Rx 30: Read direction message, but no range.
2025-03-12T21:38:41.977Z,1741815521.977 [DAT](INFO): direction in FSK: [0.730932,0.587685,0.346936]
2025-03-12T21:38:41.977Z,1741815521.977 [DAT](INFO): publishing transmit ping time
2025-03-12T21:38:41.978Z,1741815521.978 [DAT](INFO): publishing range request flag
2025-03-12T21:38:41.981Z,1741815521.981 [DAT](INFO): publishing transmit ping time
2025-03-12T21:38:41.981Z,1741815521.981 [DAT](INFO): publishing range request flag
2025-03-12T21:39:06.184Z,1741815546.184 [DAT](INFO): DAT read: Rx Time:21:39:05.5477

2025-03-12T21:39:06.185Z,1741815546.185 [DAT](INFO): Rx dataTimestamp_ set to:1741815546.184391
2025-03-12T21:39:06.708Z,1741815546.708 [DAT](INFO): DAT read: 21:39:05.5478 LVL= 21552, 32753, 27666, 32755, AGC= 74, IDX= 438,-0.10, 2.184, 0.265, 0.998, 1.664, PHS= 0.489,-1.425,-0.670, RAW= 113.1,  18.8, CAL= 109.9,  21.8, ROT=  40.1, -21.8

2025-03-12T21:39:06.711Z,1741815546.711 [DAT](INFO): got valid direction response:
 21:39:05.5478 LVL= 21552, 32753, 27666, 32755, AGC= 74, IDX= 438,-0.10, 2.184, 0.265, 0.998, 1.664, PHS= 0.489,-1.425,-0.670, RAW= 113.1,  18.8, CAL= 109.9,  21.8, ROT=  40.1, -21.8

2025-03-12T21:39:06.713Z,1741815546.713 [DAT](INFO): DAT read: $Error in header

2025-03-12T21:39:06.714Z,1741815546.714 [DAT](INFO): Received a bad header
2025-03-12T21:39:06.745Z,1741815546.745 [DAT](INFO): #Rx 31: Read direction message, but no range.
2025-03-12T21:39:06.749Z,1741815546.749 [DAT](INFO): direction in FSK: [0.710219,0.598060,0.371368]
2025-03-12T21:39:11.159Z,1741815551.159 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T21:39:18.792Z,1741815558.792 [DAT](INFO): DAT read: Rx Time:21:39:17.9873

2025-03-12T21:39:18.793Z,1741815558.793 [DAT](INFO): Rx dataTimestamp_ set to:1741815558.792450
2025-03-12T21:39:19.301Z,1741815559.301 [DAT](INFO): DAT read: 21:39:17.9874 LVL= 31664, 32753, 32754, 32755, AGC= 71, IDX= 359, 0.21, 2.896, 0.988, 1.666, 2.374, PHS= 0.490,-1.413,-0.712, RAW= 111.4,  19.1, CAL= 108.2,  22.7, ROT=  41.8, -22.7

2025-03-12T21:39:19.302Z,1741815559.302 [DAT](INFO): got valid direction response:
 21:39:17.9874 LVL= 31664, 32753, 32754, 32755, AGC= 71, IDX= 359, 0.21, 2.896, 0.988, 1.666, 2.374, PHS= 0.490,-1.413,-0.712, RAW= 111.4,  19.1, CAL= 108.2,  22.7, ROT=  41.8, -22.7

2025-03-12T21:39:19.307Z,1741815559.307 [DAT](INFO): DAT read: bearing request

2025-03-12T21:39:19.307Z,1741815559.307 [DAT](INFO): received a bearing request message
2025-03-12T21:39:19.308Z,1741815559.308 [DAT](INFO): DAT read: Tx time:21:39:19.5902

2025-03-12T21:39:19.308Z,1741815559.308 [DAT](INFO): Ping request sent.
2025-03-12T21:39:19.308Z,1741815559.308 [DAT](INFO): transmitted an acoustic signal
2025-03-12T21:39:19.309Z,1741815559.309 [DAT](INFO): #Rx 32: Read direction message, but no range.
2025-03-12T21:39:19.310Z,1741815559.310 [DAT](INFO): direction in FSK: [0.687730,0.614902,0.385906]
2025-03-12T21:39:19.310Z,1741815559.310 [DAT](INFO): publishing transmit ping time
2025-03-12T21:39:19.310Z,1741815559.310 [DAT](INFO): publishing range request flag
2025-03-12T21:39:19.326Z,1741815559.326 [DAT](INFO): publishing transmit ping time
2025-03-12T21:39:19.326Z,1741815559.326 [DAT](INFO): publishing range request flag
2025-03-12T21:39:31.165Z,1741815571.165 [DAT](INFO): DAT read: Rx Time:21:39:30.4271

2025-03-12T21:39:31.165Z,1741815571.165 [DAT](INFO): Rx dataTimestamp_ set to:1741815571.164821
2025-03-12T21:39:31.680Z,1741815571.680 [DAT](INFO): DAT read: 21:39:30.4271 LVL= 25248, 21393, 17778, 25667, AGC= 69, IDX= 410, 0.49, 3.139, 1.134, 1.924, 2.606, PHS= 0.502,-1.499,-0.686, RAW= 113.8,  18.8, CAL= 110.7,  22.1, ROT=  39.3, -22.1

2025-03-12T21:39:31.683Z,1741815571.683 [DAT](INFO): got valid direction response:
 21:39:30.4271 LVL= 25248, 21393, 17778, 25667, AGC= 69, IDX= 410, 0.49, 3.139, 1.134, 1.924, 2.606, PHS= 0.502,-1.499,-0.686, RAW= 113.8,  18.8, CAL= 110.7,  22.1, ROT=  39.3, -22.1

2025-03-12T21:39:31.692Z,1741815571.692 [DAT](INFO): DAT read: bearing request

2025-03-12T21:39:31.692Z,1741815571.692 [DAT](INFO): received a bearing request message
2025-03-12T21:39:31.693Z,1741815571.693 [DAT](INFO): DAT read: Tx time:21:39:32.0299

2025-03-12T21:39:31.693Z,1741815571.693 [DAT](INFO): Ping request sent.
2025-03-12T21:39:31.693Z,1741815571.693 [DAT](INFO): transmitted an acoustic signal
2025-03-12T21:39:31.693Z,1741815571.693 [DAT](INFO): #Rx 33: Read direction message, but no range.
2025-03-12T21:39:31.694Z,1741815571.694 [DAT](INFO): direction in FSK: [0.716985,0.586846,0.376224]
2025-03-12T21:39:31.695Z,1741815571.695 [DAT](INFO): publishing transmit ping time
2025-03-12T21:39:31.695Z,1741815571.695 [DAT](INFO): publishing range request flag
2025-03-12T21:39:31.698Z,1741815571.698 [DAT](INFO): publishing transmit ping time
2025-03-12T21:39:31.698Z,1741815571.698 [DAT](INFO): publishing range request flag
2025-03-12T21:39:43.521Z,1741815583.521 [DAT](INFO): DAT read: Rx Time:21:39:42.8670

2025-03-12T21:39:43.521Z,1741815583.521 [DAT](INFO): Rx dataTimestamp_ set to:1741815583.520688
2025-03-12T21:39:44.036Z,1741815584.036 [DAT](INFO): DAT read: 21:39:42.8670 LVL= 25280, 32753, 32754, 32755, AGC= 73, IDX= 447, 0.23,-2.687, 1.593, 2.410, 3.044, PHS= 0.522,-1.477,-0.637, RAW= 114.7,  18.0, CAL= 112.0,  19.6, ROT=  38.0, -19.6

2025-03-12T21:39:44.040Z,1741815584.040 [DAT](INFO): got valid direction response:
 21:39:42.8670 LVL= 25280, 32753, 32754, 32755, AGC= 73, IDX= 447, 0.23,-2.687, 1.593, 2.410, 3.044, PHS= 0.522,-1.477,-0.637, RAW= 114.7,  18.0, CAL= 112.0,  19.6, ROT=  38.0, -19.6

2025-03-12T21:39:44.042Z,1741815584.042 [DAT](INFO): DAT read: bearing request

2025-03-12T21:39:44.042Z,1741815584.042 [DAT](INFO): received a bearing request message
2025-03-12T21:39:44.044Z,1741815584.044 [DAT](INFO): DAT read: Tx time:21:39:44.4699

2025-03-12T21:39:44.045Z,1741815584.045 [DAT](INFO): Ping request sent.
2025-03-12T21:39:44.045Z,1741815584.045 [DAT](INFO): transmitted an acoustic signal
2025-03-12T21:39:44.046Z,1741815584.046 [DAT](INFO): #Rx 34: Read direction message, but no range.
2025-03-12T21:39:44.049Z,1741815584.049 [DAT](INFO): direction in FSK: [0.742351,0.579988,0.335452]
2025-03-12T21:39:44.050Z,1741815584.050 [DAT](INFO): publishing transmit ping time
2025-03-12T21:39:44.050Z,1741815584.050 [DAT](INFO): publishing range request flag
2025-03-12T21:39:44.084Z,1741815584.084 [DAT](INFO): publishing transmit ping time
2025-03-12T21:39:44.085Z,1741815584.085 [DAT](INFO): publishing range request flag
2025-03-12T21:39:46.300Z,1741815586.300 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T21:39:55.868Z,1741815595.868 [DAT](INFO): DAT read: Rx Time:21:39:55.3070

2025-03-12T21:39:55.869Z,1741815595.869 [DAT](INFO): Rx dataTimestamp_ set to:1741815595.868457
2025-03-12T21:39:56.629Z,1741815596.629 [DAT](INFO): DAT read: 21:39:55.3070 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 196,-0.15, 1.799,-0.327, 0.621, 1.240, PHS= 0.528,-1.594,-0.622, RAW= 117.2,  18.0, CAL= 114.8,  19.8, ROT=  35.2, -19.8

2025-03-12T21:39:56.630Z,1741815596.630 [DAT](INFO): got valid direction response:
 21:39:55.3070 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 196,-0.15, 1.799,-0.327, 0.621, 1.240, PHS= 0.528,-1.594,-0.622, RAW= 117.2,  18.0, CAL= 114.8,  19.8, ROT=  35.2, -19.8

2025-03-12T21:39:56.630Z,1741815596.630 [DAT](INFO): DAT read: bearing request

2025-03-12T21:39:56.630Z,1741815596.630 [DAT](INFO): received a bearing request message
2025-03-12T21:39:56.631Z,1741815596.631 [DAT](INFO): DAT read: Tx time:21:39:56.9098

2025-03-12T21:39:56.632Z,1741815596.632 [DAT](INFO): Ping request sent.
2025-03-12T21:39:56.632Z,1741815596.632 [DAT](INFO): transmitted an acoustic signal
2025-03-12T21:39:56.632Z,1741815596.632 [DAT](INFO): #Rx 35: Read direction message, but no range.
2025-03-12T21:39:56.633Z,1741815596.633 [DAT](INFO): direction in FSK: [0.768836,0.542354,0.338738]
2025-03-12T21:39:56.633Z,1741815596.633 [DAT](INFO): publishing transmit ping time
2025-03-12T21:39:56.633Z,1741815596.633 [DAT](INFO): publishing range request flag
2025-03-12T21:39:56.645Z,1741815596.645 [DAT](INFO): publishing transmit ping time
2025-03-12T21:39:56.645Z,1741815596.645 [DAT](INFO): publishing range request flag
2025-03-12T21:40:08.468Z,1741815608.468 [DAT](INFO): DAT read: Rx Time:21:40:07.7520

2025-03-12T21:40:08.469Z,1741815608.469 [DAT](INFO): Rx dataTimestamp_ set to:1741815608.468618
2025-03-12T21:40:08.977Z,1741815608.977 [DAT](INFO): DAT read: 21:40:07.7521 LVL= 26320, 25745, 25682, 30419, AGC= 71, IDX= 192, 0.10,-2.628, 1.489, 2.654,-3.138, PHS= 0.479,-1.683,-0.495, RAW= 123.3,  17.8, CAL= 121.6,  19.6, ROT=  28.4, -19.6

2025-03-12T21:40:08.978Z,1741815608.978 [DAT](INFO): got valid direction response:
 21:40:07.7521 LVL= 26320, 25745, 25682, 30419, AGC= 71, IDX= 192, 0.10,-2.628, 1.489, 2.654,-3.138, PHS= 0.479,-1.683,-0.495, RAW= 123.3,  17.8, CAL= 121.6,  19.6, ROT=  28.4, -19.6

2025-03-12T21:40:08.978Z,1741815608.978 [DAT](INFO): DAT read: bearing request

2025-03-12T21:40:08.978Z,1741815608.978 [DAT](INFO): received a bearing request message
2025-03-12T21:40:08.979Z,1741815608.979 [DAT](INFO): DAT read: Tx time:21:40:09.3549

2025-03-12T21:40:08.980Z,1741815608.980 [DAT](INFO): Ping request sent.
2025-03-12T21:40:08.980Z,1741815608.980 [DAT](INFO): transmitted an acoustic signal
2025-03-12T21:40:08.980Z,1741815608.980 [DAT](INFO): #Rx 36: Read direction message, but no range.
2025-03-12T21:40:08.981Z,1741815608.981 [DAT](INFO): direction in FSK: [0.828679,0.448065,0.335452]
2025-03-12T21:40:08.981Z,1741815608.981 [DAT](INFO): publishing transmit ping time
2025-03-12T21:40:08.982Z,1741815608.982 [DAT](INFO): publishing range request flag
2025-03-12T21:40:08.985Z,1741815608.985 [DAT](INFO): publishing transmit ping time
2025-03-12T21:40:08.985Z,1741815608.985 [DAT](INFO): publishing range request flag
2025-03-12T21:40:20.816Z,1741815620.816 [DAT](INFO): DAT read: Rx Time:21:40:20.1887

2025-03-12T21:40:20.817Z,1741815620.817 [DAT](INFO): Rx dataTimestamp_ set to:1741815620.816520
2025-03-12T21:40:21.327Z,1741815621.327 [DAT](INFO): DAT read: 21:40:20.1887 LVL= 31152, 32753, 32754, 32755, AGC= 66, IDX= 353,-0.07, 2.038,-0.047, 1.074, 1.555, PHS= 0.452,-1.629,-0.486, RAW= 123.3,  18.0, CAL= 121.6,  20.1, ROT=  28.4, -20.1

2025-03-12T21:40:21.328Z,1741815621.328 [DAT](INFO): got valid direction response:
 21:40:20.1887 LVL= 31152, 32753, 32754, 32755, AGC= 66, IDX= 353,-0.07, 2.038,-0.047, 1.074, 1.555, PHS= 0.452,-1.629,-0.486, RAW= 123.3,  18.0, CAL= 121.6,  20.1, ROT=  28.4, -20.1

2025-03-12T21:40:21.329Z,1741815621.329 [DAT](INFO): DAT read: bearing request

2025-03-12T21:40:21.329Z,1741815621.329 [DAT](INFO): received a bearing request message
2025-03-12T21:40:21.330Z,1741815621.330 [DAT](INFO): DAT read: Tx time:21:40:21.7916

2025-03-12T21:40:21.330Z,1741815621.330 [DAT](INFO): Ping request sent.
2025-03-12T21:40:21.330Z,1741815621.330 [DAT](INFO): transmitted an acoustic signal
2025-03-12T21:40:21.331Z,1741815621.331 [DAT](INFO): #Rx 37: Read direction message, but no range.
2025-03-12T21:40:21.333Z,1741815621.333 [DAT](INFO): direction in FSK: [0.826073,0.446656,0.343660]
2025-03-12T21:40:21.333Z,1741815621.333 [DAT](INFO): publishing transmit ping time
2025-03-12T21:40:21.333Z,1741815621.333 [DAT](INFO): publishing range request flag
2025-03-12T21:40:21.338Z,1741815621.338 [DAT](INFO): publishing transmit ping time
2025-03-12T21:40:21.338Z,1741815621.338 [DAT](INFO): publishing range request flag
2025-03-12T21:40:21.461Z,1741815621.461 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T21:40:33.426Z,1741815633.426 [DAT](INFO): DAT read: Rx Time:21:40:32.6337

2025-03-12T21:40:33.428Z,1741815633.428 [DAT](INFO): Rx dataTimestamp_ set to:1741815633.426442
2025-03-12T21:40:33.941Z,1741815633.941 [DAT](INFO): DAT read: 21:40:32.6337 LVL= 16608, 23681, 21746, 28563, AGC= 75, IDX=  26, 0.15, 0.609,-1.234,-0.375, 0.091, PHS= 0.487,-1.352,-0.470, RAW= 118.7,  16.5, CAL= 116.1,  17.3, ROT=  33.9, -17.3

2025-03-12T21:40:33.942Z,1741815633.942 [DAT](INFO): got valid direction response:
 21:40:32.6337 LVL= 16608, 23681, 21746, 28563, AGC= 75, IDX=  26, 0.15, 0.609,-1.234,-0.375, 0.091, PHS= 0.487,-1.352,-0.470, RAW= 118.7,  16.5, CAL= 116.1,  17.3, ROT=  33.9, -17.3

2025-03-12T21:40:33.942Z,1741815633.942 [DAT](INFO): DAT read: bearing request

2025-03-12T21:40:33.942Z,1741815633.942 [DAT](INFO): received a bearing request message
2025-03-12T21:40:33.947Z,1741815633.947 [DAT](INFO): DAT read: Tx time:21:40:34.2366

2025-03-12T21:40:33.947Z,1741815633.947 [DAT](INFO): Ping request sent.
2025-03-12T21:40:33.948Z,1741815633.948 [DAT](INFO): transmitted an acoustic signal
2025-03-12T21:40:33.948Z,1741815633.948 [DAT](INFO): #Rx 38: Read direction message, but no range.
2025-03-12T21:40:33.949Z,1741815633.949 [DAT](INFO): direction in FSK: [0.792463,0.532513,0.297375]
2025-03-12T21:40:33.949Z,1741815633.949 [DAT](INFO): publishing transmit ping time
2025-03-12T21:40:33.949Z,1741815633.949 [DAT](INFO): publishing range request flag
2025-03-12T21:40:33.975Z,1741815633.975 [DAT](INFO): publishing transmit ping time
2025-03-12T21:40:33.976Z,1741815633.976 [DAT](INFO): publishing range request flag
2025-03-12T21:40:45.775Z,1741815645.775 [DAT](INFO): DAT read: Rx Time:21:40:45.0694

2025-03-12T21:40:45.776Z,1741815645.776 [DAT](INFO): Rx dataTimestamp_ set to:1741815645.775393
2025-03-12T21:40:46.281Z,1741815646.281 [DAT](INFO): DAT read: 21:40:45.0694 LVL= 22480, 21425, 21490, 24883, AGC= 68, IDX= 339, 0.41,-0.942,-3.051,-1.818,-1.429, PHS= 0.456,-1.649,-0.393, RAW= 126.4,  17.0, CAL= 125.2,  18.4, ROT=  24.8, -18.4

2025-03-12T21:40:46.282Z,1741815646.282 [DAT](INFO): got valid direction response:
 21:40:45.0694 LVL= 22480, 21425, 21490, 24883, AGC= 68, IDX= 339, 0.41,-0.942,-3.051,-1.818,-1.429, PHS= 0.456,-1.649,-0.393, RAW= 126.4,  17.0, CAL= 125.2,  18.4, ROT=  24.8, -18.4

2025-03-12T21:40:46.282Z,1741815646.282 [DAT](INFO): DAT read: bearing request

2025-03-12T21:40:46.283Z,1741815646.283 [DAT](INFO): received a bearing request message
2025-03-12T21:40:46.283Z,1741815646.283 [DAT](INFO): DAT read: Tx time:21:40:46.6722

2025-03-12T21:40:46.284Z,1741815646.284 [DAT](INFO): Ping request sent.
2025-03-12T21:40:46.284Z,1741815646.284 [DAT](INFO): transmitted an acoustic signal
2025-03-12T21:40:46.284Z,1741815646.284 [DAT](INFO): #Rx 39: Read direction message, but no range.
2025-03-12T21:40:46.285Z,1741815646.285 [DAT](INFO): direction in FSK: [0.861368,0.398008,0.315649]
2025-03-12T21:40:46.285Z,1741815646.285 [DAT](INFO): publishing transmit ping time
2025-03-12T21:40:46.286Z,1741815646.286 [DAT](INFO): publishing range request flag
2025-03-12T21:40:46.289Z,1741815646.289 [DAT](INFO): publishing transmit ping time
2025-03-12T21:40:46.289Z,1741815646.289 [DAT](INFO): publishing range request flag
2025-03-12T21:40:56.600Z,1741815656.600 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T21:40:58.134Z,1741815658.134 [DAT](INFO): DAT read: Rx Time:21:40:57.5098

2025-03-12T21:40:58.136Z,1741815658.136 [DAT](INFO): Rx dataTimestamp_ set to:1741815658.134530
2025-03-12T21:40:58.643Z,1741815658.643 [DAT](INFO): DAT read: 21:40:57.5098 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 237, 0.02, 2.638, 0.487, 1.765, 2.156, PHS= 0.452,-1.695,-0.395, RAW= 127.0,  17.2, CAL= 125.9,  18.7, ROT=  24.1, -18.7

2025-03-12T21:40:58.644Z,1741815658.644 [DAT](INFO): got valid direction response:
 21:40:57.5098 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 237, 0.02, 2.638, 0.487, 1.765, 2.156, PHS= 0.452,-1.695,-0.395, RAW= 127.0,  17.2, CAL= 125.9,  18.7, ROT=  24.1, -18.7

2025-03-12T21:40:58.645Z,1741815658.645 [DAT](INFO): DAT read: bearing request

2025-03-12T21:40:58.645Z,1741815658.645 [DAT](INFO): received a bearing request message
2025-03-12T21:40:58.646Z,1741815658.646 [DAT](INFO): DAT read: Tx time:21:40:59.1126

2025-03-12T21:40:58.646Z,1741815658.646 [DAT](INFO): Ping request sent.
2025-03-12T21:40:58.646Z,1741815658.646 [DAT](INFO): transmitted an acoustic signal
2025-03-12T21:40:58.646Z,1741815658.646 [DAT](INFO): #Rx 40: Read direction message, but no range.
2025-03-12T21:40:58.647Z,1741815658.647 [DAT](INFO): direction in FSK: [0.864646,0.386775,0.320613]
2025-03-12T21:40:58.648Z,1741815658.648 [DAT](INFO): publishing transmit ping time
2025-03-12T21:40:58.648Z,1741815658.648 [DAT](INFO): publishing range request flag
2025-03-12T21:40:58.651Z,1741815658.651 [DAT](INFO): publishing transmit ping time
2025-03-12T21:40:58.652Z,1741815658.652 [DAT](INFO): publishing range request flag
2025-03-12T21:41:10.740Z,1741815670.740 [DAT](INFO): DAT read: Rx Time:21:41:09.9503

2025-03-12T21:41:10.741Z,1741815670.741 [DAT](INFO): Rx dataTimestamp_ set to:1741815670.740474
2025-03-12T21:41:11.256Z,1741815671.256 [DAT](INFO): DAT read: 21:41:09.9504 LVL= 28896, 32753, 32754, 32755, AGC= 69, IDX= 185,-0.03, 2.312, 0.186, 1.508, 1.850, PHS= 0.431,-1.691,-0.346, RAW= 128.8,  17.0, CAL= 128.1,  18.5, ROT=  21.9, -18.5

2025-03-12T21:41:11.260Z,1741815671.260 [DAT](INFO): got valid direction response:
 21:41:09.9504 LVL= 28896, 32753, 32754, 32755, AGC= 69, IDX= 185,-0.03, 2.312, 0.186, 1.508, 1.850, PHS= 0.431,-1.691,-0.346, RAW= 128.8,  17.0, CAL= 128.1,  18.5, ROT=  21.9, -18.5

2025-03-12T21:41:11.261Z,1741815671.261 [DAT](INFO): DAT read: bearing request

2025-03-12T21:41:11.262Z,1741815671.262 [DAT](INFO): received a bearing request message
2025-03-12T21:41:11.263Z,1741815671.263 [DAT](INFO): DAT read: Tx time:21:41:11.5533

2025-03-12T21:41:11.264Z,1741815671.264 [DAT](INFO): Ping request sent.
2025-03-12T21:41:11.264Z,1741815671.264 [DAT](INFO): transmitted an acoustic signal
2025-03-12T21:41:11.265Z,1741815671.265 [DAT](INFO): #Rx 41: Read direction message, but no range.
2025-03-12T21:41:11.269Z,1741815671.269 [DAT](INFO): direction in FSK: [0.879889,0.353713,0.317305]
2025-03-12T21:41:11.269Z,1741815671.269 [DAT](INFO): publishing transmit ping time
2025-03-12T21:41:11.270Z,1741815671.270 [DAT](INFO): publishing range request flag
2025-03-12T21:41:11.324Z,1741815671.324 [DAT](INFO): publishing transmit ping time
2025-03-12T21:41:11.325Z,1741815671.325 [DAT](INFO): publishing range request flag
2025-03-12T21:41:23.114Z,1741815683.114 [DAT](INFO): DAT read: Rx Time:21:41:22.3916

2025-03-12T21:41:23.116Z,1741815683.116 [DAT](INFO): Rx dataTimestamp_ set to:1741815683.114629
2025-03-12T21:41:23.621Z,1741815683.621 [DAT](INFO): DAT read: 21:41:22.3916 LVL= 30928, 32753, 32754, 32755, AGC= 69, IDX= 442, 0.26, 2.051,-0.085, 1.267, 1.575, PHS= 0.445,-1.687,-0.312, RAW= 129.5,  16.4, CAL= 128.8,  17.5, ROT=  21.3, -17.5

2025-03-12T21:41:23.622Z,1741815683.622 [DAT](INFO): got valid direction response:
 21:41:22.3916 LVL= 30928, 32753, 32754, 32755, AGC= 69, IDX= 442, 0.26, 2.051,-0.085, 1.267, 1.575, PHS= 0.445,-1.687,-0.312, RAW= 129.5,  16.4, CAL= 128.8,  17.5, ROT=  21.3, -17.5

2025-03-12T21:41:23.622Z,1741815683.622 [DAT](INFO): DAT read: bearing request

2025-03-12T21:41:23.622Z,1741815683.622 [DAT](INFO): received a bearing request message
2025-03-12T21:41:23.627Z,1741815683.627 [DAT](INFO): DAT read: Tx time:21:41:23.9944

2025-03-12T21:41:23.627Z,1741815683.627 [DAT](INFO): Ping request sent.
2025-03-12T21:41:23.628Z,1741815683.628 [DAT](INFO): transmitted an acoustic signal
2025-03-12T21:41:23.628Z,1741815683.628 [DAT](INFO): #Rx 42: Read direction message, but no range.
2025-03-12T21:41:23.629Z,1741815683.629 [DAT](INFO): direction in FSK: [0.888570,0.346439,0.300706]
2025-03-12T21:41:23.629Z,1741815683.629 [DAT](INFO): publishing transmit ping time
2025-03-12T21:41:23.629Z,1741815683.629 [DAT](INFO): publishing range request flag
2025-03-12T21:41:23.651Z,1741815683.651 [DAT](INFO): publishing transmit ping time
2025-03-12T21:41:23.651Z,1741815683.651 [DAT](INFO): publishing range request flag
2025-03-12T21:41:31.752Z,1741815691.752 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T21:41:35.469Z,1741815695.469 [DAT](INFO): DAT read: Rx Time:21:41:34.8340

2025-03-12T21:41:35.471Z,1741815695.471 [DAT](INFO): Rx dataTimestamp_ set to:1741815695.469643
2025-03-12T21:41:35.973Z,1741815695.973 [DAT](INFO): DAT read: 21:41:34.8341 LVL= 20336, 29841, 30706, 32755, AGC= 68, IDX= 458, 0.28, 0.291,-1.772,-0.261,-0.135, PHS= 0.395,-1.664,-0.129, RAW= 135.8,  14.9, CAL= 135.3,  15.7, ROT=  14.7, -15.7

2025-03-12T21:41:35.974Z,1741815695.974 [DAT](INFO): got valid direction response:
 21:41:34.8341 LVL= 20336, 29841, 30706, 32755, AGC= 68, IDX= 458, 0.28, 0.291,-1.772,-0.261,-0.135, PHS= 0.395,-1.664,-0.129, RAW= 135.8,  14.9, CAL= 135.3,  15.7, ROT=  14.7, -15.7

2025-03-12T21:41:35.974Z,1741815695.974 [DAT](INFO): DAT read: bearing request

2025-03-12T21:41:35.975Z,1741815695.975 [DAT](INFO): received a bearing request message
2025-03-12T21:41:35.975Z,1741815695.975 [DAT](INFO): DAT read: Tx time:21:41:36.4370

2025-03-12T21:41:35.976Z,1741815695.976 [DAT](INFO): Ping request sent.
2025-03-12T21:41:35.976Z,1741815695.976 [DAT](INFO): transmitted an acoustic signal
2025-03-12T21:41:35.976Z,1741815695.976 [DAT](INFO): #Rx 43: Read direction message, but no range.
2025-03-12T21:41:35.977Z,1741815695.977 [DAT](INFO): direction in FSK: [0.931181,0.244291,0.270600]
2025-03-12T21:41:35.977Z,1741815695.977 [DAT](INFO): publishing transmit ping time
2025-03-12T21:41:35.978Z,1741815695.978 [DAT](INFO): publishing range request flag
2025-03-12T21:41:35.981Z,1741815695.981 [DAT](INFO): publishing transmit ping time
2025-03-12T21:41:35.981Z,1741815695.981 [DAT](INFO): publishing range request flag
2025-03-12T21:41:48.071Z,1741815708.071 [DAT](INFO): DAT read: Rx Time:21:41:47.2777

2025-03-12T21:41:48.072Z,1741815708.072 [DAT](INFO): Rx dataTimestamp_ set to:1741815708.071525
2025-03-12T21:41:48.592Z,1741815708.592 [DAT](INFO): DAT read: 21:41:47.2777 LVL= 17904, 31681, 27762, 30243, AGC= 65, IDX= 452, 0.12,-1.776, 2.433,-2.195,-2.204, PHS= 0.397,-1.673, 0.005, RAW= 139.7,  13.3, CAL= 138.9,  13.6, ROT=  11.1, -13.6

2025-03-12T21:41:48.600Z,1741815708.600 [DAT](INFO): got valid direction response:
 21:41:47.2777 LVL= 17904, 31681, 27762, 30243, AGC= 65, IDX= 452, 0.12,-1.776, 2.433,-2.195,-2.204, PHS= 0.397,-1.673, 0.005, RAW= 139.7,  13.3, CAL= 138.9,  13.6, ROT=  11.1, -13.6

2025-03-12T21:41:48.601Z,1741815708.601 [DAT](INFO): DAT read: bearing request

2025-03-12T21:41:48.602Z,1741815708.602 [DAT](INFO): received a bearing request message
2025-03-12T21:41:48.603Z,1741815708.603 [DAT](INFO): DAT read: Tx time:21:41:48.8805

2025-03-12T21:41:48.604Z,1741815708.604 [DAT](INFO): Ping request sent.
2025-03-12T21:41:48.604Z,1741815708.604 [DAT](INFO): transmitted an acoustic signal
2025-03-12T21:41:48.605Z,1741815708.605 [DAT](INFO): #Rx 44: Read direction message, but no range.
2025-03-12T21:41:48.620Z,1741815708.620 [DAT](INFO): direction in FSK: [0.953778,0.187124,0.235142]
2025-03-12T21:41:48.621Z,1741815708.621 [DAT](INFO): publishing transmit ping time
2025-03-12T21:41:48.622Z,1741815708.622 [DAT](INFO): publishing range request flag
2025-03-12T21:41:48.647Z,1741815708.647 [DAT](INFO): publishing transmit ping time
2025-03-12T21:41:48.656Z,1741815708.656 [DAT](INFO): publishing range request flag
2025-03-12T21:42:00.432Z,1741815720.432 [DAT](INFO): DAT read: Rx Time:21:41:59.7216

2025-03-12T21:42:00.433Z,1741815720.433 [DAT](INFO): Rx dataTimestamp_ set to:1741815720.432521
2025-03-12T21:42:00.941Z,1741815720.941 [DAT](INFO): DAT read: 21:41:59.7216 LVL= 23024, 32753, 31442, 32755, AGC= 72, IDX= 194, 0.14, 1.831,-0.239, 1.619, 1.373, PHS= 0.426,-1.640, 0.242, RAW= 145.4,   9.8, CAL= 143.5,   9.6, ROT=   6.5,  -9.6

2025-03-12T21:42:00.942Z,1741815720.942 [DAT](INFO): got valid direction response:
 21:41:59.7216 LVL= 23024, 32753, 31442, 32755, AGC= 72, IDX= 194, 0.14, 1.831,-0.239, 1.619, 1.373, PHS= 0.426,-1.640, 0.242, RAW= 145.4,   9.8, CAL= 143.5,   9.6, ROT=   6.5,  -9.6

2025-03-12T21:42:00.942Z,1741815720.942 [DAT](INFO): DAT read: bearing request

2025-03-12T21:42:00.942Z,1741815720.942 [DAT](INFO): received a bearing request message
2025-03-12T21:42:00.943Z,1741815720.943 [DAT](INFO): DAT read: Tx time:21:42:01.3245

2025-03-12T21:42:00.943Z,1741815720.943 [DAT](INFO): Ping request sent.
2025-03-12T21:42:00.944Z,1741815720.944 [DAT](INFO): transmitted an acoustic signal
2025-03-12T21:42:00.944Z,1741815720.944 [DAT](INFO): #Rx 45: Read direction message, but no range.
2025-03-12T21:42:00.945Z,1741815720.945 [DAT](INFO): direction in FSK: [0.979658,0.111618,0.166769]
2025-03-12T21:42:00.945Z,1741815720.945 [DAT](INFO): publishing transmit ping time
2025-03-12T21:42:00.945Z,1741815720.945 [DAT](INFO): publishing range request flag
2025-03-12T21:42:00.949Z,1741815720.949 [DAT](INFO): publishing transmit ping time
2025-03-12T21:42:00.949Z,1741815720.949 [DAT](INFO): publishing range request flag
2025-03-12T21:42:06.893Z,1741815726.893 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T21:42:12.836Z,1741815732.836 [DAT](INFO): DAT read: Rx Time:21:42:12.1654

2025-03-12T21:42:12.837Z,1741815732.837 [DAT](INFO): Rx dataTimestamp_ set to:1741815732.836635
2025-03-12T21:42:13.345Z,1741815733.345 [DAT](INFO): DAT read: 21:42:12.1654 LVL= 26544, 32625, 32418, 32755, AGC= 69, IDX= 174,-0.47,-1.896, 2.351,-2.171,-2.320, PHS= 0.393,-1.639, 0.146, RAW= 143.6,  11.5, CAL= 142.3,  11.5, ROT=   7.7, -11.5

2025-03-12T21:42:13.346Z,1741815733.346 [DAT](INFO): got valid direction response:
 21:42:12.1654 LVL= 26544, 32625, 32418, 32755, AGC= 69, IDX= 174,-0.47,-1.896, 2.351,-2.171,-2.320, PHS= 0.393,-1.639, 0.146, RAW= 143.6,  11.5, CAL= 142.3,  11.5, ROT=   7.7, -11.5

2025-03-12T21:42:13.347Z,1741815733.347 [DAT](INFO): DAT read: bearing request

2025-03-12T21:42:13.347Z,1741815733.347 [DAT](INFO): received a bearing request message
2025-03-12T21:42:13.348Z,1741815733.348 [DAT](INFO): DAT read: Tx time:21:42:13.7682

2025-03-12T21:42:13.348Z,1741815733.348 [DAT](INFO): Ping request sent.
2025-03-12T21:42:13.348Z,1741815733.348 [DAT](INFO): transmitted an acoustic signal
2025-03-12T21:42:13.349Z,1741815733.349 [DAT](INFO): #Rx 46: Read direction message, but no range.
2025-03-12T21:42:13.350Z,1741815733.350 [DAT](INFO): direction in FSK: [0.971089,0.131296,0.199368]
2025-03-12T21:42:13.350Z,1741815733.350 [DAT](INFO): publishing transmit ping time
2025-03-12T21:42:13.350Z,1741815733.350 [DAT](INFO): publishing range request flag
2025-03-12T21:42:13.353Z,1741815733.353 [DAT](INFO): publishing transmit ping time
2025-03-12T21:42:13.353Z,1741815733.353 [DAT](INFO): publishing range request flag
2025-03-12T21:42:19.047Z,1741815739.047 [Default:CheckIn] Running Loop=1
2025-03-12T21:42:19.048Z,1741815739.048 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-03-12T21:42:19.049Z,1741815739.049 [Default:CheckIn:Read_GPS] Running Loop=1
2025-03-12T21:42:19.503Z,1741815739.503 [Waterlinked](INFO): Powering down
2025-03-12T21:42:25.188Z,1741815745.188 [DAT](INFO): DAT read: Rx Time:21:42:24.6096

2025-03-12T21:42:25.189Z,1741815745.189 [DAT](INFO): Rx dataTimestamp_ set to:1741815745.188396
2025-03-12T21:42:25.946Z,1741815745.946 [DAT](INFO): DAT read: $Error in header

2025-03-12T21:42:25.946Z,1741815745.946 [DAT](INFO): Received a bad header
2025-03-12T21:42:37.788Z,1741815757.788 [DAT](INFO): DAT read: Rx Time:21:42:37.0547

2025-03-12T21:42:37.789Z,1741815757.789 [DAT](INFO): Rx dataTimestamp_ set to:1741815757.788640
2025-03-12T21:42:38.298Z,1741815758.298 [DAT](INFO): DAT read: 21:42:37.0547 LVL= 28656, 32753, 24786, 32755, AGC= 77, IDX= 441, 0.02, 1.480,-0.220, 1.244, 1.007, PHS= 0.442,-1.255, 0.233, RAW= 143.5,   7.3, CAL= 140.4,   5.7, ROT=   9.6,  -5.7

2025-03-12T21:42:38.299Z,1741815758.299 [DAT](INFO): got valid direction response:
 21:42:37.0547 LVL= 28656, 32753, 24786, 32755, AGC= 77, IDX= 441, 0.02, 1.480,-0.220, 1.244, 1.007, PHS= 0.442,-1.255, 0.233, RAW= 143.5,   7.3, CAL= 140.4,   5.7, ROT=   9.6,  -5.7

2025-03-12T21:42:38.300Z,1741815758.300 [DAT](INFO): DAT read: $Error in header

2025-03-12T21:42:38.300Z,1741815758.300 [DAT](INFO): Received a bad header
2025-03-12T21:42:38.312Z,1741815758.312 [DAT](INFO): #Rx 47: Read direction message, but no range.
2025-03-12T21:42:38.313Z,1741815758.313 [DAT](INFO): direction in FSK: [0.981121,0.165944,0.099320]
2025-03-12T21:42:42.031Z,1741815762.031 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T21:42:51.744Z,1741815771.744 [NAL9602](ERROR): Failed to receive proper response when querying signal strength for MT queue check.
2025-03-12T21:42:51.819Z,1741815771.819 [NAL9602](ERROR): received: 
+CSQ:0

OK517, 2, 0, 0, 0

OK
2025-03-12T21:43:02.524Z,1741815782.524 [DAT](INFO): DAT read: Rx Time:21:43:01.9470

2025-03-12T21:43:02.525Z,1741815782.525 [DAT](INFO): Rx dataTimestamp_ set to:1741815782.524401
2025-03-12T21:43:03.280Z,1741815783.280 [DAT](INFO): DAT read: $Error in header

2025-03-12T21:43:03.281Z,1741815783.281 [DAT](INFO): Received a bad header
2025-03-12T21:43:15.132Z,1741815795.132 [DAT](INFO): DAT read: Rx Time:21:43:14.3936

2025-03-12T21:43:15.133Z,1741815795.133 [DAT](INFO): Rx dataTimestamp_ set to:1741815795.132398
2025-03-12T21:43:15.637Z,1741815795.637 [DAT](INFO): DAT read: $Error in header

2025-03-12T21:43:15.637Z,1741815795.637 [DAT](INFO): Received a bad header
2025-03-12T21:43:17.192Z,1741815797.192 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T21:43:29.676Z,1741815809.676 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003161
2025-03-12T21:43:39.860Z,1741815819.860 [DAT](INFO): DAT read: Rx Time:21:43:39.2867

2025-03-12T21:43:39.861Z,1741815819.861 [DAT](INFO): Rx dataTimestamp_ set to:1741815819.860485
2025-03-12T21:43:40.621Z,1741815820.621 [DAT](INFO): DAT read: 21:43:39.2867 LVL= 32752, 32753, 32754, 32755, AGC= 80, IDX= 396,-0.29, 0.678, 1.779, 1.946, 0.937, PHS=-0.290, 0.815, 1.006, RAW= 262.2, -24.1, CAL= 260.7, -30.5, ROT= 249.3,  30.5

2025-03-12T21:43:40.622Z,1741815820.622 [DAT](INFO): got valid direction response:
 21:43:39.2867 LVL= 32752, 32753, 32754, 32755, AGC= 80, IDX= 396,-0.29, 0.678, 1.779, 1.946, 0.937, PHS=-0.290, 0.815, 1.006, RAW= 262.2, -24.1, CAL= 260.7, -30.5, ROT= 249.3,  30.5

2025-03-12T21:43:40.622Z,1741815820.622 [DAT](INFO): DAT read: range request

2025-03-12T21:43:40.622Z,1741815820.622 [DAT](INFO): received a range request message
2025-03-12T21:43:40.623Z,1741815820.623 [DAT](INFO): DAT read: Tx time:21:43:40.8895

2025-03-12T21:43:40.623Z,1741815820.623 [DAT](INFO): Ping request sent.
2025-03-12T21:43:40.623Z,1741815820.623 [DAT](INFO): transmitted an acoustic signal
2025-03-12T21:43:40.624Z,1741815820.624 [DAT](INFO): #Rx 48: Read direction message, but no range.
2025-03-12T21:43:40.625Z,1741815820.625 [DAT](INFO): direction in FSK: [-0.304564,-0.806006,-0.507538]
2025-03-12T21:43:40.625Z,1741815820.625 [DAT](INFO): publishing transmit ping time
2025-03-12T21:43:40.625Z,1741815820.625 [DAT](INFO): publishing range request flag
2025-03-12T21:43:40.628Z,1741815820.628 [DAT](INFO): publishing transmit ping time
2025-03-12T21:43:40.629Z,1741815820.629 [DAT](INFO): publishing range request flag
2025-03-12T21:43:52.480Z,1741815832.480 [DAT](INFO): DAT read: Rx Time:21:43:51.7337

2025-03-12T21:43:52.481Z,1741815832.481 [DAT](INFO): Rx dataTimestamp_ set to:1741815832.480431
2025-03-12T21:43:52.984Z,1741815832.984 [DAT](INFO): DAT read: range request

2025-03-12T21:43:52.985Z,1741815832.985 [DAT](INFO): received a range request message
2025-03-12T21:43:52.985Z,1741815832.985 [DAT](INFO): DAT read: Tx time:21:43:53.3367

2025-03-12T21:43:52.985Z,1741815832.985 [DAT](INFO): Ping request sent.
2025-03-12T21:43:52.986Z,1741815832.986 [DAT](INFO): transmitted an acoustic signal
2025-03-12T21:43:52.986Z,1741815832.986 [DAT](INFO): publishing transmit ping time
2025-03-12T21:43:52.986Z,1741815832.986 [DAT](INFO): publishing range request flag
2025-03-12T21:44:04.841Z,1741815844.841 [DAT](INFO): DAT read: Rx Time:21:44:04.1812

2025-03-12T21:44:04.841Z,1741815844.841 [DAT](INFO): Rx dataTimestamp_ set to:1741815844.840757
2025-03-12T21:44:05.344Z,1741815845.344 [DAT](INFO): DAT read: range request

2025-03-12T21:44:05.345Z,1741815845.345 [DAT](INFO): received a range request message
2025-03-12T21:44:05.345Z,1741815845.345 [DAT](INFO): DAT read: Tx time:21:44:05.7840

2025-03-12T21:44:05.345Z,1741815845.345 [DAT](INFO): Ping request sent.
2025-03-12T21:44:05.346Z,1741815845.346 [DAT](INFO): transmitted an acoustic signal
2025-03-12T21:44:05.346Z,1741815845.346 [DAT](INFO): publishing transmit ping time
2025-03-12T21:44:05.346Z,1741815845.346 [DAT](INFO): publishing range request flag
2025-03-12T21:44:17.440Z,1741815857.440 [DAT](INFO): DAT read: Rx Time:21:44:16.6291

2025-03-12T21:44:17.441Z,1741815857.441 [DAT](INFO): Rx dataTimestamp_ set to:1741815857.440516
2025-03-12T21:44:17.949Z,1741815857.949 [DAT](INFO): DAT read: 21:44:16.6292 LVL= 32752, 32753, 32754, 32755, AGC= 79, IDX= 451, 0.28, 0.522, 2.528, 2.120, 1.739, PHS=-1.248, 0.762, 0.377, RAW= 280.4,   1.2, CAL= 280.6,  -2.6, ROT= 229.4,   2.6

2025-03-12T21:44:17.950Z,1741815857.950 [DAT](INFO): got valid direction response:
 21:44:16.6292 LVL= 32752, 32753, 32754, 32755, AGC= 79, IDX= 451, 0.28, 0.522, 2.528, 2.120, 1.739, PHS=-1.248, 0.762, 0.377, RAW= 280.4,   1.2, CAL= 280.6,  -2.6, ROT= 229.4,   2.6

2025-03-12T21:44:17.950Z,1741815857.950 [DAT](INFO): DAT read: bearing request

2025-03-12T21:44:17.951Z,1741815857.951 [DAT](INFO): received a bearing request message
2025-03-12T21:44:17.951Z,1741815857.951 [DAT](INFO): DAT read: Tx time:21:44:18.2321

2025-03-12T21:44:17.952Z,1741815857.952 [DAT](INFO): Ping request sent.
2025-03-12T21:44:17.952Z,1741815857.952 [DAT](INFO): transmitted an acoustic signal
2025-03-12T21:44:17.952Z,1741815857.952 [DAT](INFO): #Rx 49: Read direction message, but no range.
2025-03-12T21:44:17.953Z,1741815857.953 [DAT](INFO): direction in FSK: [-0.650104,-0.758490,-0.045363]
2025-03-12T21:44:17.954Z,1741815857.954 [DAT](INFO): publishing transmit ping time
2025-03-12T21:44:17.954Z,1741815857.954 [DAT](INFO): publishing range request flag
2025-03-12T21:44:17.957Z,1741815857.957 [DAT](INFO): publishing transmit ping time
2025-03-12T21:44:17.957Z,1741815857.957 [DAT](INFO): publishing range request flag
2025-03-12T21:45:19.493Z,1741815919.493 [DAT](INFO): DAT read: Rx Time:21:45:18.8749

2025-03-12T21:45:19.493Z,1741815919.493 [DAT](INFO): Rx dataTimestamp_ set to:1741815919.492693
2025-03-12T21:45:20.007Z,1741815920.007 [DAT](INFO): DAT read: 21:45:18.8750 LVL= 32112, 21089, 26898, 32755, AGC= 85, IDX= 148, 0.16,-1.405, 0.067,-0.045,-0.057, PHS=-1.379, 0.097, 0.008, RAW= 273.1,  17.4, CAL= 273.2,  27.4, ROT= 236.8, -27.4

2025-03-12T21:45:20.008Z,1741815920.008 [DAT](INFO): got valid direction response:
 21:45:18.8750 LVL= 32112, 21089, 26898, 32755, AGC= 85, IDX= 148, 0.16,-1.405, 0.067,-0.045,-0.057, PHS=-1.379, 0.097, 0.008, RAW= 273.1,  17.4, CAL= 273.2,  27.4, ROT= 236.8, -27.4

2025-03-12T21:45:20.009Z,1741815920.009 [DAT](INFO): DAT read: bearing request

2025-03-12T21:45:20.009Z,1741815920.009 [DAT](INFO): received a bearing request message
2025-03-12T21:45:20.010Z,1741815920.010 [DAT](INFO): #Rx 50: Read direction message, but no range.
2025-03-12T21:45:20.012Z,1741815920.012 [DAT](INFO): direction in FSK: [-0.486135,-0.742892,0.460200]
2025-03-12T21:45:20.012Z,1741815920.012 [DAT](INFO): publishing range request flag
2025-03-12T21:45:20.024Z,1741815920.024 [DAT](INFO): publishing range request flag
2025-03-12T21:45:20.248Z,1741815920.248 [DAT](INFO): DAT read: Tx time:21:45:20.4778

2025-03-12T21:45:20.249Z,1741815920.249 [DAT](INFO): Ping request sent.
2025-03-12T21:45:20.249Z,1741815920.249 [DAT](INFO): transmitted an acoustic signal
2025-03-12T21:45:20.249Z,1741815920.249 [DAT](INFO): publishing transmit ping time
2025-03-12T21:45:32.132Z,1741815932.132 [DAT](INFO): DAT read: Rx Time:21:45:31.3251

2025-03-12T21:45:32.133Z,1741815932.133 [DAT](INFO): Rx dataTimestamp_ set to:1741815932.132543
2025-03-12T21:45:32.641Z,1741815932.641 [DAT](INFO): DAT read: 21:45:31.3251 LVL= 32752, 32753, 32754, 32755, AGC= 76, IDX= 241,-0.06, 0.380, 2.561, 1.332, 2.021, PHS=-1.672, 0.514,-0.693, RAW= 303.4,  19.0, CAL= 305.4,  35.5, ROT= 204.6, -35.5

2025-03-12T21:45:32.642Z,1741815932.642 [DAT](INFO): got valid direction response:
 21:45:31.3251 LVL= 32752, 32753, 32754, 32755, AGC= 76, IDX= 241,-0.06, 0.380, 2.561, 1.332, 2.021, PHS=-1.672, 0.514,-0.693, RAW= 303.4,  19.0, CAL= 305.4,  35.5, ROT= 204.6, -35.5

2025-03-12T21:45:32.642Z,1741815932.642 [DAT](INFO): DAT read: bearing request

2025-03-12T21:45:32.643Z,1741815932.643 [DAT](INFO): received a bearing request message
2025-03-12T21:45:32.643Z,1741815932.643 [DAT](INFO): DAT read: Tx time:21:45:32.9280

2025-03-12T21:45:32.644Z,1741815932.644 [DAT](INFO): Ping request sent.
2025-03-12T21:45:32.644Z,1741815932.644 [DAT](INFO): transmitted an acoustic signal
2025-03-12T21:45:32.644Z,1741815932.644 [DAT](INFO): #Rx 51: Read direction message, but no range.
2025-03-12T21:45:32.645Z,1741815932.645 [DAT](INFO): direction in FSK: [-0.740223,-0.338901,0.580703]
2025-03-12T21:45:32.645Z,1741815932.645 [DAT](INFO): publishing transmit ping time
2025-03-12T21:45:32.646Z,1741815932.646 [DAT](INFO): publishing range request flag
2025-03-12T21:45:32.649Z,1741815932.649 [DAT](INFO): publishing transmit ping time
2025-03-12T21:45:32.649Z,1741815932.649 [DAT](INFO): publishing range request flag
2025-03-12T21:45:44.488Z,1741815944.488 [DAT](INFO): DAT read: Rx Time:21:45:43.7765

2025-03-12T21:45:44.489Z,1741815944.489 [DAT](INFO): Rx dataTimestamp_ set to:1741815944.488411
2025-03-12T21:45:44.997Z,1741815944.997 [DAT](INFO): DAT read: 21:45:43.7765 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 189,-0.25, 0.291, 1.688, 1.039, 1.178, PHS=-0.918, 0.483,-0.143, RAW= 296.5,   9.6, CAL= 299.2,  11.0, ROT= 210.8, -11.0

2025-03-12T21:45:44.998Z,1741815944.998 [DAT](INFO): got valid direction response:
 21:45:43.7765 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 189,-0.25, 0.291, 1.688, 1.039, 1.178, PHS=-0.918, 0.483,-0.143, RAW= 296.5,   9.6, CAL= 299.2,  11.0, ROT= 210.8, -11.0

2025-03-12T21:45:44.998Z,1741815944.998 [DAT](INFO): DAT read: bearing request

2025-03-12T21:45:44.999Z,1741815944.999 [DAT](INFO): received a bearing request message
2025-03-12T21:45:44.000Z,1741815945.000 [DAT](INFO): DAT read: Tx time:21:45:45.3793

2025-03-12T21:45:44.000Z,1741815945.000 [DAT](INFO): Ping request sent.
2025-03-12T21:45:44.000Z,1741815945.000 [DAT](INFO): transmitted an acoustic signal
2025-03-12T21:45:45.000Z,1741815945.000 [DAT](INFO): #Rx 52: Read direction message, but no range.
2025-03-12T21:45:45.001Z,1741815945.001 [DAT](INFO): direction in FSK: [-0.843178,-0.502635,0.190809]
2025-03-12T21:45:45.002Z,1741815945.002 [DAT](INFO): publishing transmit ping time
2025-03-12T21:45:45.002Z,1741815945.002 [DAT](INFO): publishing range request flag
2025-03-12T21:45:45.005Z,1741815945.005 [DAT](INFO): publishing transmit ping time
2025-03-12T21:45:45.005Z,1741815945.005 [DAT](INFO): publishing range request flag
2025-03-12T21:45:56.863Z,1741815956.863 [DAT](INFO): DAT read: Rx Time:21:45:56.2281

2025-03-12T21:45:56.864Z,1741815956.864 [DAT](INFO): Rx dataTimestamp_ set to:1741815956.863470
2025-03-12T21:45:57.368Z,1741815957.368 [DAT](INFO): DAT read: $Error in header

2025-03-12T21:45:57.369Z,1741815957.369 [DAT](INFO): Received a bad header
2025-03-12T21:46:09.496Z,1741815969.496 [DAT](INFO): DAT read: Rx Time:21:46:08.6802

2025-03-12T21:46:09.497Z,1741815969.497 [DAT](INFO): Rx dataTimestamp_ set to:1741815969.496412
2025-03-12T21:46:10.006Z,1741815970.006 [DAT](INFO): DAT read: 21:46:08.6802 LVL= 29680, 27249, 23330, 32755, AGC= 85, IDX= 475,-0.28,-1.341,-0.151, 0.517, 0.022, PHS=-1.394,-0.200, 0.491, RAW= 248.7,  13.3, CAL= 248.4,  16.1, ROT= 261.6, -16.1

2025-03-12T21:46:10.007Z,1741815970.007 [DAT](INFO): got valid direction response:
 21:46:08.6802 LVL= 29680, 27249, 23330, 32755, AGC= 85, IDX= 475,-0.28,-1.341,-0.151, 0.517, 0.022, PHS=-1.394,-0.200, 0.491, RAW= 248.7,  13.3, CAL= 248.4,  16.1, ROT= 261.6, -16.1

2025-03-12T21:46:10.008Z,1741815970.008 [DAT](INFO): DAT read: $Error in header

2025-03-12T21:46:10.008Z,1741815970.008 [DAT](INFO): Received a bad header
2025-03-12T21:46:10.019Z,1741815970.019 [DAT](INFO): #Rx 53: Read direction message, but no range.
2025-03-12T21:46:10.020Z,1741815970.020 [DAT](INFO): direction in FSK: [-0.140353,-0.950472,0.277315]
2025-03-12T21:46:21.865Z,1741815981.865 [DAT](INFO): DAT read: Rx Time:21:46:21.1317

2025-03-12T21:46:21.865Z,1741815981.865 [DAT](INFO): Rx dataTimestamp_ set to:1741815981.864918
2025-03-12T21:46:22.372Z,1741815982.372 [DAT](INFO): DAT read: 21:46:21.1317 LVL= 32752, 32753, 32754, 32755, AGC= 78, IDX= 485, 0.03, 0.171, 2.275, 2.321, 1.990, PHS=-1.850, 0.259, 0.328, RAW= 268.4,  11.8, CAL= 268.2,  14.6, ROT= 241.8, -14.6

2025-03-12T21:46:22.374Z,1741815982.374 [DAT](INFO): got valid direction response:
 21:46:21.1317 LVL= 32752, 32753, 32754, 32755, AGC= 78, IDX= 485, 0.03, 0.171, 2.275, 2.321, 1.990, PHS=-1.850, 0.259, 0.328, RAW= 268.4,  11.8, CAL= 268.2,  14.6, ROT= 241.8, -14.6

2025-03-12T21:46:22.374Z,1741815982.374 [DAT](INFO): DAT read: range request

2025-03-12T21:46:22.374Z,1741815982.374 [DAT](INFO): received a range request message
2025-03-12T21:46:22.375Z,1741815982.375 [DAT](INFO): DAT read: Tx time:21:46:22.7345

2025-03-12T21:46:22.376Z,1741815982.376 [DAT](INFO): Ping request sent.
2025-03-12T21:46:22.376Z,1741815982.376 [DAT](INFO): transmitted an acoustic signal
2025-03-12T21:46:22.376Z,1741815982.376 [DAT](INFO): #Rx 54: Read direction message, but no range.
2025-03-12T21:46:22.378Z,1741815982.378 [DAT](INFO): direction in FSK: [-0.457292,-0.852845,0.252069]
2025-03-12T21:46:22.378Z,1741815982.378 [DAT](INFO): publishing transmit ping time
2025-03-12T21:46:22.378Z,1741815982.378 [DAT](INFO): publishing range request flag
2025-03-12T21:46:22.381Z,1741815982.381 [DAT](INFO): publishing transmit ping time
2025-03-12T21:46:22.381Z,1741815982.381 [DAT](INFO): publishing range request flag
2025-03-12T21:46:46.860Z,1741816006.860 [DAT](INFO): DAT read: Rx Time:21:46:46.0373

2025-03-12T21:46:46.861Z,1741816006.861 [DAT](INFO): Rx dataTimestamp_ set to:1741816006.860324
2025-03-12T21:46:47.369Z,1741816007.369 [DAT](INFO): DAT read: 21:46:46.0373 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 438, 0.19,-1.877, 0.003, 0.171,-0.541, PHS=-1.368, 0.517, 0.708, RAW= 265.2,   1.4, CAL= 262.7,  -2.0, ROT= 247.3,   2.0

2025-03-12T21:46:47.370Z,1741816007.370 [DAT](INFO): got valid direction response:
 21:46:46.0373 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 438, 0.19,-1.877, 0.003, 0.171,-0.541, PHS=-1.368, 0.517, 0.708, RAW= 265.2,   1.4, CAL= 262.7,  -2.0, ROT= 247.3,   2.0

2025-03-12T21:46:47.371Z,1741816007.371 [DAT](INFO): DAT read: bearing request

2025-03-12T21:46:47.371Z,1741816007.371 [DAT](INFO): received a bearing request message
2025-03-12T21:46:47.372Z,1741816007.372 [DAT](INFO): DAT read: Tx time:21:46:47.6401

2025-03-12T21:46:47.372Z,1741816007.372 [DAT](INFO): Ping request sent.
2025-03-12T21:46:47.372Z,1741816007.372 [DAT](INFO): transmitted an acoustic signal
2025-03-12T21:46:47.372Z,1741816007.372 [DAT](INFO): #Rx 55: Read direction message, but no range.
2025-03-12T21:46:47.373Z,1741816007.373 [DAT](INFO): direction in FSK: [-0.385671,-0.921976,-0.034899]
2025-03-12T21:46:47.374Z,1741816007.374 [DAT](INFO): publishing transmit ping time
2025-03-12T21:46:47.374Z,1741816007.374 [DAT](INFO): publishing range request flag
2025-03-12T21:46:47.377Z,1741816007.377 [DAT](INFO): publishing transmit ping time
2025-03-12T21:46:47.378Z,1741816007.378 [DAT](INFO): publishing range request flag
2025-03-12T21:47:11.576Z,1741816031.576 [DAT](INFO): DAT read: Rx Time:21:47:10.9435

2025-03-12T21:47:11.577Z,1741816031.577 [DAT](INFO): Rx dataTimestamp_ set to:1741816031.576498
2025-03-12T21:47:12.085Z,1741816032.085 [DAT](INFO): DAT read: 21:47:10.9436 LVL= 32752, 30353, 32754, 32755, AGC= 79, IDX= 190,-0.05,-0.737, 1.348, 0.221, 0.728, PHS=-1.496, 0.593,-0.511, RAW= 301.9,  15.4, CAL= 304.8,  21.4, ROT= 205.2, -21.4

2025-03-12T21:47:12.086Z,1741816032.086 [DAT](INFO): got valid direction response:
 21:47:10.9436 LVL= 32752, 30353, 32754, 32755, AGC= 79, IDX= 190,-0.05,-0.737, 1.348, 0.221, 0.728, PHS=-1.496, 0.593,-0.511, RAW= 301.9,  15.4, CAL= 304.8,  21.4, ROT= 205.2, -21.4

2025-03-12T21:47:12.086Z,1741816032.086 [DAT](INFO): DAT read: bearing request

2025-03-12T21:47:12.086Z,1741816032.086 [DAT](INFO): received a bearing request message
2025-03-12T21:47:12.087Z,1741816032.087 [DAT](INFO): DAT read: Tx time:21:47:12.5464

2025-03-12T21:47:12.088Z,1741816032.088 [DAT](INFO): Ping request sent.
2025-03-12T21:47:12.088Z,1741816032.088 [DAT](INFO): transmitted an acoustic signal
2025-03-12T21:47:12.088Z,1741816032.088 [DAT](INFO): #Rx 56: Read direction message, but no range.
2025-03-12T21:47:12.089Z,1741816032.089 [DAT](INFO): direction in FSK: [-0.842444,-0.396424,0.364877]
2025-03-12T21:47:12.089Z,1741816032.089 [DAT](INFO): publishing transmit ping time
2025-03-12T21:47:12.090Z,1741816032.090 [DAT](INFO): publishing range request flag
2025-03-12T21:47:12.093Z,1741816032.093 [DAT](INFO): publishing transmit ping time
2025-03-12T21:47:12.093Z,1741816032.093 [DAT](INFO): publishing range request flag
2025-03-12T21:47:19.275Z,1741816039.275 [Default:CheckIn:Read_GPS](INFO): Timed out from 2025-03-12T21:42:19.0Z
2025-03-12T21:47:19.275Z,1741816039.275 [Default:CheckIn:Read_GPS] Stopped
2025-03-12T21:47:19.276Z,1741816039.276 [Default:CheckIn:Read_Iridium] Running Loop=1
2025-03-12T21:47:23.281Z,1741816043.281 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2025-03-12T21:47:24.184Z,1741816044.184 [DAT](INFO): DAT read: Rx Time:21:47:23.3975

2025-03-12T21:47:24.185Z,1741816044.185 [DAT](INFO): Rx dataTimestamp_ set to:1741816044.184519
2025-03-12T21:47:24.694Z,1741816044.694 [DAT](INFO): DAT read: 21:47:23.3975 LVL=  6784,  5457,  6466,  5619, AGC= 67, IDX= 179, 0.03,-0.992, 0.506,-0.521,-0.384, PHS=-0.640, 0.862,-0.141, RAW= 311.0,  -1.2, CAL= 314.6,  -6.3, ROT= 195.4,   6.3

2025-03-12T21:47:24.702Z,1741816044.702 [DAT](INFO): got valid direction response:
 21:47:23.3975 LVL=  6784,  5457,  6466,  5619, AGC= 67, IDX= 179, 0.03,-0.992, 0.506,-0.521,-0.384, PHS=-0.640, 0.862,-0.141, RAW= 311.0,  -1.2, CAL= 314.6,  -6.3, ROT= 195.4,   6.3

2025-03-12T21:47:24.702Z,1741816044.702 [DAT](INFO): DAT read: $Error in header

2025-03-12T21:47:24.703Z,1741816044.703 [DAT](INFO): Received a bad header
2025-03-12T21:47:24.719Z,1741816044.719 [DAT](INFO): #Rx 57: Read direction message, but no range.
2025-03-12T21:47:24.721Z,1741816044.721 [DAT](INFO): direction in FSK: [-0.958273,-0.263952,-0.109734]
2025-03-12T21:47:26.851Z,1741816046.851 [DataOverHttps](INFO): Sending 160 bytes from file Logs/20250311T232940/Courier0168.lzma
2025-03-12T21:47:27.854Z,1741816047.854 [DataOverHttps](INFO): Moved sent file to Logs/20250311T232940/Courier0168.lzma.bak
2025-03-12T21:47:27.854Z,1741816047.854 [DataOverHttps](INFO): SBD MOMSN=24206389
2025-03-12T21:47:36.548Z,1741816056.548 [DAT](INFO): DAT read: Rx Time:21:47:35.8522

2025-03-12T21:47:36.549Z,1741816056.549 [DAT](INFO): Rx dataTimestamp_ set to:1741816056.548437
2025-03-12T21:47:37.065Z,1741816057.065 [DAT](INFO): DAT read: 21:47:35.8523 LVL= 32752, 32753, 32754, 32755, AGC= 84, IDX= 495, 0.17,-2.153,-0.644,-1.086,-1.081, PHS=-1.103, 0.410,-0.009, RAW= 285.5,  10.4, CAL= 286.7,  12.8, ROT= 223.3, -12.8

2025-03-12T21:47:37.066Z,1741816057.066 [DAT](INFO): got valid direction response:
 21:47:35.8523 LVL= 32752, 32753, 32754, 32755, AGC= 84, IDX= 495, 0.17,-2.153,-0.644,-1.086,-1.081, PHS=-1.103, 0.410,-0.009, RAW= 285.5,  10.4, CAL= 286.7,  12.8, ROT= 223.3, -12.8

2025-03-12T21:47:37.066Z,1741816057.066 [DAT](INFO): DAT read: bearing request

2025-03-12T21:47:37.067Z,1741816057.067 [DAT](INFO): received a bearing request message
2025-03-12T21:47:37.067Z,1741816057.067 [DAT](INFO): DAT read: Tx time:21:47:37.4551

2025-03-12T21:47:37.068Z,1741816057.068 [DAT](INFO): Ping request sent.
2025-03-12T21:47:37.068Z,1741816057.068 [DAT](INFO): transmitted an acoustic signal
2025-03-12T21:47:37.068Z,1741816057.068 [DAT](INFO): #Rx 58: Read direction message, but no range.
2025-03-12T21:47:37.069Z,1741816057.069 [DAT](INFO): direction in FSK: [-0.709687,-0.668775,0.221548]
2025-03-12T21:47:37.069Z,1741816057.069 [DAT](INFO): publishing transmit ping time
2025-03-12T21:47:37.070Z,1741816057.070 [DAT](INFO): publishing range request flag
2025-03-12T21:47:37.081Z,1741816057.081 [DAT](INFO): publishing transmit ping time
2025-03-12T21:47:37.081Z,1741816057.081 [DAT](INFO): publishing range request flag
2025-03-12T21:47:47.201Z,1741816067.201 [DataOverHttps](INFO): Sending 836 bytes from file Logs/20250311T232940/Express0169.lzma
2025-03-12T21:47:48.202Z,1741816068.202 [DataOverHttps](INFO): Moved sent file to Logs/20250311T232940/Express0169.lzma.bak
2025-03-12T21:47:48.202Z,1741816068.202 [DataOverHttps](INFO): SBD MOMSN=24206395
2025-03-12T21:47:48.928Z,1741816068.928 [DAT](INFO): DAT read: Rx Time:21:47:48.3070

2025-03-12T21:47:48.929Z,1741816068.929 [DAT](INFO): Rx dataTimestamp_ set to:1741816068.928668
2025-03-12T21:47:48.930Z,1741816068.930 [DAT](INFO): DAT read: $Low SNR acquisition

2025-03-12T21:47:48.930Z,1741816068.930 [DAT](INFO): Received low SNR in chirp
2025-03-12T21:47:49.606Z,1741816069.606 [Default:CheckIn:Read_Iridium] Stopped
2025-03-12T21:47:49.606Z,1741816069.606 [Default:CheckIn:C.Wait] Running Loop=1
2025-03-12T21:47:49.606Z,1741816069.606 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2025-03-12T21:47:54.044Z,1741816074.044 [NAL9602](INFO): Not Powering down - fast GPS
2025-03-12T21:48:01.548Z,1741816081.548 [DAT](INFO): DAT read: Rx Time:21:48:00.8120

2025-03-12T21:48:01.549Z,1741816081.549 [DAT](INFO): Rx dataTimestamp_ set to:1741816081.548591
2025-03-12T21:48:01.550Z,1741816081.550 [DAT](INFO): DAT read: $Low SNR acquisition

2025-03-12T21:48:01.550Z,1741816081.550 [DAT](INFO): Received low SNR in chirp
2025-03-12T21:48:13.920Z,1741816093.920 [DAT](INFO): DAT read: Rx Time:21:48:13.2672

2025-03-12T21:48:13.921Z,1741816093.921 [DAT](INFO): Rx dataTimestamp_ set to:1741816093.920367
2025-03-12T21:48:14.428Z,1741816094.428 [DAT](INFO): DAT read: 21:48:13.2672 LVL= 32752, 32753, 32754, 32755, AGC= 78, IDX= 508, 0.42, 1.002, 2.542, 1.980, 1.918, PHS=-0.947, 0.598, 0.058, RAW= 290.1,   4.3, CAL= 291.9,   2.1, ROT= 218.1,  -2.1

2025-03-12T21:48:14.430Z,1741816094.430 [DAT](INFO): got valid direction response:
 21:48:13.2672 LVL= 32752, 32753, 32754, 32755, AGC= 78, IDX= 508, 0.42, 1.002, 2.542, 1.980, 1.918, PHS=-0.947, 0.598, 0.058, RAW= 290.1,   4.3, CAL= 291.9,   2.1, ROT= 218.1,  -2.1

2025-03-12T21:48:14.430Z,1741816094.430 [DAT](INFO): DAT read: range request

2025-03-12T21:48:14.430Z,1741816094.430 [DAT](INFO): received a range request message
2025-03-12T21:48:14.431Z,1741816094.431 [DAT](INFO): DAT read: Tx time:21:48:14.8701

2025-03-12T21:48:14.431Z,1741816094.431 [DAT](INFO): Ping request sent.
2025-03-12T21:48:14.431Z,1741816094.431 [DAT](INFO): transmitted an acoustic signal
2025-03-12T21:48:14.432Z,1741816094.432 [DAT](INFO): #Rx 59: Read direction message, but no range.
2025-03-12T21:48:14.433Z,1741816094.433 [DAT](INFO): direction in FSK: [-0.786406,-0.616622,0.036644]
2025-03-12T21:48:14.433Z,1741816094.433 [DAT](INFO): publishing transmit ping time
2025-03-12T21:48:14.433Z,1741816094.433 [DAT](INFO): publishing range request flag
2025-03-12T21:48:14.457Z,1741816094.457 [DAT](INFO): publishing transmit ping time
2025-03-12T21:48:14.457Z,1741816094.457 [DAT](INFO): publishing range request flag
2025-03-12T21:48:26.296Z,1741816106.296 [DAT](INFO): DAT read: Rx Time:21:48:25.7234

2025-03-12T21:48:26.297Z,1741816106.297 [DAT](INFO): Rx dataTimestamp_ set to:1741816106.296458
2025-03-12T21:48:27.057Z,1741816107.057 [DAT](INFO): DAT read: 21:48:25.7234 LVL= 26736, 27233, 30242, 29427, AGC= 79, IDX=  84, 0.33, 2.717,-1.704,-1.785,-1.953, PHS=-1.644, 0.222, 0.164, RAW= 271.6,  13.6, CAL= 271.9,  17.9, ROT= 238.1, -17.9

2025-03-12T21:48:27.058Z,1741816107.058 [DAT](INFO): got valid direction response:
 21:48:25.7234 LVL= 26736, 27233, 30242, 29427, AGC= 79, IDX=  84, 0.33, 2.717,-1.704,-1.785,-1.953, PHS=-1.644, 0.222, 0.164, RAW= 271.6,  13.6, CAL= 271.9,  17.9, ROT= 238.1, -17.9

2025-03-12T21:48:27.058Z,1741816107.058 [DAT](INFO): DAT read: bearing request

2025-03-12T21:48:27.058Z,1741816107.058 [DAT](INFO): received a bearing request message
2025-03-12T21:48:27.059Z,1741816107.059 [DAT](INFO): DAT read: Tx time:21:48:27.3262

2025-03-12T21:48:27.060Z,1741816107.060 [DAT](INFO): Ping request sent.
2025-03-12T21:48:27.060Z,1741816107.060 [DAT](INFO): transmitted an acoustic signal
2025-03-12T21:48:27.060Z,1741816107.060 [DAT](INFO): #Rx 60: Read direction message, but no range.
2025-03-12T21:48:27.061Z,1741816107.061 [DAT](INFO): direction in FSK: [-0.502859,-0.807877,0.307357]
2025-03-12T21:48:27.061Z,1741816107.061 [DAT](INFO): publishing transmit ping time
2025-03-12T21:48:27.062Z,1741816107.062 [DAT](INFO): publishing range request flag
2025-03-12T21:48:27.065Z,1741816107.065 [DAT](INFO): publishing transmit ping time
2025-03-12T21:48:27.065Z,1741816107.065 [DAT](INFO): publishing range request flag
2025-03-12T21:48:38.936Z,1741816118.936 [DAT](INFO): DAT read: Rx Time:21:48:38.1794

2025-03-12T21:48:38.937Z,1741816118.937 [DAT](INFO): Rx dataTimestamp_ set to:1741816118.936413
2025-03-12T21:48:39.445Z,1741816119.445 [DAT](INFO): DAT read: 21:48:38.1794 LVL= 32752, 32753, 32754, 32755, AGC= 76, IDX= 433, 0.25,-2.721,-0.789,-2.292,-1.744, PHS=-1.008, 0.928,-0.552, RAW= 317.0,   7.3, CAL= 320.3,   6.7, ROT= 189.7,  -6.7

2025-03-12T21:48:39.446Z,1741816119.446 [DAT](INFO): got valid direction response:
 21:48:38.1794 LVL= 32752, 32753, 32754, 32755, AGC= 76, IDX= 433, 0.25,-2.721,-0.789,-2.292,-1.744, PHS=-1.008, 0.928,-0.552, RAW= 317.0,   7.3, CAL= 320.3,   6.7, ROT= 189.7,  -6.7

2025-03-12T21:48:39.446Z,1741816119.446 [DAT](INFO): DAT read: bearing request

2025-03-12T21:48:39.446Z,1741816119.446 [DAT](INFO): received a bearing request message
2025-03-12T21:48:39.447Z,1741816119.447 [DAT](INFO): DAT read: Tx time:21:48:39.7823

2025-03-12T21:48:39.447Z,1741816119.447 [DAT](INFO): Ping request sent.
2025-03-12T21:48:39.448Z,1741816119.448 [DAT](INFO): transmitted an acoustic signal
2025-03-12T21:48:39.448Z,1741816119.448 [DAT](INFO): #Rx 61: Read direction message, but no range.
2025-03-12T21:48:39.449Z,1741816119.449 [DAT](INFO): direction in FSK: [-0.978972,-0.167339,0.116671]
2025-03-12T21:48:39.449Z,1741816119.449 [DAT](INFO): publishing transmit ping time
2025-03-12T21:48:39.449Z,1741816119.449 [DAT](INFO): publishing range request flag
2025-03-12T21:48:39.471Z,1741816119.471 [DAT](INFO): publishing transmit ping time
2025-03-12T21:48:39.472Z,1741816119.472 [DAT](INFO): publishing range request flag
2025-03-12T21:48:51.288Z,1741816131.288 [DAT](INFO): DAT read: Rx Time:21:48:50.6360

2025-03-12T21:48:51.289Z,1741816131.289 [DAT](INFO): Rx dataTimestamp_ set to:1741816131.288462
2025-03-12T21:48:51.796Z,1741816131.796 [DAT](INFO): DAT read: range request

2025-03-12T21:48:51.796Z,1741816131.796 [DAT](INFO): received a range request message
2025-03-12T21:48:51.797Z,1741816131.797 [DAT](INFO): DAT read: Tx time:21:48:52.2388

2025-03-12T21:48:51.797Z,1741816131.797 [DAT](INFO): Ping request sent.
2025-03-12T21:48:51.797Z,1741816131.797 [DAT](INFO): transmitted an acoustic signal
2025-03-12T21:48:51.798Z,1741816131.798 [DAT](INFO): publishing transmit ping time
2025-03-12T21:48:51.798Z,1741816131.798 [DAT](INFO): publishing range request flag
2025-03-12T21:49:03.916Z,1741816143.916 [DAT](INFO): DAT read: Rx Time:21:49:03.0929

2025-03-12T21:49:03.917Z,1741816143.917 [DAT](INFO): Rx dataTimestamp_ set to:1741816143.916680
2025-03-12T21:49:04.425Z,1741816144.425 [DAT](INFO): DAT read: 21:49:03.0929 LVL= 32752, 24305, 32754, 12771, AGC= 69, IDX= 435, 0.23, 2.609,-2.614,-2.605, 1.945, PHS= 0.632, 1.697, 1.728, RAW= 268.6, -53.0, CAL= 270.0, -53.8, ROT= 240.0,  53.8

2025-03-12T21:49:04.426Z,1741816144.426 [DAT](INFO): got valid direction response:
 21:49:03.0929 LVL= 32752, 24305, 32754, 12771, AGC= 69, IDX= 435, 0.23, 2.609,-2.614,-2.605, 1.945, PHS= 0.632, 1.697, 1.728, RAW= 268.6, -53.0, CAL= 270.0, -53.8, ROT= 240.0,  53.8

2025-03-12T21:49:04.426Z,1741816144.426 [DAT](INFO): DAT read: bearing request

2025-03-12T21:49:04.427Z,1741816144.427 [DAT](INFO): received a bearing request message
2025-03-12T21:49:04.427Z,1741816144.427 [DAT](INFO): DAT read: Tx time:21:49:04.6958

2025-03-12T21:49:04.428Z,1741816144.428 [DAT](INFO): Ping request sent.
2025-03-12T21:49:04.428Z,1741816144.428 [DAT](INFO): transmitted an acoustic signal
2025-03-12T21:49:04.428Z,1741816144.428 [DAT](INFO): #Rx 62: Read direction message, but no range.
2025-03-12T21:49:04.429Z,1741816144.429 [DAT](INFO): direction in FSK: [-0.295303,-0.511480,-0.806960]
2025-03-12T21:49:04.429Z,1741816144.429 [DAT](INFO): publishing transmit ping time
2025-03-12T21:49:04.430Z,1741816144.430 [DAT](INFO): publishing range request flag
2025-03-12T21:49:04.433Z,1741816144.433 [DAT](INFO): publishing transmit ping time
2025-03-12T21:49:04.433Z,1741816144.433 [DAT](INFO): publishing range request flag
2025-03-12T21:49:16.269Z,1741816156.269 [DAT](INFO): DAT read: Rx Time:21:49:15.5512

2025-03-12T21:49:16.270Z,1741816156.270 [DAT](INFO): Rx dataTimestamp_ set to:1741816156.269400
2025-03-12T21:49:16.776Z,1741816156.776 [DAT](INFO): DAT read: 21:49:15.5512 LVL= 32752, 32753, 32754, 32755, AGC= 78, IDX= 173,-0.11, 2.314,-1.745, 2.698,-2.761, PHS=-1.240, 0.989,-0.828, RAW= 320.0,  10.5, CAL= 322.6,  12.6, ROT= 187.4, -12.6

2025-03-12T21:49:16.778Z,1741816156.778 [DAT](INFO): got valid direction response:
 21:49:15.5512 LVL= 32752, 32753, 32754, 32755, AGC= 78, IDX= 173,-0.11, 2.314,-1.745, 2.698,-2.761, PHS=-1.240, 0.989,-0.828, RAW= 320.0,  10.5, CAL= 322.6,  12.6, ROT= 187.4, -12.6

2025-03-12T21:49:16.778Z,1741816156.778 [DAT](INFO): DAT read: bearing request

2025-03-12T21:49:16.778Z,1741816156.778 [DAT](INFO): received a bearing request message
2025-03-12T21:49:16.779Z,1741816156.779 [DAT](INFO): DAT read: Tx time:21:49:17.1541

2025-03-12T21:49:16.779Z,1741816156.779 [DAT](INFO): Ping request sent.
2025-03-12T21:49:16.779Z,1741816156.779 [DAT](INFO): transmitted an acoustic signal
2025-03-12T21:49:16.780Z,1741816156.780 [DAT](INFO): #Rx 63: Read direction message, but no range.
2025-03-12T21:49:16.781Z,1741816156.781 [DAT](INFO): direction in FSK: [-0.967789,-0.125694,0.218143]
2025-03-12T21:49:16.781Z,1741816156.781 [DAT](INFO): publishing transmit ping time
2025-03-12T21:49:16.781Z,1741816156.781 [DAT](INFO): publishing range request flag
2025-03-12T21:49:16.785Z,1741816156.785 [DAT](INFO): publishing transmit ping time
2025-03-12T21:49:16.785Z,1741816156.785 [DAT](INFO): publishing range request flag
2025-03-12T21:49:28.628Z,1741816168.628 [DAT](INFO): DAT read: Rx Time:21:49:28.0085

2025-03-12T21:49:28.629Z,1741816168.629 [DAT](INFO): Rx dataTimestamp_ set to:1741816168.628471
2025-03-12T21:49:29.389Z,1741816169.389 [DAT](INFO): DAT read: 21:49:28.0086 LVL= 32752, 32753, 32754, 32755, AGC= 77, IDX= 156, 0.08, 1.568, 3.025, 2.537, 2.808, PHS=-1.270, 0.190,-0.274, RAW= 288.1,  20.3, CAL= 287.5,  37.6, ROT= 222.5, -37.6

2025-03-12T21:49:29.390Z,1741816169.390 [DAT](INFO): got valid direction response:
 21:49:28.0086 LVL= 32752, 32753, 32754, 32755, AGC= 77, IDX= 156, 0.08, 1.568, 3.025, 2.537, 2.808, PHS=-1.270, 0.190,-0.274, RAW= 288.1,  20.3, CAL= 287.5,  37.6, ROT= 222.5, -37.6

2025-03-12T21:49:29.390Z,1741816169.390 [DAT](INFO): DAT read: bearing request

2025-03-12T21:49:29.391Z,1741816169.391 [DAT](INFO): received a bearing request message
2025-03-12T21:49:29.391Z,1741816169.391 [DAT](INFO): DAT read: Tx time:21:49:29.6115

2025-03-12T21:49:29.392Z,1741816169.392 [DAT](INFO): Ping request sent.
2025-03-12T21:49:29.392Z,1741816169.392 [DAT](INFO): transmitted an acoustic signal
2025-03-12T21:49:29.392Z,1741816169.392 [DAT](INFO): #Rx 64: Read direction message, but no range.
2025-03-12T21:49:29.393Z,1741816169.393 [DAT](INFO): direction in FSK: [-0.584137,-0.535263,0.610145]
2025-03-12T21:49:29.393Z,1741816169.393 [DAT](INFO): publishing transmit ping time
2025-03-12T21:49:29.394Z,1741816169.394 [DAT](INFO): publishing range request flag
2025-03-12T21:49:29.405Z,1741816169.405 [DAT](INFO): publishing transmit ping time
2025-03-12T21:49:29.405Z,1741816169.405 [DAT](INFO): publishing range request flag
2025-03-12T21:50:17.192Z,1741816217.192 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.139385
2025-03-12T21:50:18.568Z,1741816218.568 [DAT](INFO): DAT read: Rx Time:21:50:17.8412

2025-03-12T21:50:18.569Z,1741816218.569 [DAT](INFO): Rx dataTimestamp_ set to:1741816218.568559
2025-03-12T21:50:19.078Z,1741816219.078 [DAT](INFO): DAT read: 21:50:17.8413 LVL= 32752, 32753, 32754, 32755, AGC= 91, IDX= 410,-0.24,-1.742, 0.362,-1.217,-0.532, PHS=-1.241, 0.867,-0.690, RAW= 315.4,  11.2, CAL= 318.5,  13.1, ROT= 191.5, -13.1

2025-03-12T21:50:19.080Z,1741816219.080 [DAT](INFO): got valid direction response:
 21:50:17.8413 LVL= 32752, 32753, 32754, 32755, AGC= 91, IDX= 410,-0.24,-1.742, 0.362,-1.217,-0.532, PHS=-1.241, 0.867,-0.690, RAW= 315.4,  11.2, CAL= 318.5,  13.1, ROT= 191.5, -13.1

2025-03-12T21:50:19.080Z,1741816219.080 [DAT](INFO): DAT read: $Error in header

2025-03-12T21:50:19.081Z,1741816219.081 [DAT](INFO): Received a bad header
2025-03-12T21:50:19.091Z,1741816219.091 [DAT](INFO): #Rx 65: Read direction message, but no range.
2025-03-12T21:50:19.093Z,1741816219.093 [DAT](INFO): direction in FSK: [-0.954423,-0.194179,0.226651]
2025-03-12T21:50:43.556Z,1741816243.556 [DAT](INFO): DAT read: Rx Time:21:50:42.7591

2025-03-12T21:50:43.557Z,1741816243.557 [DAT](INFO): Rx dataTimestamp_ set to:1741816243.556445
2025-03-12T21:50:44.066Z,1741816244.066 [DAT](INFO): DAT read: 21:50:42.7592 LVL= 32752, 32753, 32754, 32755, AGC= 91, IDX= 121,-0.36, 0.276, 2.761, 1.344, 1.392, PHS=-1.147, 1.342,-0.052, RAW= 304.0,  -1.3, CAL= 307.6,  -6.3, ROT= 202.4,   6.3

2025-03-12T21:50:44.067Z,1741816244.067 [DAT](INFO): got valid direction response:
 21:50:42.7592 LVL= 32752, 32753, 32754, 32755, AGC= 91, IDX= 121,-0.36, 0.276, 2.761, 1.344, 1.392, PHS=-1.147, 1.342,-0.052, RAW= 304.0,  -1.3, CAL= 307.6,  -6.3, ROT= 202.4,   6.3

2025-03-12T21:50:44.068Z,1741816244.068 [DAT](INFO): DAT read: $Error in header

2025-03-12T21:50:44.068Z,1741816244.068 [DAT](INFO): Received a bad header
2025-03-12T21:50:44.079Z,1741816244.079 [DAT](INFO): #Rx 66: Read direction message, but no range.
2025-03-12T21:50:44.080Z,1741816244.080 [DAT](INFO): direction in FSK: [-0.918963,-0.378769,-0.109734]
2025-03-12T21:50:55.920Z,1741816255.920 [DAT](INFO): DAT read: Rx Time:21:50:55.2182

2025-03-12T21:50:55.921Z,1741816255.921 [DAT](INFO): Rx dataTimestamp_ set to:1741816255.920494
2025-03-12T21:50:56.430Z,1741816256.430 [DAT](INFO): DAT read: 21:50:55.2182 LVL= 32752, 32753, 32754, 32755, AGC= 91, IDX=  34, 0.20,-2.812,-1.460,-1.986,-2.352, PHS=-0.491, 0.865, 0.362, RAW= 291.5, -12.4, CAL= 295.2, -20.9, ROT= 214.8,  20.9

2025-03-12T21:50:56.431Z,1741816256.431 [DAT](INFO): got valid direction response:
 21:50:55.2182 LVL= 32752, 32753, 32754, 32755, AGC= 91, IDX=  34, 0.20,-2.812,-1.460,-1.986,-2.352, PHS=-0.491, 0.865, 0.362, RAW= 291.5, -12.4, CAL= 295.2, -20.9, ROT= 214.8,  20.9

2025-03-12T21:50:56.432Z,1741816256.432 [DAT](INFO): DAT read: $Error in header

2025-03-12T21:50:56.432Z,1741816256.432 [DAT](INFO): Received a bad header
2025-03-12T21:50:56.470Z,1741816256.470 [DAT](INFO): #Rx 67: Read direction message, but no range.
2025-03-12T21:50:56.478Z,1741816256.478 [DAT](INFO): direction in FSK: [-0.767121,-0.533163,-0.356738]
2025-03-12T21:50:58.884Z,1741816258.884 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003195
2025-03-12T21:51:45.636Z,1741816305.636 [DAT](INFO): DAT read: Rx Time:21:51:45.0552

2025-03-12T21:51:45.637Z,1741816305.637 [DAT](INFO): Rx dataTimestamp_ set to:1741816305.636396
2025-03-12T21:51:46.393Z,1741816306.393 [DAT](INFO): DAT read: bearing request

2025-03-12T21:51:46.393Z,1741816306.393 [DAT](INFO): received a bearing request message
2025-03-12T21:51:46.394Z,1741816306.394 [DAT](INFO): DAT read: Tx time:21:51:46.6581

2025-03-12T21:51:46.394Z,1741816306.394 [DAT](INFO): Ping request sent.
2025-03-12T21:51:46.394Z,1741816306.394 [DAT](INFO): transmitted an acoustic signal
2025-03-12T21:51:46.394Z,1741816306.394 [DAT](INFO): publishing transmit ping time
2025-03-12T21:51:46.395Z,1741816306.395 [DAT](INFO): publishing range request flag
2025-03-12T21:52:50.179Z,1741816370.179 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2025-03-12T21:52:50.179Z,1741816370.179 [Default:CheckIn:C.Wait] Stopped
2025-03-12T21:52:50.179Z,1741816370.179 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2025-03-12T21:52:50.180Z,1741816370.180 [Default:CheckIn:D] Running Loop=1
2025-03-12T21:52:50.590Z,1741816370.590 [Default:CheckIn:D] Stopped
2025-03-12T21:52:50.590Z,1741816370.590 [Default:CheckIn:E] Running Loop=1
2025-03-12T21:52:50.988Z,1741816370.988 [Default:CheckIn:E](IMPORTANT): Default mission has been running for  18.362032 min 
2025-03-12T21:52:50.988Z,1741816370.988 [Default:CheckIn:E] Stopped
2025-03-12T21:52:50.988Z,1741816370.988 [Default:CheckIn](INFO): Completed Default:CheckIn
2025-03-12T21:52:50.989Z,1741816370.989 [Default:CheckIn] Stopped
2025-03-12T21:52:50.989Z,1741816370.989 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-03-12T21:52:50.989Z,1741816370.989 [Default:CheckIn](INFO): Running loop #2
2025-03-12T21:52:50.989Z,1741816370.989 [Default:CheckIn] Running Loop=2
2025-03-12T21:52:50.989Z,1741816370.989 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-03-12T21:52:50.989Z,1741816370.989 [Default:CheckIn:Read_GPS] Running Loop=1
2025-03-12T21:52:52.603Z,1741816372.603 [NAL9602](FAULT): GPS failed to acquire within timeout.
2025-03-12T21:52:52.604Z,1741816372.604 [NAL9602] Data Fault, FailCount= 2
2025-03-12T21:52:52.604Z,1741816372.604 [NAL9602](ERROR): Data Fault
2025-03-12T21:52:52.624Z,1741816372.624 [CBIT](ERROR): Data Fault in component: NAL9602
2025-03-12T21:52:53.014Z,1741816373.014 [NAL9602](INFO): Powering down
2025-03-12T21:52:53.824Z,1741816373.824 [CBIT](INFO): Clearing failed state for component NAL9602
2025-03-12T21:52:53.824Z,1741816373.824 [NAL9602] No Fault, FailCount= 2
2025-03-12T21:53:23.319Z,1741816403.319 [NAL9602](INFO): Powering up NAL9602
2025-03-12T21:53:34.213Z,1741816414.213 [NAL9602](INFO): NAL9602 initialized
2025-03-12T21:53:55.485Z,1741816435.485 [DataOverHttps](IMPORTANT): SBD MTMSN=20250312T215354
2025-03-12T21:54:02.684Z,1741816442.684 [DAT](INFO): DAT read: Rx Time:21:54:02.1096

2025-03-12T21:54:02.685Z,1741816442.685 [DAT](INFO): Rx dataTimestamp_ set to:1741816442.684421
2025-03-12T21:54:03.111Z,1741816443.111 [DataOverHttps](INFO): Received command: sched asap "load Science/sci2_noyo_optim.tl;set sci2_noyo_optim.MissionTimeout 6 h;set sci2_noyo_optim.NeedCommsTime 60 min;set sci2_noyo_optim.Depth1 250 m;set sci2_noyo_optim.Depth2 280 m;set sci2_noyo_optim.Depth3 NaN m" 32y5d 1 3
2025-03-12T21:54:03.117Z,1741816443.117 [CommandExec](IMPORTANT): got command schedule asap "load Science/sci2_noyo_optim.tl;set sci2_noyo_optim.MissionTimeout 6 h;set sci2_noyo_optim.NeedCommsTime 60 min;set sci2_noyo_optim.Depth1 250 m;set sci2_noyo_optim.Depth2 280 m;set sci2_noyo_optim.Depth3 NaN m" 32y5d 1 3.000000
2025-03-12T21:54:03.117Z,1741816443.117 [CommandExec](IMPORTANT): Scheduling command #1 of 3 with id=32y5d
2025-03-12T21:54:03.118Z,1741816443.118 [CommandExec](IMPORTANT): Scheduled #22 (#1 of 3 with id='32y5d'): "load Science/sci2_noyo_optim.tl;set sci2_noyo_optim.MissionTimeout 6 h;set sci2_noyo_optim.NeedCommsTime 60 min;set sci2_noyo_optim.Depth1 250 m;set sci2_noyo_optim.Depth2 280 m;set sci2_noyo_optim.Depth3 NaN m", ASAP
2025-03-12T21:54:03.450Z,1741816443.450 [DAT](INFO): DAT read: 21:54:02.1096 LVL= 23696, 27633, 23282, 30819, AGC= 85, IDX= 509, 0.13, 0.043, 2.409, 1.324, 1.595, PHS=-1.583, 0.787,-0.275, RAW= 296.6,  10.4, CAL= 299.3,  12.6, ROT= 210.7, -12.6

2025-03-12T21:54:03.451Z,1741816443.451 [DAT](INFO): got valid direction response:
 21:54:02.1096 LVL= 23696, 27633, 23282, 30819, AGC= 85, IDX= 509, 0.13, 0.043, 2.409, 1.324, 1.595, PHS=-1.583, 0.787,-0.275, RAW= 296.6,  10.4, CAL= 299.3,  12.6, ROT= 210.7, -12.6

2025-03-12T21:54:03.452Z,1741816443.452 [DAT](INFO): DAT read: $Error in header

2025-03-12T21:54:03.452Z,1741816443.452 [DAT](INFO): Received a bad header
2025-03-12T21:54:03.464Z,1741816443.464 [DAT](INFO): #Rx 68: Read direction message, but no range.
2025-03-12T21:54:03.465Z,1741816443.465 [DAT](INFO): direction in FSK: [-0.839144,-0.498247,0.218143]
2025-03-12T21:54:04.114Z,1741816444.114 [DataOverHttps](IMPORTANT): SBD MTMSN=20250312T215402
2025-03-12T21:54:11.583Z,1741816451.583 [DataOverHttps](INFO): Received command: sched asap "set sci2_noyo_optim.Repeat 6 count;set sci2_noyo_optim.Lat1 36.79279 degree;set sci2_noyo_optim.Lon1 -121.88919 degree;set sci2_noyo_optim.Lat2 36.78427 degree;set sci2_noyo_optim.Lon2 -121.91339 degree" 32y5d 2 3
2025-03-12T21:54:11.680Z,1741816451.680 [CommandExec](IMPORTANT): got command schedule asap "set sci2_noyo_optim.Repeat 6 count;set sci2_noyo_optim.Lat1 36.79279 degree;set sci2_noyo_optim.Lon1 -121.88919 degree;set sci2_noyo_optim.Lat2 36.78427 degree;set sci2_noyo_optim.Lon2 -121.91339 degree" 32y5d 2 3.000000
2025-03-12T21:54:11.680Z,1741816451.680 [CommandExec](IMPORTANT): Scheduling command #2 of 3 with id=32y5d
2025-03-12T21:54:11.681Z,1741816451.681 [CommandExec](IMPORTANT): Scheduled #23 (#2 of 3 with id='32y5d'): "set sci2_noyo_optim.Repeat 6 count;set sci2_noyo_optim.Lat1 36.79279 degree;set sci2_noyo_optim.Lon1 -121.88919 degree;set sci2_noyo_optim.Lat2 36.78427 degree;set sci2_noyo_optim.Lon2 -121.91339 degree", ASAP
2025-03-12T21:54:12.586Z,1741816452.586 [DataOverHttps](IMPORTANT): SBD MTMSN=20250312T215411
2025-03-12T21:54:15.304Z,1741816455.304 [DAT](INFO): DAT read: Rx Time:21:54:14.5698

2025-03-12T21:54:15.305Z,1741816455.305 [DAT](INFO): Rx dataTimestamp_ set to:1741816455.304473
2025-03-12T21:54:15.814Z,1741816455.814 [DAT](INFO): DAT read: 21:54:14.5699 LVL= 32752, 32753, 32754, 32755, AGC= 84, IDX=  47, 0.04,-0.489, 1.517,-0.374, 0.558, PHS=-1.078, 0.932,-0.936, RAW= 326.4,  11.1, CAL= 328.0,  15.3, ROT= 182.0, -15.3

2025-03-12T21:54:15.815Z,1741816455.815 [DAT](INFO): got valid direction response:
 21:54:14.5699 LVL= 32752, 32753, 32754, 32755, AGC= 84, IDX=  47, 0.04,-0.489, 1.517,-0.374, 0.558, PHS=-1.078, 0.932,-0.936, RAW= 326.4,  11.1, CAL= 328.0,  15.3, ROT= 182.0, -15.3

2025-03-12T21:54:15.816Z,1741816455.816 [DAT](INFO): DAT read: $Error in header

2025-03-12T21:54:15.816Z,1741816455.816 [DAT](INFO): Received a bad header
2025-03-12T21:54:15.827Z,1741816455.827 [DAT](INFO): #Rx 69: Read direction message, but no range.
2025-03-12T21:54:15.828Z,1741816455.828 [DAT](INFO): direction in FSK: [-0.963970,-0.033662,0.263873]
2025-03-12T21:54:20.055Z,1741816460.055 [DataOverHttps](INFO): Received command: sched asap "set sci2_noyo_optim.ApproachDepth 10 m;set sci2_noyo_optim.SlowSpeed 0.35 m/s;set sci2_noyo_optim.MinAltitude 10 m;set sci2_noyo_optim.MaxDepth 290 m;set sci2_noyo_optim:PowerOnly.SampleLoad1 1 bool;run" 32y5d 3 3
2025-03-12T21:54:20.128Z,1741816460.128 [CommandExec](IMPORTANT): got command schedule asap "set sci2_noyo_optim.ApproachDepth 10 m;set sci2_noyo_optim.SlowSpeed 0.35 m/s;set sci2_noyo_optim.MinAltitude 10 m;set sci2_noyo_optim.MaxDepth 290 m;set sci2_noyo_optim:PowerOnly.SampleLoad1 1 bool;run" 32y5d 3 3.000000
2025-03-12T21:54:20.128Z,1741816460.128 [CommandExec](IMPORTANT): Scheduling command #3 of 3 with id=32y5d
2025-03-12T21:54:20.129Z,1741816460.129 [CommandExec](IMPORTANT): Scheduled #24 (#3 of 3 with id='32y5d'): "set sci2_noyo_optim.ApproachDepth 10 m;set sci2_noyo_optim.SlowSpeed 0.35 m/s;set sci2_noyo_optim.MinAltitude 10 m;set sci2_noyo_optim.MaxDepth 290 m;set sci2_noyo_optim:PowerOnly.SampleLoad1 1 bool;run", ASAP
2025-03-12T21:54:20.277Z,1741816460.277 [CommandExec](IMPORTANT): got command load ./Missions/Science/sci2_noyo_optim.tl
2025-03-12T21:54:20.278Z,1741816460.278 [MissionManager](INFO): Loading Mission from file: ./Missions/Science/sci2_noyo_optim.tl
2025-03-12T21:54:20.278Z,1741816460.278 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Science/sci2_noyo_optim.tl
2025-03-12T21:54:20.281Z,1741816460.281 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Science/sci2_noyo_optim.tl
2025-03-12T21:54:25.516Z,1741816465.516 [MissionManager](DEBUG): TethyslAPI: ./Missions/Science/sci2_noyo_optim.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Mission Id="sci2_noyo_optim">
    <DefineArg Name="MissionTimeout">
        <Units:hour />
        <Value>2</Value>
    </DefineArg>
    <DefineArg Name="NeedCommsTime">
        <Units:minute />
        <Value>60</Value>
    </DefineArg>
    <DefineArg Name="Depth1">
        <Units:meter />
        <Value>35</Value>
    </DefineArg>
    <DefineArg Name="Depth2">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Depth3">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Depth4">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Depth5">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Depth6">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Depth7">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Depth8">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="DepthPerLeg">
        <False />
    </DefineArg>
    <DefineArg Name="Repeat">
        <Units:count />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="Lat1">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lat2">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lat3">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lat4">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lat5">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lat6">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lat7">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lat8">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lon1">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lon2">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lon3">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lon4">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lon5">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lon6">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lon7">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lon8">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="FastSpeed">
        <Units:meter_per_second />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="ApproachDepth">
        <Units:meter />
        <Value>30</Value>
    </DefineArg>
    <DefineArg Name="ApproachSpeed">
        <Units:meter_per_second />
        <Value>0.7</Value>
    </DefineArg>
    <DefineArg Name="ApproachDepthRate">
        <Units:meter_per_second />
        <Value>0.05</Value>
    </DefineArg>
    <DefineArg Name="ApproachPitchLimit">
        <Units:degree />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="ApproachDepthTimeout">
        <Units:minute />
        <Value>15</Value>
    </DefineArg>
    <DefineArg Name="ApproachSettleTimePreDive">
        <Units:minute />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="ApproachSettleTimePostDive">
        <Units:minute />
        <Value>3</Value>
    </DefineArg>
    <DefineArg Name="kpDepth">
        <Units:radian_per_meter />
        <Value>0.07</Value>
    </DefineArg>
    <DefineArg Name="SlowSpeed">
        <Units:meter_per_second />
        <Value>0.25</Value>
    </DefineArg>
    <DefineArg Name="DepthDeviationSlow">
        <Units:meter />
        <Value>3</Value>
    </DefineArg>
    <DefineArg Name="BuoyancyNeutral">
        <Control:VerticalControl.buoyancyNeutral />
    </DefineArg>
    <DefineArg Name="MassDefault">
        <Control:VerticalControl.massDefault />
    </DefineArg>
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>2</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>50</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:kilometer />
        <Value>2</Value>
    </DefineArg>
    <DefineOutput Name="DiveMode">
        <Units:count />
        <Value>0</Value>
    </DefineOutput>
    <DefineOutput Name="DoingComms">
        <Units:count />
        <Value>0</Value>
    </DefineOutput>
    <DefineOutput Name="InitialDive">
        <Units:count />
        <Value>1</Value>
    </DefineOutput>
    <DefineOutput Name="SettleAtDepth">
        <Units:count />
        <Value>2</Value>
    </DefineOutput>
    <DefineOutput Name="MaintainDepth">
        <Units:count />
        <Value>3</Value>
    </DefineOutput>
    <DefineOutput Name="LegDepth">
        <Arg Name="Depth1" />
    </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="MissionTimeout" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="NeedComms:WaitForPitchUp" />
        <Units:minute />
        <Value>0</Value>
    </Assign>
    <Insert Filename="Insert/BackseatDriver.tl" />
    <Assign>
        <Parallel />
        <Arg Name="BackseatDriver:EnableBackseat" />
        <True />
    </Assign>
    <Insert Filename="Insert/PowerOnly.tl" />
    <Assign>
        <Parallel />
        <Arg Name="PowerOnly:SampleLoad1" />
        <True />
    </Assign>
    <Assign>
        <Sequence />
        <Sensor:MultiRay.lightModeCommand />
        <Units:count />
        <Value>2</Value>
    </Assign>
    <ReadData Strategy="MinError">
        <While>
            <Sensor:MultiRay.loadAtStartup />
        </While>
        <Sensor:MultiRay.lightModeLog />
    </ReadData>
    <Guidance:Buoyancy>
        <Parallel />
        <Setting>
            <Guidance:Buoyancy.position />
            <Arg Name="BuoyancyNeutral" />
        </Setting>
    </Guidance:Buoyancy>
    <Aggregate Id="SurfaceComms">
        <When>
            <Called />
            <Or>
                <Elapsed>
                    <Universal:time_fix />
                </Elapsed>
                <Gt>
                    <Arg Name="NeedCommsTime" />
                </Gt>
            </Or>
        </When>
        <Assign>
            <Sequence />
            <Arg Name="DiveMode" />
            <Arg Name="DoingComms" />
        </Assign>
        <Call RefId="NeedComms" />
        <Assign>
            <Sequence />
            <Arg Name="DiveMode" />
            <Arg Name="InitialDive" />
        </Assign>
    </Aggregate>
    <Aggregate Id="DiveCmd">
        <When>
            <Called />
        </When>
        <Aggregate Id="InitialDive">
            <While>
                <Arg Name="DiveMode" />
                <Eq>
                    <Arg Name="InitialDive" />
                </Eq>
            </While>
            <Aggregate Id="dive">
                <Sequence />
                <Assign>
                    <Parallel />
                    <Control:VerticalControl.pitchLimit />
                    <Arg Name="ApproachPitchLimit" />
                </Assign>
                <Assign>
                    <Parallel />
                    <Control:VerticalControl.kpDepth />
                    <Arg Name="kpDepth" />
                </Assign>
                <Guidance:Mass>
                    <Parallel />
                    <Setting>
                        <Guidance:Mass.position />
                        <Arg Name="MassDefault" />
                    </Setting>
                </Guidance:Mass>
                <Syslog Severity="Info">
                    Waiting for 
                    <Arg Name="ApproachSettleTimePreDive" />
                    <Units:minute />
                    while pumping down to neutral.
                </Syslog>
                <Guidance:Wait>
                    <Sequence />
                    <Setting>
                        <Guidance:Wait.duration />
                        <Arg Name="ApproachSettleTimePreDive" />
                    </Setting>
                </Guidance:Wait>
                <Syslog>
                    Moving to 
                    <Arg Name="ApproachDepth" />
                    <Units:meter />
                </Syslog>
                <Aggregate Id="ApproachDepth">
                    <Sequence />
                    <Guidance:SetSpeed>
                        <Parallel />
                        <Setting>
                            <Guidance:SetSpeed.speed />
                            <Arg Name="ApproachSpeed" />
                        </Setting>
                    </Guidance:SetSpeed>
                    <Guidance:Pitch>
                        <Sequence />
                        <Timeout Duration="ApproachDepthTimeout">
                            <Syslog Severity="Important">
                                Timed out while trying to reach target depth at current depth of 
                                <Universal:depth />
                                <Units:meter />
                            </Syslog>
                            <Guidance:Execute>
                                <Sequence />
                                <Setting>
                                    <Guidance:Execute.command />
                                    <String>stop</String>
                                </Setting>
                            </Guidance:Execute>
                        </Timeout>
                        <Setting>
                            <Guidance:Pitch.depth />
                            <Arg Name="ApproachDepth" />
                        </Setting>
                        <Setting>
                            <Guidance:Pitch.depthRate />
                            <Arg Name="ApproachDepthRate" />
                        </Setting>
                    </Guidance:Pitch>
                </Aggregate>
                <Assign>
                    <Sequence />
                    <Arg Name="DiveMode" />
                    <Arg Name="SettleAtDepth" />
                </Assign>
            </Aggregate>
        </Aggregate>
        <Aggregate Id="SettleAtDepth">
            <While>
                <Arg Name="DiveMode" />
                <Eq>
                    <Arg Name="SettleAtDepth" />
                </Eq>
            </While>
            <Aggregate Id="dive">
                <Sequence />
                <Syslog Severity="Info">
                    Reached 
                    <Universal:depth />
                    <Units:meter />
                    , settling for 
                    <Arg Name="ApproachSettleTimePostDive" />
                    <Units:minute />
                </Syslog>
                <Guidance:Pitch>
                    <Parallel />
                    <Setting>
                        <Guidance:Pitch.depth />
                        <Arg Name="LegDepth" />
                    </Setting>
                </Guidance:Pitch>
                <Guidance:Wait>
                    <Sequence />
                    <Setting>
                        <Guidance:Wait.duration />
                        <Arg Name="ApproachSettleTimePostDive" />
                    </Setting>
                </Guidance:Wait>
                <Assign>
                    <Sequence />
                    <Arg Name="DiveMode" />
                    <Arg Name="MaintainDepth" />
                </Assign>
            </Aggregate>
        </Aggregate>
        <Aggregate Id="MaintainDepth">
            <While>
                <Arg Name="DiveMode" />
                <Eq>
                    <Arg Name="MaintainDepth" />
                </Eq>
                <And>
                    <Universal:depth />
                    <Gt>
                        <Arg Name="LegDepth" />
                        <Add>
                            <Arg Name="DepthDeviationSlow" />
                        </Add>
                    </Gt>
                </And>
                <Or>
                    <Universal:depth />
                    <Lt>
                        <Arg Name="LegDepth" />
                        <Sub>
                            <Arg Name="DepthDeviationSlow" />
                        </Sub>
                    </Lt>
                </Or>
            </While>
            <Aggregate Id="dive">
                <Parallel />
                <Aggregate Id="ThrusterDive">
                    <While>
                        <Arg Name="FastSpeed" />
                        <Gt>
                            <Units:meter_per_second />
                            <Value>0.0</Value>
                        </Gt>
                    </While>
                    <Guidance:Mass>
                        <Parallel />
                        <Setting>
                            <Guidance:Mass.position />
                            <Arg Name="MassDefault" />
                        </Setting>
                    </Guidance:Mass>
                    <Guidance:SetSpeed>
                        <Parallel />
                        <Setting>
                            <Guidance:SetSpeed.speed />
                            <Arg Name="FastSpeed" />
                        </Setting>
                    </Guidance:SetSpeed>
                </Aggregate>
                <Guidance:Pitch>
                    <Parallel />
                    <Setting>
                        <Guidance:Pitch.depth />
                        <Arg Name="LegDepth" />
                    </Setting>
                </Guidance:Pitch>
            </Aggregate>
        </Aggregate>
        <Aggregate Id="MaintainDepthSlow">
            <While>
                <Not>
                    <IsNaN>
                        <Arg Name="SlowSpeed" />
                    </IsNaN>
                </Not>
                <And>
                    <Arg Name="DiveMode" />
                    <Eq>
                        <Arg Name="MaintainDepth" />
                    </Eq>
                </And>
                <And>
                    <Universal:depth />
                    <Le>
                        <Arg Name="LegDepth" />
                        <Add>
                            <Arg Name="DepthDeviationSlow" />
                        </Add>
                    </Le>
                </And>
                <And>
                    <Universal:depth />
                    <Ge>
                        <Arg Name="LegDepth" />
                        <Sub>
                            <Arg Name="DepthDeviationSlow" />
                        </Sub>
                    </Ge>
                </And>
            </While>
            <Guidance:SetSpeed>
                <Parallel />
                <Setting>
                    <Guidance:SetSpeed.speed />
                    <Arg Name="SlowSpeed" />
                </Setting>
            </Guidance:SetSpeed>
            <Assign>
                <Parallel />
                <Control:VerticalControl.depthDeadband />
                <Arg Name="DepthDeviationSlow" />
                <Add>
                    <Units:meter />
                    <Value>3</Value>
                </Add>
            </Assign>
            <Guidance:Buoyancy>
                <Parallel />
                <Setting>
                    <Guidance:Buoyancy.position />
                    <Units:cubic_centimeter />
                    <Value>NaN</Value>
                </Setting>
            </Guidance:Buoyancy>
            <Guidance:Pitch>
                <Parallel />
                <Setting>
                    <Guidance:Pitch.depth />
                    <Arg Name="LegDepth" />
                </Setting>
            </Guidance:Pitch>
        </Aggregate>
    </Aggregate>
    <Call RefId="SurfaceComms" Id="StartingMission" />
    <Aggregate Id="Lap">
        <Sequence Repeat="Repeat" />
        <Aggregate Id="Dive">
            <While>
                <Not>
                    <Arg Name="DiveMode" />
                    <Eq>
                        <Arg Name="DoingComms" />
                    </Eq>
                </Not>
            </While>
            <Call RefId="DiveCmd" />
        </Aggregate>
        <Aggregate Id="DepthByLap">
            <Sequence />
            <Break>
                <Arg Name="DepthPerLeg" />
            </Break>
            <Assign>
                <Sequence />
                <Arg Name="LegDepth" />
                <Arg Name="Depth1" />
            </Assign>
            <Aggregate Id="Wpt1">
                <Sequence />
                <Guidance:Waypoint>
                    <Sequence />
                    <Setting>
                        <Guidance:Waypoint.latitude />
                        <Arg Name="Lat1" />
                    </Setting>
                    <Setting>
                        <Guidance:Waypoint.longitude />
                        <Arg Name="Lon1" />
                    </Setting>
                </Guidance:Waypoint>
            </Aggregate>
            <Aggregate Id="Wpt2">
                <Sequence />
                <Guidance:Waypoint>
                    <Sequence />
                    <Setting>
                        <Guidance:Waypoint.latitude />
                        <Arg Name="Lat2" />
                    </Setting>
                    <Setting>
                        <Guidance:Waypoint.longitude />
                        <Arg Name="Lon2" />
                    </Setting>
                </Guidance:Waypoint>
            </Aggregate>
            <Aggregate Id="Wpt3">
                <Sequence />
                <Guidance:Waypoint>
                    <Sequence />
                    <Setting>
                        <Guidance:Waypoint.latitude />
                        <Arg Name="Lat3" />
                    </Setting>
                    <Setting>
                        <Guidance:Waypoint.longitude />
                        <Arg Name="Lon3" />
                    </Setting>
                </Guidance:Waypoint>
            </Aggregate>
            <Aggregate Id="Wpt4">
                <Sequence />
                <Guidance:Waypoint>
                    <Sequence />
                    <Setting>
                        <Guidance:Waypoint.latitude />
                        <Arg Name="Lat4" />
                    </Setting>
                    <Setting>
                        <Guidance:Waypoint.longitude />
                        <Arg Name="Lon4" />
                    </Setting>
                </Guidance:Waypoint>
            </Aggregate>
            <Aggregate Id="Wpt5">
                <Sequence />
                <Guidance:Waypoint>
                    <Sequence />
                    <Setting>
                        <Guidance:Waypoint.latitude />
                        <Arg Name="Lat5" />
                    </Setting>
                    <Setting>
                        <Guidance:Waypoint.longitude />
                        <Arg Name="Lon5" />
                    </Setting>
                </Guidance:Waypoint>
            </Aggregate>
            <Aggregate Id="Wpt6">
                <Sequence />
                <Guidance:Waypoint>
                    <Sequence />
                    <Setting>
                        <Guidance:Waypoint.latitude />
                        <Arg Name="Lat6" />
                    </Setting>
                    <Setting>
                        <Guidance:Waypoint.longitude />
                        <Arg Name="Lon6" />
                    </Setting>
                </Guidance:Waypoint>
            </Aggregate>
            <Aggregate Id="Wpt7">
                <Sequence />
                <Guidance:Waypoint>
                    <Sequence />
                    <Setting>
                        <Guidance:Waypoint.latitude />
                        <Arg Name="Lat7" />
                    </Setting>
                    <Setting>
                        <Guidance:Waypoint.longitude />
                        <Arg Name="Lon7" />
                    </Setting>
                </Guidance:Waypoint>
            </Aggregate>
            <Aggregate Id="Wpt8">
                <Sequence />
                <Guidance:Waypoint>
                    <Sequence />
                    <Setting>
                        <Guidance:Waypoint.latitude />
                        <Arg Name="Lat8" />
                    </Setting>
                    <Setting>
                        <Guidance:Waypoint.longitude />
                        <Arg Name="Lon8" />
                    </Setting>
                </Guidance:Waypoint>
            </Aggregate>
            <Aggregate Id="Leg2">
                <Sequence />
                <Break>
                    <IsNaN>
                        <Arg Name="Depth2" />
                    </IsNaN>
                </Break>
                <Syslog Severity="Important">
                    Transiting waypoints at depth 
                    <Arg Name="Depth2" />
                    <Units:meter />
                </Syslog>
                <Assign>
                    <Sequence />
                    <Arg Name="LegDepth" />
                    <Arg Name="Depth2" />
                </Assign>
                <Aggregate Id="Wpt1">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat1" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon1" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt2">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat2" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon2" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt3">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat3" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon3" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt4">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat4" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon4" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt5">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat5" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon5" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt6">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat6" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon6" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt7">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat7" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon7" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt8">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat8" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon8" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
            </Aggregate>
            <Aggregate Id="Leg3">
                <Sequence />
                <Break>
                    <IsNaN>
                        <Arg Name="Depth3" />
                    </IsNaN>
                </Break>
                <Syslog Severity="Important">
                    Transiting waypoints at depth 
                    <Arg Name="Depth3" />
                    <Units:meter />
                </Syslog>
                <Assign>
                    <Sequence />
                    <Arg Name="LegDepth" />
                    <Arg Name="Depth3" />
                </Assign>
                <Aggregate Id="Wpt1">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat1" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon1" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt2">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat2" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon2" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt3">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat3" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon3" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt4">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat4" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon4" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt5">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat5" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon5" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt6">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat6" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon6" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt7">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat7" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon7" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt8">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat8" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon8" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
            </Aggregate>
            <Aggregate Id="Leg4">
                <Sequence />
                <Break>
                    <IsNaN>
                        <Arg Name="Depth4" />
                    </IsNaN>
                </Break>
                <Syslog Severity="Important">
                    Transiting waypoints at depth 
                    <Arg Name="Depth4" />
                    <Units:meter />
                </Syslog>
                <Assign>
                    <Sequence />
                    <Arg Name="LegDepth" />
                    <Arg Name="Depth4" />
                </Assign>
                <Aggregate Id="Wpt1">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat1" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon1" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt2">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat2" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon2" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt3">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat3" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon3" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt4">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat4" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon4" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt5">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat5" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon5" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt6">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat6" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon6" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt7">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat7" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon7" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt8">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat8" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon8" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
            </Aggregate>
            <Aggregate Id="Leg5">
                <Sequence />
                <Break>
                    <IsNaN>
                        <Arg Name="Depth5" />
                    </IsNaN>
                </Break>
                <Syslog Severity="Important">
                    Transiting waypoints at depth 
                    <Arg Name="Depth5" />
                    <Units:meter />
                </Syslog>
                <Assign>
                    <Sequence />
                    <Arg Name="LegDepth" />
                    <Arg Name="Depth5" />
                </Assign>
                <Aggregate Id="Wpt1">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat1" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon1" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt2">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat2" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon2" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt3">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat3" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon3" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt4">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat4" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon4" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt5">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat5" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon5" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt6">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat6" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon6" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt7">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat7" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon7" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt8">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat8" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon8" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
            </Aggregate>
            <Aggregate Id="Leg6">
                <Sequence />
                <Break>
                    <IsNaN>
                        <Arg Name="Depth6" />
                    </IsNaN>
                </Break>
                <Syslog Severity="Important">
                    Transiting waypoints at depth 
                    <Arg Name="Depth6" />
                    <Units:meter />
                </Syslog>
                <Assign>
                    <Sequence />
                    <Arg Name="LegDepth" />
                    <Arg Name="Depth6" />
                </Assign>
                <Aggregate Id="Wpt1">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat1" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon1" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt2">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat2" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon2" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt3">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat3" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon3" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt4">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat4" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon4" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt5">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat5" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon5" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt6">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat6" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon6" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt7">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat7" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon7" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt8">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat8" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon8" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
            </Aggregate>
            <Aggregate Id="Leg7">
                <Sequence />
                <Break>
                    <IsNaN>
                        <Arg Name="Depth7" />
                    </IsNaN>
                </Break>
                <Syslog Severity="Important">
                    Transiting waypoints at depth 
                    <Arg Name="Depth7" />
                    <Units:meter />
                </Syslog>
                <Assign>
                    <Sequence />
                    <Arg Name="LegDepth" />
                    <Arg Name="Depth7" />
                </Assign>
                <Aggregate Id="Wpt1">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat1" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon1" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt2">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat2" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon2" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt3">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat3" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon3" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt4">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat4" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon4" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt5">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat5" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon5" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt6">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat6" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon6" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt7">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat7" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon7" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt8">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat8" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon8" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
            </Aggregate>
            <Aggregate Id="Leg8">
                <Sequence />
                <Break>
                    <IsNaN>
                        <Arg Name="Depth8" />
                    </IsNaN>
                </Break>
                <Syslog Severity="Important">
                    Transiting waypoints at depth 
                    <Arg Name="Depth8" />
                    <Units:meter />
                </Syslog>
                <Assign>
                    <Sequence />
                    <Arg Name="LegDepth" />
                    <Arg Name="Depth8" />
                </Assign>
                <Aggregate Id="Wpt1">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat1" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon1" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt2">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat2" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon2" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt3">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat3" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon3" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt4">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat4" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon4" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt5">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat5" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon5" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt6">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat6" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon6" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt7">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat7" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon7" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt8">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat8" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon8" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
            </Aggregate>
        </Aggregate>
        <Aggregate Id="DepthByLeg">
            <Sequence />
            <Break>
                <Not>
                    <Arg Name="DepthPerLeg" />
                </Not>
            </Break>
            <Aggregate Id="Leg1">
                <Sequence />
                <Assign>
                    <Sequence />
                    <Arg Name="LegDepth" />
                    <Arg Name="Depth1" />
                </Assign>
                <Guidance:Waypoint>
                    <Sequence />
                    <Setting>
                        <Guidance:Waypoint.latitude />
                        <Arg Name="Lat1" />
                    </Setting>
                    <Setting>
                        <Guidance:Waypoint.longitude />
                        <Arg Name="Lon1" />
                    </Setting>
                </Guidance:Waypoint>
            </Aggregate>
            <Aggregate Id="Leg2">
                <Sequence />
                <Break>
                    <IsNaN>
                        <Arg Name="Depth2" />
                    </IsNaN>
                </Break>
                <Syslog Severity="Info">
                    Transiting to next waypoint at depth 
                    <Arg Name="Depth2" />
                    <Units:meter />
                </Syslog>
                <Assign>
                    <Sequence />
                    <Arg Name="LegDepth" />
                    <Arg Name="Depth2" />
                </Assign>
                <Aggregate Id="Wpt2">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat2" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon2" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
            </Aggregate>
            <Aggregate Id="Leg3">
                <Sequence />
                <Break>
                    <IsNaN>
                        <Arg Name="Depth3" />
                    </IsNaN>
                </Break>
                <Syslog Severity="Info">
                    Transiting to next waypoint at depth 
                    <Arg Name="Depth3" />
                    <Units:meter />
                </Syslog>
                <Assign>
                    <Sequence />
                    <Arg Name="LegDepth" />
                    <Arg Name="Depth3" />
                </Assign>
                <Aggregate Id="Wpt3">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat3" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon3" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
            </Aggregate>
            <Aggregate Id="Leg4">
                <Sequence />
                <Break>
                    <IsNaN>
                        <Arg Name="Depth4" />
                    </IsNaN>
                </Break>
                <Syslog Severity="Info">
                    Transiting to next waypoint at depth 
                    <Arg Name="Depth4" />
                    <Units:meter />
                </Syslog>
                <Assign>
                    <Sequence />
                    <Arg Name="LegDepth" />
                    <Arg Name="Depth4" />
                </Assign>
                <Aggregate Id="Wpt4">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat4" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon4" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
            </Aggregate>
            <Aggregate Id="Leg5">
                <Sequence />
                <Break>
                    <IsNaN>
                        <Arg Name="Depth5" />
                    </IsNaN>
                </Break>
                <Syslog Severity="Info">
                    Transiting to next waypoint at depth 
                    <Arg Name="Depth5" />
                    <Units:meter />
                </Syslog>
                <Assign>
                    <Sequence />
                    <Arg Name="LegDepth" />
                    <Arg Name="Depth5" />
                </Assign>
                <Aggregate Id="Wpt5">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat5" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon5" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
            </Aggregate>
            <Aggregate Id="Leg6">
                <Sequence />
                <Break>
                    <IsNaN>
                        <Arg Name="Depth6" />
                    </IsNaN>
                </Break>
                <Syslog Severity="Info">
                    Transiting to next waypoint at depth 
                    <Arg Name="Depth6" />
                    <Units:meter />
                </Syslog>
                <Assign>
                    <Sequence />
                    <Arg Name="LegDepth" />
                    <Arg Name="Depth6" />
                </Assign>
                <Aggregate Id="Wpt6">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat6" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon6" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
            </Aggregate>
            <Aggregate Id="Leg7">
                <Sequence />
                <Break>
                    <IsNaN>
                        <Arg Name="Depth7" />
                    </IsNaN>
                </Break>
                <Syslog Severity="Info">
                    Transiting to next waypoint at depth 
                    <Arg Name="Depth7" />
                    <Units:meter />
                </Syslog>
                <Assign>
                    <Sequence />
                    <Arg Name="LegDepth" />
                    <Arg Name="Depth7" />
                </Assign>
                <Aggregate Id="Wpt7">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat7" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon7" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
            </Aggregate>
            <Aggregate Id="Leg8">
                <Sequence />
                <Break>
                    <IsNaN>
                        <Arg Name="Depth8" />
                    </IsNaN>
                </Break>
                <Syslog Severity="Info">
                    Transiting to next waypoint at depth 
                    <Arg Name="Depth8" />
                    <Units:meter />
                </Syslog>
                <Assign>
                    <Sequence />
                    <Arg Name="LegDepth" />
                    <Arg Name="Depth8" />
                </Assign>
                <Aggregate Id="Wpt8">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat8" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon8" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
            </Aggregate>
        </Aggregate>
    </Aggregate>
</Mission>

2025-03-12T21:54:25.591Z,1741816465.591 [MissionManager](INFO): DefineArg sci2_noyo_optim.MissionTimeout = 2.000000 h
2025-03-12T21:54:25.606Z,1741816465.606 [MissionManager](INFO): DefineArg sci2_noyo_optim.NeedCommsTime = 60.000000 min
2025-03-12T21:54:25.620Z,1741816465.620 [MissionManager](INFO): DefineArg sci2_noyo_optim.Depth1 = 35.000000 m
2025-03-12T21:54:25.623Z,1741816465.623 [MissionManager](INFO): DefineArg sci2_noyo_optim.Depth2 = nan m
2025-03-12T21:54:25.629Z,1741816465.629 [MissionManager](INFO): DefineArg sci2_noyo_optim.Depth3 = nan m
2025-03-12T21:54:25.636Z,1741816465.636 [MissionManager](INFO): DefineArg sci2_noyo_optim.Depth4 = nan m
2025-03-12T21:54:25.639Z,1741816465.639 [MissionManager](INFO): DefineArg sci2_noyo_optim.Depth5 = nan m
2025-03-12T21:54:25.669Z,1741816465.669 [MissionManager](INFO): DefineArg sci2_noyo_optim.Depth6 = nan m
2025-03-12T21:54:25.676Z,1741816465.676 [MissionManager](INFO): DefineArg sci2_noyo_optim.Depth7 = nan m
2025-03-12T21:54:25.678Z,1741816465.678 [MissionManager](INFO): DefineArg sci2_noyo_optim.Depth8 = nan m
2025-03-12T21:54:25.692Z,1741816465.692 [MissionManager](INFO): DefineArg sci2_noyo_optim.DepthPerLeg = 0 bool
2025-03-12T21:54:25.694Z,1741816465.694 [MissionManager](INFO): DefineArg sci2_noyo_optim.Repeat = 1.000000 count
2025-03-12T21:54:25.709Z,1741816465.709 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lat1 = nan arcdeg
2025-03-12T21:54:25.715Z,1741816465.715 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lat2 = nan arcdeg
2025-03-12T21:54:25.718Z,1741816465.718 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lat3 = nan arcdeg
2025-03-12T21:54:25.722Z,1741816465.722 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lat4 = nan arcdeg
2025-03-12T21:54:25.734Z,1741816465.734 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lat5 = nan arcdeg
2025-03-12T21:54:25.752Z,1741816465.752 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lat6 = nan arcdeg
2025-03-12T21:54:25.754Z,1741816465.754 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lat7 = nan arcdeg
2025-03-12T21:54:25.758Z,1741816465.758 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lat8 = nan arcdeg
2025-03-12T21:54:25.773Z,1741816465.773 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lon1 = nan arcdeg
2025-03-12T21:54:25.775Z,1741816465.775 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lon2 = nan arcdeg
2025-03-12T21:54:25.781Z,1741816465.781 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lon3 = nan arcdeg
2025-03-12T21:54:25.792Z,1741816465.792 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lon4 = nan arcdeg
2025-03-12T21:54:25.794Z,1741816465.794 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lon5 = nan arcdeg
2025-03-12T21:54:25.797Z,1741816465.797 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lon6 = nan arcdeg
2025-03-12T21:54:25.811Z,1741816465.811 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lon7 = nan arcdeg
2025-03-12T21:54:25.814Z,1741816465.814 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lon8 = nan arcdeg
2025-03-12T21:54:25.831Z,1741816465.831 [MissionManager](INFO): DefineArg sci2_noyo_optim.FastSpeed = 1.000000 m/s
2025-03-12T21:54:25.834Z,1741816465.834 [MissionManager](INFO): DefineArg sci2_noyo_optim.ApproachDepth = 30.000000 m
2025-03-12T21:54:25.840Z,1741816465.840 [MissionManager](INFO): DefineArg sci2_noyo_optim.ApproachSpeed = 0.700000 m/s
2025-03-12T21:54:25.843Z,1741816465.843 [MissionManager](INFO): DefineArg sci2_noyo_optim.ApproachDepthRate = 0.050000 m/s
2025-03-12T21:54:25.846Z,1741816465.846 [MissionManager](INFO): DefineArg sci2_noyo_optim.ApproachPitchLimit = 20.000000 arcdeg
2025-03-12T21:54:25.861Z,1741816465.861 [MissionManager](INFO): DefineArg sci2_noyo_optim.ApproachDepthTimeout = 15.000000 min
2025-03-12T21:54:25.868Z,1741816465.868 [MissionManager](INFO): DefineArg sci2_noyo_optim.ApproachSettleTimePreDive = 1.000000 min
2025-03-12T21:54:25.870Z,1741816465.870 [MissionManager](INFO): DefineArg sci2_noyo_optim.ApproachSettleTimePostDive = 3.000000 min
2025-03-12T21:54:25.892Z,1741816465.892 [MissionManager](INFO): DefineArg sci2_noyo_optim.kpDepth = 0.070000 rad/m
2025-03-12T21:54:25.895Z,1741816465.895 [MissionManager](INFO): DefineArg sci2_noyo_optim.SlowSpeed = 0.250000 m/s
2025-03-12T21:54:25.901Z,1741816465.901 [MissionManager](INFO): DefineArg sci2_noyo_optim.DepthDeviationSlow = 3.000000 m
2025-03-12T21:54:25.908Z,1741816465.908 [MissionManager](INFO): DefineArg sci2_noyo_optim.BuoyancyNeutral = 373.087250 cc
2025-03-12T21:54:25.915Z,1741816465.915 [MissionManager](INFO): DefineArg sci2_noyo_optim.MassDefault = 0.684636 cm
2025-03-12T21:54:25.918Z,1741816465.918 [MissionManager](INFO): DefineArg sci2_noyo_optim.MinAltitude = 2.000000 m
2025-03-12T21:54:25.920Z,1741816465.920 [MissionManager](INFO): DefineArg sci2_noyo_optim.MaxDepth = 50.000000 m
2025-03-12T21:54:25.923Z,1741816465.923 [MissionManager](INFO): DefineArg sci2_noyo_optim.MinOffshore = 2.000000 km
2025-03-12T21:54:25.938Z,1741816465.938 [MissionManager](INFO): DefineOutput sci2_noyo_optim.DiveMode = 0.000000 count
2025-03-12T21:54:25.941Z,1741816465.941 [MissionManager](INFO): DefineOutput sci2_noyo_optim.DoingComms = 0.000000 count
2025-03-12T21:54:25.983Z,1741816465.983 [MissionManager](INFO): DefineOutput sci2_noyo_optim.InitialDive = 1.000000 count
2025-03-12T21:54:25.986Z,1741816465.986 [MissionManager](INFO): DefineOutput sci2_noyo_optim.SettleAtDepth = 2.000000 count
2025-03-12T21:54:25.996Z,1741816465.996 [MissionManager](INFO): DefineOutput sci2_noyo_optim.MaintainDepth = 3.000000 count
2025-03-12T21:54:25.999Z,1741816465.999 [MissionManager](INFO): DefineOutput sci2_noyo_optim.LegDepth = 35.000000 m
2025-03-12T21:54:26.008Z,1741816466.008 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/Science.tl
2025-03-12T21:54:26.008Z,1741816466.008 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/Science.tl
2025-03-12T21:54:26.028Z,1741816466.028 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/Science.tl
2025-03-12T21:54:29.028Z,1741816469.028 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/Science.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="Science">
    <DefineArg Name="PeakDetectChlActive">
        <False />
    </DefineArg>
    <DefineArg Name="EdgeDetectChlActive">
        <False />
    </DefineArg>
    <DefineArg Name="TimeWindowPeakReport">
        <Units:minute />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="HighestChlPeakReportActive">
        <False />
    </DefineArg>
    <DefineArg Name="HighestSaltPeakReportActive">
        <False />
    </DefineArg>
    <DefineArg Name="HighestOilPeakReportActive">
        <False />
    </DefineArg>
    <DefineArg Name="PatchTracking">
        <False />
    </DefineArg>
    <DefineArg Name="FilterWidthHorizontal">
        <Units:count />
        <Value>3</Value>
    </DefineArg>
    <DefineArg Name="NumProfilesSlidingwindow">
        <Units:count />
        <Value>100</Value>
    </DefineArg>
    <DefineArg Name="OffPeakFractionHorizontal">
        <Units:percent />
        <Value>80</Value>
    </DefineArg>
    <DefineArg Name="PeakDetectNO3Active">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectOilActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectFDOMActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectSalinityActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreLMavgROIActive">
        <False />
    </DefineArg>
    <DefineArg Name="EdgeDetectPlanktivoreLMavgROIActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreHMavgROIActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreDiatomsActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreDinoflagellatesActive">
        <False />
    </DefineArg>
    <DefineArg Name="UpwardDerivativeOfTemperatureActive">
        <False />
    </DefineArg>
    <DefineArg Name="EnabledAanderaaO2">
        <Science:Aanderaa_O2.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledNeilBrown">
        <Science:CTD_NeilBrown.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledSeabird">
        <Science:CTD_Seabird.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledWetLabsBB2FL">
        <Science:WetLabsBB2FL.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledWetLabsSeaOWL_UV_A">
        <Science:WetLabsSeaOWL_UV_A.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledWetLabsUBAT">
        <Science:WetLabsUBAT.loadAtStartup />
    </DefineArg>
    <DefineArg Name="LowPassWindowLength">
        <Units:count />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="MedianFilterLen">
        <Units:count />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="ShallowBound">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="DeepBound">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="DepChangeThreshForAttitudeFlip">
        <Units:meter />
        <Value>2.0</Value>
    </DefineArg>
    <DefineArg Name="OffPeakFractionVertical">
        <Units:percent />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="ChlPeakThresh">
        <Units:microgram_per_liter />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="ChlThreshTriggerActive">
        <False />
    </DefineArg>
    <DefineArg Name="ChlLowerThresh">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="ChlUpperThresh">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="NumProfilesThresh">
        <Units:count />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="PlanktivoreLMavgROIPeakThresh">
        <Units:count_per_second />
        <Value>0</Value>
    </DefineArg>
    <DefineOutput Name="GoDown">
        <True />
    </DefineOutput>
    <DefineOutput Name="PeakChl">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChl">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChlDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChlTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChlLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChlLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3">
        <Units:micromole_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3Depth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3Latitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3Longitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOil">
        <Units:kilogram_per_cubic_meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOilDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOilLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOilLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOM">
        <Units:part_per_billion />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSalt">
        <Units:practical_salinity_unit />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROI">
        <Units:count_per_second />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROIDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROITemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROILatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROILongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROI">
        <Units:count_per_second />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROIDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROITemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROILatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROILongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROI">
        <Units:count_per_second />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROIDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROITemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROILatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROILongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatoms">
        <Units:count_per_milliliter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellates">
        <Units:count_per_milliliter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChl">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlDistance">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSalt">
        <Units:practical_salinity_unit />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltDistance">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOil">
        <Units:practical_salinity_unit />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilDistance">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="TriggeredOnChl">
        <False />
    </DefineOutput>
    <DefineOutput Name="ChlTriggering">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <Parallel />
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledAanderaaO2" />
        </While>
        <Universal:mass_concentration_of_oxygen_in_sea_water />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledNeilBrown" />
            <Or>
                <Arg Name="EnabledSeabird" />
            </Or>
        </While>
        <Universal:sea_water_temperature />
        <Universal:sea_water_salinity />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledSeabird" />
        </While>
        <Science:CTD_Seabird.sea_water_temperature />
        <Science:CTD_Seabird.sea_water_salinity />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledNeilBrown" />
            <Or>
                <Arg Name="EnabledSeabird" />
            </Or>
            <And>
                <Arg Name="UpwardDerivativeOfTemperatureActive" />
            </And>
        </While>
        <Universal:upward_derivative_of_sea_water_temperature />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledWetLabsBB2FL" />
            <Or>
                <Arg Name="PeakDetectChlActive" />
            </Or>
        </While>
        <Universal:mass_concentration_of_chlorophyll_in_sea_water />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledWetLabsUBAT" />
        </While>
        <Science:WetLabsUBAT.average_bioluminescence />
    </ReadData>
    <ReadData Id="Read_Oil" Strategy="MinError">
        <While>
            <Arg Name="EnabledWetLabsSeaOWL_UV_A" />
            <Or>
                <Arg Name="PeakDetectOilActive" />
            </Or>
        </While>
        <Universal:mass_concentration_of_petroleum_hydrocarbons_in_sea_water />
    </ReadData>
    <Aggregate Id="OceanCurrent">
        <Sequence />
        <Estimation:CurrentEstimator>
            <Parallel />
        </Estimation:CurrentEstimator>
    </Aggregate>
    <Aggregate Id="PeakDetectChl">
        <While>
            <Arg Name="PeakDetectChlActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:mass_concentration_of_chlorophyll_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakChl">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakChlDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakChlTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakChlLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakChlLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakChl" />
            <Arg Name="PeakChlDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="EdgeDetectChl">
        <While>
            <Arg Name="EdgeDetectChlActive" />
        </While>
        <Syslog Severity="Debug">EdgeDetectVsDepth</Syslog>
        <Trigger:EdgeDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:EdgeDetectVsDepth.detect />
                <Universal:mass_concentration_of_chlorophyll_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFraction />
                <Arg Name="OffPeakFractionVertical" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.peakThresh />
                <Arg Name="ChlPeakThresh" />
            </Setting>
            <OutputArg Name="GoDown">
                <Trigger:EdgeDetectVsDepth.goDown />
            </OutputArg>
            <OutputArg Name="PeakChl">
                <Trigger:EdgeDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakChlDepth">
                <Trigger:EdgeDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakChlTemperature">
                <Trigger:EdgeDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakChlLatitude">
                <Trigger:EdgeDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakChlLongitude">
                <Trigger:EdgeDetectVsDepth.peakLongitude />
            </OutputArg>
            <OutputArg Name="EdgeChl">
                <Trigger:EdgeDetectVsDepth.edgeDetect />
            </OutputArg>
            <OutputArg Name="EdgeChlDepth">
                <Trigger:EdgeDetectVsDepth.edgeDepth />
            </OutputArg>
            <OutputArg Name="EdgeChlTemperature">
                <Trigger:EdgeDetectVsDepth.edgeTemperature />
            </OutputArg>
            <OutputArg Name="EdgeChlLatitude">
                <Trigger:EdgeDetectVsDepth.edgeLatitude />
            </OutputArg>
            <OutputArg Name="EdgeChlLongitude">
                <Trigger:EdgeDetectVsDepth.edgeLongitude />
            </OutputArg>
        </Trigger:EdgeDetectVsDepth>
        <Syslog Severity="Info">
            GoDown, ChlPeakThresh, PeakChl, PeakChlDepth, EdgeChl, EdgeChlDepth = 
            <Arg Name="GoDown" />
            <Units:bool />
            , 
            <Arg Name="ChlPeakThresh" />
            <Units:microgram_per_liter />
            , 
            <Arg Name="PeakChl" />
            <Units:microgram_per_liter />
            , 
            <Arg Name="PeakChlDepth" />
            <Units:meter />
            , 
            <Arg Name="EdgeChl" />
            <Units:microgram_per_liter />
            , 
            <Arg Name="EdgeChlDepth" />
            <Units:meter />
        </Syslog>
        <SendData Service="Express">
            <Arg Name="PeakChl" />
            <Arg Name="PeakChlDepth" />
            <Arg Name="EdgeChl" />
            <Arg Name="EdgeChlDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="HighestChlPeakReport">
        <While>
            <Arg Name="HighestChlPeakReportActive" />
        </While>
        <Trigger:PeakDetectHorizontal>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectHorizontal.detectFrom />
                <Arg Name="PeakChl" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.depthFrom />
                <Arg Name="PeakChlDepth" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.latitudeFrom />
                <Arg Name="PeakChlLatitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.longitudeFrom />
                <Arg Name="PeakChlLongitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.patchTracking />
                <Arg Name="PatchTracking" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.filterWidth />
                <Arg Name="FilterWidthHorizontal" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.numProfilesSlidingwindow />
                <Arg Name="NumProfilesSlidingwindow" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.offPeakFraction />
                <Arg Name="OffPeakFractionHorizontal" />
            </Setting>
            <OutputArg Name="PatchChl">
                <Trigger:PeakDetectHorizontal.peakDetect />
            </OutputArg>
            <OutputArg Name="PatchChlDepth">
                <Trigger:PeakDetectHorizontal.peakDepth />
            </OutputArg>
            <OutputArg Name="PatchChlLatitude">
                <Trigger:PeakDetectHorizontal.peakLatitude />
            </OutputArg>
            <OutputArg Name="PatchChlLongitude">
                <Trigger:PeakDetectHorizontal.peakLongitude />
            </OutputArg>
            <OutputArg Name="PatchChlDistance">
                <Trigger:PeakDetectHorizontal.peakDistance />
            </OutputArg>
        </Trigger:PeakDetectHorizontal>
    </Aggregate>
    <Aggregate Id="PeakDetectNO3">
        <While>
            <Arg Name="PeakDetectNO3Active" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:mole_concentration_of_nitrate_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <OutputArg Name="PeakNO3">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakNO3Depth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakNO3Latitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakNO3Longitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakNO3" />
            <Arg Name="PeakNO3Depth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectOil">
        <While>
            <Arg Name="PeakDetectOilActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:mass_concentration_of_petroleum_hydrocarbons_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <OutputArg Name="PeakOil">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakOilDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakOilLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakOilLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakOil" />
            <Arg Name="PeakOilDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="HighestOilPeakReport">
        <While>
            <Arg Name="HighestOilPeakReportActive" />
        </While>
        <Trigger:PeakDetectHorizontal>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectHorizontal.detectFrom />
                <Arg Name="PeakOil" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.depthFrom />
                <Arg Name="PeakOilDepth" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.latitudeFrom />
                <Arg Name="PeakOilLatitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.longitudeFrom />
                <Arg Name="PeakOilLongitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.patchTracking />
                <Arg Name="PatchTracking" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.filterWidth />
                <Arg Name="FilterWidthHorizontal" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.numProfilesSlidingwindow />
                <Arg Name="NumProfilesSlidingwindow" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.offPeakFraction />
                <Arg Name="OffPeakFractionHorizontal" />
            </Setting>
            <OutputArg Name="PatchOil">
                <Trigger:PeakDetectHorizontal.peakDetect />
            </OutputArg>
            <OutputArg Name="PatchOilDepth">
                <Trigger:PeakDetectHorizontal.peakDepth />
            </OutputArg>
            <OutputArg Name="PatchOilLatitude">
                <Trigger:PeakDetectHorizontal.peakLatitude />
            </OutputArg>
            <OutputArg Name="PatchOilLongitude">
                <Trigger:PeakDetectHorizontal.peakLongitude />
            </OutputArg>
            <OutputArg Name="PatchOilDistance">
                <Trigger:PeakDetectHorizontal.peakDistance />
            </OutputArg>
        </Trigger:PeakDetectHorizontal>
    </Aggregate>
    <Aggregate Id="PeakDetectFDOM">
        <While>
            <Arg Name="PeakDetectFDOMActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:concentration_of_colored_dissolved_organic_matter_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <OutputArg Name="PeakFDOM">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakFDOMDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakFDOMTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakFDOMLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakFDOMLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakFDOM" />
            <Arg Name="PeakFDOMDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectSalinity">
        <While>
            <Arg Name="PeakDetectSalinityActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:sea_water_salinity />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakSalt">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakSaltDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakSaltTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakSaltLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakSaltLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakSalt" />
            <Arg Name="PeakSaltDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="HighestSaltPeakReport">
        <While>
            <Arg Name="HighestSaltPeakReportActive" />
        </While>
        <Trigger:PeakDetectHorizontal>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectHorizontal.detectFrom />
                <Arg Name="PeakSalt" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.depthFrom />
                <Arg Name="PeakSaltDepth" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.latitudeFrom />
                <Arg Name="PeakSaltLatitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.longitudeFrom />
                <Arg Name="PeakSaltLongitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.patchTracking />
                <Arg Name="PatchTracking" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.filterWidth />
                <Arg Name="FilterWidthHorizontal" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.numProfilesSlidingwindow />
                <Arg Name="NumProfilesSlidingwindow" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.offPeakFraction />
                <Arg Name="OffPeakFractionHorizontal" />
            </Setting>
            <OutputArg Name="PatchSalt">
                <Trigger:PeakDetectHorizontal.peakDetect />
            </OutputArg>
            <OutputArg Name="PatchSaltDepth">
                <Trigger:PeakDetectHorizontal.peakDepth />
            </OutputArg>
            <OutputArg Name="PatchSaltLatitude">
                <Trigger:PeakDetectHorizontal.peakLatitude />
            </OutputArg>
            <OutputArg Name="PatchSaltLongitude">
                <Trigger:PeakDetectHorizontal.peakLongitude />
            </OutputArg>
            <OutputArg Name="PatchSaltDistance">
                <Trigger:PeakDetectHorizontal.peakDistance />
            </OutputArg>
        </Trigger:PeakDetectHorizontal>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreLMavgROI">
        <While>
            <Arg Name="PeakDetectPlanktivoreLMavgROIActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_LM_AvgRois</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreLMavgROI">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROIDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROITemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROILatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROILongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreLMavgROI" />
            <Arg Name="PeakPlanktivoreLMavgROIDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="EdgeDetectPlanktivoreLMavgROI">
        <While>
            <Arg Name="EdgeDetectPlanktivoreLMavgROIActive" />
        </While>
        <Syslog Severity="Debug">EdgeDetectVsDepth</Syslog>
        <Trigger:EdgeDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:EdgeDetectVsDepth.detect />
                <String>_.planktivore_LM_AvgRois</String>
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFraction />
                <Arg Name="OffPeakFractionVertical" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.peakThresh />
                <Arg Name="PlanktivoreLMavgROIPeakThresh" />
            </Setting>
            <OutputArg Name="GoDown">
                <Trigger:EdgeDetectVsDepth.goDown />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROI">
                <Trigger:EdgeDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROIDepth">
                <Trigger:EdgeDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROITemperature">
                <Trigger:EdgeDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROILatitude">
                <Trigger:EdgeDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROILongitude">
                <Trigger:EdgeDetectVsDepth.peakLongitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROI">
                <Trigger:EdgeDetectVsDepth.edgeDetect />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROIDepth">
                <Trigger:EdgeDetectVsDepth.edgeDepth />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROITemperature">
                <Trigger:EdgeDetectVsDepth.edgeTemperature />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROILatitude">
                <Trigger:EdgeDetectVsDepth.edgeLatitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROILongitude">
                <Trigger:EdgeDetectVsDepth.edgeLongitude />
            </OutputArg>
        </Trigger:EdgeDetectVsDepth>
        <Syslog Severity="Important">
            GoDown, PlanktivoreLMavgROIPeakThresh, PeakPlanktivoreLMavgROI, PeakPlanktivoreLMavgROIDepth, EdgePlanktivoreLMavgROI, EdgePlanktivoreLMavgROIDepth = 
            <Arg Name="GoDown" />
            <Units:bool />
            , 
            <Arg Name="PlanktivoreLMavgROIPeakThresh" />
            <Units:microgram_per_liter />
            , 
            <Arg Name="PeakPlanktivoreLMavgROI" />
            <Units:microgram_per_liter />
            , 
            <Arg Name="PeakPlanktivoreLMavgROIDepth" />
            <Units:meter />
            , 
            <Arg Name="EdgePlanktivoreLMavgROI" />
            <Units:microgram_per_liter />
            , 
            <Arg Name="EdgePlanktivoreLMavgROIDepth" />
            <Units:meter />
        </Syslog>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreLMavgROI" />
            <Arg Name="PeakPlanktivoreLMavgROIDepth" />
            <Arg Name="EdgePlanktivoreLMavgROI" />
            <Arg Name="EdgePlanktivoreLMavgROIDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreHMavgROI">
        <While>
            <Arg Name="PeakDetectPlanktivoreHMavgROIActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_HM_AvgRois</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreHMavgROI">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROIDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROITemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROILatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROILongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreHMavgROI" />
            <Arg Name="PeakPlanktivoreHMavgROIDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreDiatoms">
        <While>
            <Arg Name="PeakDetectPlanktivoreDiatomsActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_diatoms</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreDiatoms">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreDiatoms" />
            <Arg Name="PeakPlanktivoreDiatomsDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreDinoflagellates">
        <While>
            <Arg Name="PeakDetectPlanktivoreDinoflagellatesActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_dinoflagellates</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreDinoflagellates">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreDinoflagellates" />
            <Arg Name="PeakPlanktivoreDinoflagellatesDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="ChlThreshTrigger">
        <While>
            <Arg Name="ChlThreshTriggerActive" />
        </While>
        <Trigger:ValueDetect>
            <Sequence />
            <Setting>
                <Trigger:ValueDetect.detect />
                <Arg Name="PeakChl" />
            </Setting>
            <Setting>
                <Trigger:ValueDetect.lowerThreshold />
                <Arg Name="ChlLowerThresh" />
            </Setting>
            <Setting>
                <Trigger:ValueDetect.upperThreshold />
                <Arg Name="ChlUpperThresh" />
            </Setting>
            <Setting>
                <Trigger:ValueDetect.numProfilesThreshold />
                <Arg Name="NumProfilesThresh" />
            </Setting>
            <OutputArg Name="ChlTriggering">
                <Trigger:ValueDetect.outputValue />
            </OutputArg>
        </Trigger:ValueDetect>
        <Assign>
            <Sequence />
            <Arg Name="TriggeredOnChl" />
            <True />
        </Assign>
        <Syslog Severity="Important">
            Triggered. PeakChl values on 
            <Arg Name="NumProfilesThresh" />
            <Units:count />
             consecutive yo-yo profiles fall in [
            <Arg Name="ChlLowerThresh" />
            <Units:microgram_per_liter />
            <Arg Name="ChlUpperThresh" />
            <Units:microgram_per_liter />
            ] (NaN bound is ignored).
        </Syslog>
    </Aggregate>
</Aggregate>

2025-03-12T21:54:29.050Z,1741816469.050 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.PeakDetectChlActive = 0 bool
2025-03-12T21:54:29.052Z,1741816469.052 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.EdgeDetectChlActive = 0 bool
2025-03-12T21:54:29.054Z,1741816469.054 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.TimeWindowPeakReport = nan min
2025-03-12T21:54:29.056Z,1741816469.056 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.HighestChlPeakReportActive = 0 bool
2025-03-12T21:54:29.058Z,1741816469.058 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.HighestSaltPeakReportActive = 0 bool
2025-03-12T21:54:29.060Z,1741816469.060 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.HighestOilPeakReportActive = 0 bool
2025-03-12T21:54:29.062Z,1741816469.062 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.PatchTracking = 0 bool
2025-03-12T21:54:29.065Z,1741816469.065 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.FilterWidthHorizontal = 3.000000 count
2025-03-12T21:54:29.067Z,1741816469.067 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.NumProfilesSlidingwindow = 100.000000 count
2025-03-12T21:54:29.070Z,1741816469.070 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.OffPeakFractionHorizontal = 80.000000 %
2025-03-12T21:54:29.100Z,1741816469.100 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.PeakDetectNO3Active = 0 bool
2025-03-12T21:54:29.102Z,1741816469.102 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.PeakDetectOilActive = 0 bool
2025-03-12T21:54:29.106Z,1741816469.106 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.PeakDetectFDOMActive = 0 bool
2025-03-12T21:54:29.121Z,1741816469.121 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.PeakDetectSalinityActive = 0 bool
2025-03-12T21:54:29.123Z,1741816469.123 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.PeakDetectPlanktivoreLMavgROIActive = 0 bool
2025-03-12T21:54:29.129Z,1741816469.129 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.EdgeDetectPlanktivoreLMavgROIActive = 0 bool
2025-03-12T21:54:29.131Z,1741816469.131 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.PeakDetectPlanktivoreHMavgROIActive = 0 bool
2025-03-12T21:54:29.133Z,1741816469.133 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.PeakDetectPlanktivoreDiatomsActive = 0 bool
2025-03-12T21:54:29.141Z,1741816469.141 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.PeakDetectPlanktivoreDinoflagellatesActive = 0 bool
2025-03-12T21:54:29.155Z,1741816469.155 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2025-03-12T21:54:29.158Z,1741816469.158 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.EnabledAanderaaO2 = 0 bool
2025-03-12T21:54:29.161Z,1741816469.161 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.EnabledNeilBrown = 0 bool
2025-03-12T21:54:29.178Z,1741816469.178 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.EnabledSeabird = 1 bool
2025-03-12T21:54:29.213Z,1741816469.213 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.EnabledWetLabsBB2FL = 1 bool
2025-03-12T21:54:29.224Z,1741816469.224 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.EnabledWetLabsSeaOWL_UV_A = 0 bool
2025-03-12T21:54:29.241Z,1741816469.241 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.EnabledWetLabsUBAT = 0 bool
2025-03-12T21:54:29.247Z,1741816469.247 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.LowPassWindowLength = 20.000000 count
2025-03-12T21:54:29.250Z,1741816469.250 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.MedianFilterLen = 5.000000 count
2025-03-12T21:54:29.276Z,1741816469.276 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.ShallowBound = nan m
2025-03-12T21:54:29.278Z,1741816469.278 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.DeepBound = nan m
2025-03-12T21:54:29.292Z,1741816469.292 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.DepChangeThreshForAttitudeFlip = 2.000000 m
2025-03-12T21:54:29.294Z,1741816469.294 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.OffPeakFractionVertical = nan %
2025-03-12T21:54:29.301Z,1741816469.301 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.ChlPeakThresh = 0.000000 ug/l
2025-03-12T21:54:29.303Z,1741816469.303 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.ChlThreshTriggerActive = 0 bool
2025-03-12T21:54:29.306Z,1741816469.306 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.ChlLowerThresh = nan ug/l
2025-03-12T21:54:29.316Z,1741816469.316 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.ChlUpperThresh = nan ug/l
2025-03-12T21:54:29.318Z,1741816469.318 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.NumProfilesThresh = 5.000000 count
2025-03-12T21:54:29.325Z,1741816469.325 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.PlanktivoreLMavgROIPeakThresh = 0.000000 count/s
2025-03-12T21:54:29.331Z,1741816469.331 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.GoDown = 1 bool
2025-03-12T21:54:29.334Z,1741816469.334 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakChl = nan ug/l
2025-03-12T21:54:29.340Z,1741816469.340 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakChlDepth = nan m
2025-03-12T21:54:29.343Z,1741816469.343 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakChlTemperature = nan degC
2025-03-12T21:54:29.346Z,1741816469.346 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakChlLatitude = nan arcdeg
2025-03-12T21:54:29.357Z,1741816469.357 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakChlLongitude = nan arcdeg
2025-03-12T21:54:29.364Z,1741816469.364 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.EdgeChl = nan ug/l
2025-03-12T21:54:29.366Z,1741816469.366 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.EdgeChlDepth = nan m
2025-03-12T21:54:29.373Z,1741816469.373 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.EdgeChlTemperature = nan degC
2025-03-12T21:54:29.375Z,1741816469.375 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.EdgeChlLatitude = nan arcdeg
2025-03-12T21:54:29.381Z,1741816469.381 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.EdgeChlLongitude = nan arcdeg
2025-03-12T21:54:29.388Z,1741816469.388 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakNO3 = nan umol/l
2025-03-12T21:54:29.390Z,1741816469.390 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakNO3Depth = nan m
2025-03-12T21:54:29.397Z,1741816469.397 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakNO3Latitude = nan arcdeg
2025-03-12T21:54:29.404Z,1741816469.404 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakNO3Longitude = nan arcdeg
2025-03-12T21:54:29.409Z,1741816469.409 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakOil = nan kg/m3
2025-03-12T21:54:29.411Z,1741816469.411 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakOilDepth = nan m
2025-03-12T21:54:29.414Z,1741816469.414 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakOilLatitude = nan arcdeg
2025-03-12T21:54:29.421Z,1741816469.421 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakOilLongitude = nan arcdeg
2025-03-12T21:54:29.432Z,1741816469.432 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakFDOM = nan ppb
2025-03-12T21:54:29.434Z,1741816469.434 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakFDOMDepth = nan m
2025-03-12T21:54:29.443Z,1741816469.443 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakFDOMTemperature = nan degC
2025-03-12T21:54:29.453Z,1741816469.453 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakFDOMLatitude = nan arcdeg
2025-03-12T21:54:29.460Z,1741816469.460 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakFDOMLongitude = nan arcdeg
2025-03-12T21:54:29.462Z,1741816469.462 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakSalt = nan psu
2025-03-12T21:54:29.469Z,1741816469.469 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakSaltDepth = nan m
2025-03-12T21:54:29.476Z,1741816469.476 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakSaltTemperature = nan degC
2025-03-12T21:54:29.478Z,1741816469.478 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakSaltLatitude = nan arcdeg
2025-03-12T21:54:29.485Z,1741816469.485 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakSaltLongitude = nan arcdeg
2025-03-12T21:54:29.491Z,1741816469.491 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreLMavgROI = nan count/s
2025-03-12T21:54:29.494Z,1741816469.494 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreLMavgROIDepth = nan m
2025-03-12T21:54:29.501Z,1741816469.501 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreLMavgROITemperature = nan degC
2025-03-12T21:54:29.508Z,1741816469.508 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreLMavgROILatitude = nan arcdeg
2025-03-12T21:54:29.510Z,1741816469.510 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreLMavgROILongitude = nan arcdeg
2025-03-12T21:54:29.517Z,1741816469.517 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.EdgePlanktivoreLMavgROI = nan count/s
2025-03-12T21:54:29.524Z,1741816469.524 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.EdgePlanktivoreLMavgROIDepth = nan m
2025-03-12T21:54:29.526Z,1741816469.526 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.EdgePlanktivoreLMavgROITemperature = nan degC
2025-03-12T21:54:29.538Z,1741816469.538 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.EdgePlanktivoreLMavgROILatitude = nan arcdeg
2025-03-12T21:54:29.544Z,1741816469.544 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.EdgePlanktivoreLMavgROILongitude = nan arcdeg
2025-03-12T21:54:29.547Z,1741816469.547 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreHMavgROI = nan count/s
2025-03-12T21:54:29.554Z,1741816469.554 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreHMavgROIDepth = nan m
2025-03-12T21:54:29.557Z,1741816469.557 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreHMavgROITemperature = nan degC
2025-03-12T21:54:29.577Z,1741816469.577 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreHMavgROILatitude = nan arcdeg
2025-03-12T21:54:29.580Z,1741816469.580 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreHMavgROILongitude = nan arcdeg
2025-03-12T21:54:29.582Z,1741816469.582 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreDiatoms = nan count/ml
2025-03-12T21:54:29.620Z,1741816469.620 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreDiatomsDepth = nan m
2025-03-12T21:54:29.623Z,1741816469.623 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreDiatomsTemperature = nan degC
2025-03-12T21:54:29.625Z,1741816469.625 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreDiatomsLatitude = nan arcdeg
2025-03-12T21:54:29.654Z,1741816469.654 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreDiatomsLongitude = nan arcdeg
2025-03-12T21:54:29.656Z,1741816469.656 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreDinoflagellates = nan count/ml
2025-03-12T21:54:29.659Z,1741816469.659 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreDinoflagellatesDepth = nan m
2025-03-12T21:54:29.661Z,1741816469.661 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreDinoflagellatesTemperature = nan degC
2025-03-12T21:54:29.680Z,1741816469.680 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreDinoflagellatesLatitude = nan arcdeg
2025-03-12T21:54:29.682Z,1741816469.682 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreDinoflagellatesLongitude = nan arcdeg
2025-03-12T21:54:29.689Z,1741816469.689 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchChl = nan ug/l
2025-03-12T21:54:29.695Z,1741816469.695 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchChlDepth = nan m
2025-03-12T21:54:29.698Z,1741816469.698 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchChlLatitude = nan arcdeg
2025-03-12T21:54:29.709Z,1741816469.709 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchChlLongitude = nan arcdeg
2025-03-12T21:54:29.715Z,1741816469.715 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchChlDistance = nan m
2025-03-12T21:54:29.718Z,1741816469.718 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchSalt = nan psu
2025-03-12T21:54:29.732Z,1741816469.732 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchSaltDepth = nan m
2025-03-12T21:54:29.735Z,1741816469.735 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchSaltLatitude = nan arcdeg
2025-03-12T21:54:29.741Z,1741816469.741 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchSaltLongitude = nan arcdeg
2025-03-12T21:54:29.752Z,1741816469.752 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchSaltDistance = nan m
2025-03-12T21:54:29.754Z,1741816469.754 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchOil = nan psu
2025-03-12T21:54:29.773Z,1741816469.773 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchOilDepth = nan m
2025-03-12T21:54:29.779Z,1741816469.779 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchOilLatitude = nan arcdeg
2025-03-12T21:54:29.789Z,1741816469.789 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchOilLongitude = nan arcdeg
2025-03-12T21:54:29.794Z,1741816469.794 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchOilDistance = nan m
2025-03-12T21:54:29.809Z,1741816469.809 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.TriggeredOnChl = 0 bool
2025-03-12T21:54:29.816Z,1741816469.816 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.ChlTriggering = nan ug/l
2025-03-12T21:54:29.854Z,1741816469.854 [sci2_noyo_optim:Science:PeakDetectChl:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-03-12T21:54:29.880Z,1741816469.880 [sci2_noyo_optim:Science:EdgeDetectChl:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-03-12T21:54:29.927Z,1741816469.927 [sci2_noyo_optim:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-03-12T21:54:29.965Z,1741816469.965 [sci2_noyo_optim:Science:PeakDetectNO3:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-03-12T21:54:30.021Z,1741816470.021 [sci2_noyo_optim:Science:PeakDetectOil:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-03-12T21:54:30.061Z,1741816470.061 [sci2_noyo_optim:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-03-12T21:54:30.096Z,1741816470.096 [sci2_noyo_optim:Science:PeakDetectFDOM:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-03-12T21:54:30.114Z,1741816470.114 [sci2_noyo_optim:Science:PeakDetectSalinity:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-03-12T21:54:30.150Z,1741816470.150 [sci2_noyo_optim:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-03-12T21:54:30.193Z,1741816470.193 [sci2_noyo_optim:Science:PeakDetectPlanktivoreLMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-03-12T21:54:30.210Z,1741816470.210 [sci2_noyo_optim:Science:EdgeDetectPlanktivoreLMavgROI:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-03-12T21:54:30.270Z,1741816470.270 [sci2_noyo_optim:Science:PeakDetectPlanktivoreHMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-03-12T21:54:30.314Z,1741816470.314 [sci2_noyo_optim:Science:PeakDetectPlanktivoreDiatoms:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-03-12T21:54:30.336Z,1741816470.336 [sci2_noyo_optim:Science:PeakDetectPlanktivoreDinoflagellates:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-03-12T21:54:30.364Z,1741816470.364 [sci2_noyo_optim:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Construct ValueDetect.
2025-03-12T21:54:30.382Z,1741816470.382 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-03-12T21:54:30.382Z,1741816470.382 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-03-12T21:54:30.384Z,1741816470.384 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-03-12T21:54:30.558Z,1741816470.558 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/StandardEnvelopes.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="StandardEnvelopes">
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="MaxDepthIgnore">
        <Units:meter />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>200</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:meter />
        <Value>2000</Value>
    </DefineArg>
    <Parallel />
    <Guidance:AltitudeEnvelope>
        <Parallel />
        <Setting>
            <Guidance:AltitudeEnvelope.minAltitude />
            <Arg Name="MinAltitude" />
        </Setting>
        <Setting>
            <Guidance:AltitudeEnvelope.maxDepthIgnore />
            <Arg Name="MaxDepthIgnore" />
        </Setting>
    </Guidance:AltitudeEnvelope>
    <Guidance:DepthEnvelope>
        <Parallel />
        <Setting>
            <Guidance:DepthEnvelope.maxDepth />
            <Arg Name="MaxDepth" />
        </Setting>
    </Guidance:DepthEnvelope>
    <Guidance:OffshoreEnvelope>
        <Parallel />
        <Setting>
            <Guidance:OffshoreEnvelope.minOffshore />
            <Arg Name="MinOffshore" />
        </Setting>
    </Guidance:OffshoreEnvelope>
</Aggregate>

2025-03-12T21:54:30.562Z,1741816470.562 [MissionManager](INFO): DefineArg sci2_noyo_optim:StandardEnvelopes.MinAltitude = 5.000000 m
2025-03-12T21:54:30.564Z,1741816470.564 [MissionManager](INFO): DefineArg sci2_noyo_optim:StandardEnvelopes.MaxDepthIgnore = 0.000000 m
2025-03-12T21:54:30.566Z,1741816470.566 [MissionManager](INFO): DefineArg sci2_noyo_optim:StandardEnvelopes.MaxDepth = 200.000000 m
2025-03-12T21:54:30.569Z,1741816470.569 [MissionManager](INFO): DefineArg sci2_noyo_optim:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-03-12T21:54:30.570Z,1741816470.570 [sci2_noyo_optim:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-03-12T21:54:30.576Z,1741816470.576 [sci2_noyo_optim:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-03-12T21:54:30.584Z,1741816470.584 [sci2_noyo_optim:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-03-12T21:54:30.621Z,1741816470.621 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl
2025-03-12T21:54:30.621Z,1741816470.621 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl
2025-03-12T21:54:30.622Z,1741816470.622 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl
2025-03-12T21:54:30.886Z,1741816470.886 [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>

2025-03-12T21:54:30.893Z,1741816470.893 [MissionManager](INFO): DefineArg sci2_noyo_optim:NeedComms.DiveInterval = 1.000000 h
2025-03-12T21:54:30.895Z,1741816470.895 [MissionManager](INFO): DefineArg sci2_noyo_optim:NeedComms.WaitForPitchUp = 10.000000 min
2025-03-12T21:54:30.897Z,1741816470.897 [MissionManager](INFO): DefineArg sci2_noyo_optim:NeedComms.SurfacePitch = 20.000000 arcdeg
2025-03-12T21:54:30.920Z,1741816470.920 [MissionManager](INFO): DefineArg sci2_noyo_optim:NeedComms.SurfaceDepthRate = nan m/s
2025-03-12T21:54:30.922Z,1741816470.922 [MissionManager](INFO): DefineArg sci2_noyo_optim:NeedComms.SurfaceSpeed = 1.000000 m/s
2025-03-12T21:54:30.924Z,1741816470.924 [MissionManager](INFO): DefineArg sci2_noyo_optim:NeedComms.SurfacingTimeout = 1000.000000 s
2025-03-12T21:54:30.927Z,1741816470.927 [MissionManager](INFO): DefineArg sci2_noyo_optim:NeedComms.GPSTimeout = 7.000000 min
2025-03-12T21:54:30.930Z,1741816470.930 [MissionManager](INFO): DefineArg sci2_noyo_optim:NeedComms.CommsTimeout = 30.000000 min
2025-03-12T21:54:30.936Z,1741816470.936 [sci2_noyo_optim:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2025-03-12T21:54:30.978Z,1741816470.978 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2025-03-12T21:54:30.978Z,1741816470.978 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2025-03-12T21:54:30.979Z,1741816470.979 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2025-03-12T21:54:30.999Z,1741816470.999 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/BackseatDriver.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="BackseatDriver">
    <DefineArg Name="EnableBackseat">
        <False />
    </DefineArg>
    <Parallel />
    <Guidance:BackseatDriver>
        <Sequence />
        <Setting>
            <Guidance:BackseatDriver.powerBackseat />
            <Arg Name="EnableBackseat" />
        </Setting>
    </Guidance:BackseatDriver>
</Aggregate>

2025-03-12T21:54:31.003Z,1741816471.003 [MissionManager](INFO): DefineArg sci2_noyo_optim:BackseatDriver.EnableBackseat = 0 bool
2025-03-12T21:54:31.018Z,1741816471.018 [sci2_noyo_optim:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2025-03-12T21:54:31.024Z,1741816471.024 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2025-03-12T21:54:31.024Z,1741816471.024 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2025-03-12T21:54:31.025Z,1741816471.025 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2025-03-12T21:54:31.137Z,1741816471.137 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/PowerOnly.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="PowerOnly">
    <DefineArg Name="SampleAll">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad1">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad2">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad3">
        <False />
    </DefineArg>
    <DefineArg Name="EnabledPowerOnly">
        <Sensor:PowerOnly.loadAtStartup />
    </DefineArg>
    <Parallel />
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleAll" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.samplePowerOnly />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad1" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad1 />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad2" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad2 />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad3" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad3 />
    </ReadData>
    <Guidance:Wait>
        <Sequence />
        <Setting>
            <Guidance:Wait.duration />
            <Units:hour />
            <Value>99999</Value>
        </Setting>
    </Guidance:Wait>
</Aggregate>

2025-03-12T21:54:31.141Z,1741816471.141 [MissionManager](INFO): DefineArg sci2_noyo_optim:PowerOnly.SampleAll = 0 bool
2025-03-12T21:54:31.143Z,1741816471.143 [MissionManager](INFO): DefineArg sci2_noyo_optim:PowerOnly.SampleLoad1 = 0 bool
2025-03-12T21:54:31.145Z,1741816471.145 [MissionManager](INFO): DefineArg sci2_noyo_optim:PowerOnly.SampleLoad2 = 0 bool
2025-03-12T21:54:31.147Z,1741816471.147 [MissionManager](INFO): DefineArg sci2_noyo_optim:PowerOnly.SampleLoad3 = 0 bool
2025-03-12T21:54:31.150Z,1741816471.150 [MissionManager](INFO): DefineArg sci2_noyo_optim:PowerOnly.EnabledPowerOnly = 1 bool
2025-03-12T21:54:31.156Z,1741816471.156 [sci2_noyo_optim:PowerOnly:E.Wait](DEBUG): Construct Wait.
2025-03-12T21:54:31.182Z,1741816471.182 [sci2_noyo_optim:O.Buoyancy](DEBUG): Construct Buoyancy.
2025-03-12T21:54:31.264Z,1741816471.264 [sci2_noyo_optim:DiveCmd:InitialDive:dive:C.Mass](DEBUG): Construct.
2025-03-12T21:54:31.270Z,1741816471.270 [sci2_noyo_optim:DiveCmd:InitialDive:dive:E.Wait](DEBUG): Construct Wait.
2025-03-12T21:54:31.278Z,1741816471.278 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:A.SetSpeed](DEBUG): Construct.
2025-03-12T21:54:31.288Z,1741816471.288 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:B.Pitch](DEBUG): Construct.
2025-03-12T21:54:31.305Z,1741816471.305 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:B.Pitch:A_Timeout:B.Execute](DEBUG): Construct Execute.
2025-03-12T21:54:31.320Z,1741816471.320 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:B.Pitch](DEBUG): Construct.
2025-03-12T21:54:31.329Z,1741816471.329 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:C.Wait](DEBUG): Construct Wait.
2025-03-12T21:54:31.337Z,1741816471.337 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass](DEBUG): Construct.
2025-03-12T21:54:31.340Z,1741816471.340 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed](DEBUG): Construct.
2025-03-12T21:54:31.342Z,1741816471.342 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:B.Pitch](DEBUG): Construct.
2025-03-12T21:54:31.357Z,1741816471.357 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:A.SetSpeed](DEBUG): Construct.
2025-03-12T21:54:31.361Z,1741816471.361 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:C.Buoyancy](DEBUG): Construct Buoyancy.
2025-03-12T21:54:31.364Z,1741816471.364 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:D.Pitch](DEBUG): Construct.
2025-03-12T21:54:31.375Z,1741816471.375 [sci2_noyo_optim:Lap:DepthByLap:Wpt1:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T21:54:31.381Z,1741816471.381 [sci2_noyo_optim:Lap:DepthByLap:Wpt2:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T21:54:31.387Z,1741816471.387 [sci2_noyo_optim:Lap:DepthByLap:Wpt3:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T21:54:31.393Z,1741816471.393 [sci2_noyo_optim:Lap:DepthByLap:Wpt4:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T21:54:31.411Z,1741816471.411 [sci2_noyo_optim:Lap:DepthByLap:Wpt5:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T21:54:31.417Z,1741816471.417 [sci2_noyo_optim:Lap:DepthByLap:Wpt6:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T21:54:31.422Z,1741816471.422 [sci2_noyo_optim:Lap:DepthByLap:Wpt7:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T21:54:31.428Z,1741816471.428 [sci2_noyo_optim:Lap:DepthByLap:Wpt8:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T21:54:31.438Z,1741816471.438 [sci2_noyo_optim:Lap:DepthByLap:Leg2:Wpt1:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T21:54:31.446Z,1741816471.446 [sci2_noyo_optim:Lap:DepthByLap:Leg2:Wpt2:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T21:54:31.460Z,1741816471.460 [sci2_noyo_optim:Lap:DepthByLap:Leg2:Wpt3:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T21:54:31.466Z,1741816471.466 [sci2_noyo_optim:Lap:DepthByLap:Leg2:Wpt4:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T21:54:31.472Z,1741816471.472 [sci2_noyo_optim:Lap:DepthByLap:Leg2:Wpt5:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T21:54:31.478Z,1741816471.478 [sci2_noyo_optim:Lap:DepthByLap:Leg2:Wpt6:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T21:54:31.483Z,1741816471.483 [sci2_noyo_optim:Lap:DepthByLap:Leg2:Wpt7:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T21:54:31.489Z,1741816471.489 [sci2_noyo_optim:Lap:DepthByLap:Leg2:Wpt8:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T21:54:31.498Z,1741816471.498 [sci2_noyo_optim:Lap:DepthByLap:Leg3:Wpt1:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T21:54:31.514Z,1741816471.514 [sci2_noyo_optim:Lap:DepthByLap:Leg3:Wpt2:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T21:54:31.544Z,1741816471.544 [sci2_noyo_optim:Lap:DepthByLap:Leg3:Wpt3:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T21:54:31.550Z,1741816471.550 [sci2_noyo_optim:Lap:DepthByLap:Leg3:Wpt4:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T21:54:31.564Z,1741816471.564 [sci2_noyo_optim:Lap:DepthByLap:Leg3:Wpt5:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T21:54:31.569Z,1741816471.569 [sci2_noyo_optim:Lap:DepthByLap:Leg3:Wpt6:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T21:54:31.575Z,1741816471.575 [sci2_noyo_optim:Lap:DepthByLap:Leg3:Wpt7:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T21:54:31.580Z,1741816471.580 [sci2_noyo_optim:Lap:DepthByLap:Leg3:Wpt8:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T21:54:31.589Z,1741816471.589 [sci2_noyo_optim:Lap:DepthByLap:Leg4:Wpt1:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T21:54:31.594Z,1741816471.594 [sci2_noyo_optim:Lap:DepthByLap:Leg4:Wpt2:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T21:54:31.600Z,1741816471.600 [sci2_noyo_optim:Lap:DepthByLap:Leg4:Wpt3:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T21:54:31.637Z,1741816471.637 [sci2_noyo_optim:Lap:DepthByLap:Leg4:Wpt4:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T21:54:31.643Z,1741816471.643 [sci2_noyo_optim:Lap:DepthByLap:Leg4:Wpt5:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T21:54:31.676Z,1741816471.676 [sci2_noyo_optim:Lap:DepthByLap:Leg4:Wpt6:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T21:54:31.689Z,1741816471.689 [sci2_noyo_optim:Lap:DepthByLap:Leg4:Wpt7:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T21:54:31.699Z,1741816471.699 [sci2_noyo_optim:Lap:DepthByLap:Leg4:Wpt8:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T21:54:31.724Z,1741816471.724 [sci2_noyo_optim:Lap:DepthByLap:Leg5:Wpt1:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T21:54:31.729Z,1741816471.729 [sci2_noyo_optim:Lap:DepthByLap:Leg5:Wpt2:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T21:54:31.735Z,1741816471.735 [sci2_noyo_optim:Lap:DepthByLap:Leg5:Wpt3:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T21:54:31.741Z,1741816471.741 [sci2_noyo_optim:Lap:DepthByLap:Leg5:Wpt4:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T21:54:31.747Z,1741816471.747 [sci2_noyo_optim:Lap:DepthByLap:Leg5:Wpt5:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T21:54:31.753Z,1741816471.753 [sci2_noyo_optim:Lap:DepthByLap:Leg5:Wpt6:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T21:54:31.758Z,1741816471.758 [sci2_noyo_optim:Lap:DepthByLap:Leg5:Wpt7:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T21:54:31.774Z,1741816471.774 [sci2_noyo_optim:Lap:DepthByLap:Leg5:Wpt8:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T21:54:31.783Z,1741816471.783 [sci2_noyo_optim:Lap:DepthByLap:Leg6:Wpt1:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T21:54:31.789Z,1741816471.789 [sci2_noyo_optim:Lap:DepthByLap:Leg6:Wpt2:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T21:54:31.796Z,1741816471.796 [sci2_noyo_optim:Lap:DepthByLap:Leg6:Wpt3:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T21:54:31.801Z,1741816471.801 [sci2_noyo_optim:Lap:DepthByLap:Leg6:Wpt4:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T21:54:31.807Z,1741816471.807 [sci2_noyo_optim:Lap:DepthByLap:Leg6:Wpt5:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T21:54:31.823Z,1741816471.823 [sci2_noyo_optim:Lap:DepthByLap:Leg6:Wpt6:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T21:54:31.829Z,1741816471.829 [sci2_noyo_optim:Lap:DepthByLap:Leg6:Wpt7:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T21:54:31.834Z,1741816471.834 [sci2_noyo_optim:Lap:DepthByLap:Leg6:Wpt8:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T21:54:31.844Z,1741816471.844 [sci2_noyo_optim:Lap:DepthByLap:Leg7:Wpt1:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T21:54:31.851Z,1741816471.851 [sci2_noyo_optim:Lap:DepthByLap:Leg7:Wpt2:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T21:54:31.857Z,1741816471.857 [sci2_noyo_optim:Lap:DepthByLap:Leg7:Wpt3:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T21:54:31.863Z,1741816471.863 [sci2_noyo_optim:Lap:DepthByLap:Leg7:Wpt4:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T21:54:31.879Z,1741816471.879 [sci2_noyo_optim:Lap:DepthByLap:Leg7:Wpt5:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T21:54:31.885Z,1741816471.885 [sci2_noyo_optim:Lap:DepthByLap:Leg7:Wpt6:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T21:54:31.891Z,1741816471.891 [sci2_noyo_optim:Lap:DepthByLap:Leg7:Wpt7:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T21:54:31.897Z,1741816471.897 [sci2_noyo_optim:Lap:DepthByLap:Leg7:Wpt8:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T21:54:31.906Z,1741816471.906 [sci2_noyo_optim:Lap:DepthByLap:Leg8:Wpt1:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T21:54:31.912Z,1741816471.912 [sci2_noyo_optim:Lap:DepthByLap:Leg8:Wpt2:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T21:54:31.926Z,1741816471.926 [sci2_noyo_optim:Lap:DepthByLap:Leg8:Wpt3:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T21:54:31.931Z,1741816471.931 [sci2_noyo_optim:Lap:DepthByLap:Leg8:Wpt4:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T21:54:31.938Z,1741816471.938 [sci2_noyo_optim:Lap:DepthByLap:Leg8:Wpt5:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T21:54:31.944Z,1741816471.944 [sci2_noyo_optim:Lap:DepthByLap:Leg8:Wpt6:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T21:54:31.949Z,1741816471.949 [sci2_noyo_optim:Lap:DepthByLap:Leg8:Wpt7:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T21:54:31.955Z,1741816471.955 [sci2_noyo_optim:Lap:DepthByLap:Leg8:Wpt8:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T21:54:31.963Z,1741816471.963 [sci2_noyo_optim:Lap:DepthByLeg:Leg1:B.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T21:54:31.982Z,1741816471.982 [sci2_noyo_optim:Lap:DepthByLeg:Leg2:Wpt2:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T21:54:31.992Z,1741816471.992 [sci2_noyo_optim:Lap:DepthByLeg:Leg3:Wpt3:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T21:54:32.001Z,1741816472.001 [sci2_noyo_optim:Lap:DepthByLeg:Leg4:Wpt4:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T21:54:32.010Z,1741816472.010 [sci2_noyo_optim:Lap:DepthByLeg:Leg5:Wpt5:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T21:54:32.055Z,1741816472.055 [sci2_noyo_optim:Lap:DepthByLeg:Leg6:Wpt6:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T21:54:32.072Z,1741816472.072 [sci2_noyo_optim:Lap:DepthByLeg:Leg7:Wpt7:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T21:54:32.102Z,1741816472.102 [sci2_noyo_optim:Lap:DepthByLeg:Leg8:Wpt8:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T21:54:32.216Z,1741816472.216 [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 sci2_noyo_optim {
  """
  Vehicle transits to the specified waypoints at the commanded depth
  (flat-and-level, no yoyos) with science, Optim camera, and multiray
  lights on.
  """

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

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

    Depth1 = 35 meter
      """
      Depth of flat and level flight during the mission for the first transit leg or lap.
      """

    Depth[2..8] = NaN meter
      """
      Depth of flat and level flight during the mission for subsequent transit legs or laps.
      Skipped if NaN.
      """

    DepthPerLeg = false
      """
      Indicates whether additional depths correspond to laps (cycle through all waypoints at
      each depth, default) or legs (use depth for transit leg ending at corresponding waypoint,
      each lap repeats all depths and waypoints).
      """

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

    Lat[1..8] = NaN degree
      """
      Latitude of waypoint {$}. If nan, waypoint is skipped.
      """

    Lon[1..8] = NaN degree
      """
      Longitude of waypoint {$}. If nan, waypoint is skipped.
      """

    FastSpeed = 1 meter_per_second
      """
      Speed while transiting to waypoint.
      """

    ApproachDepth = 30 meter
      """
      Depth for initial descent form the surface.
      """

    ApproachSpeed = 0.7 meter_per_second
      """
      Speed while descending to target depth.
      """

    ApproachDepthRate = 0.05 meter_per_second
      """
      Descent depth rate (Positive depth rate means going down).
      """

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

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

    ApproachSettleTimePreDive = 1 minute
      """
      Time duration for the vehicle to pump down the VBS *BEFORE* leaving the
      surface.
      """

    ApproachSettleTimePostDive = 3 minute
      """
      Time duration for the vehicle to settle *AFTER* reaching the target
      depth.
      """

    kpDepth = 0.07 radian_per_meter
      """
      Dive loop proportional gain (applied only while the vehicle is
      descending to target depth).
      """

    SlowSpeed = 0.25 meter_per_second
      """
      Set this to something other than Nan if slow speed filming with a
      wide depth deadband is desired.
      """

    DepthDeviationSlow = 3 meter
      """
      Allowable +/- deviation from depth during slow flight. Needs a SlowSpeed
      to be set.
      """

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

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

    MinAltitude = 2 meter
      """
      Minimum height above the sea floor for the entire mission.
      """

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

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

  output {
    DiveMode = 0 count
      """
      Mission variable (don't change). The mission sets this variable to
      switch between dive modes. Initialized to DoingComms.
      """

    DoingComms = 0 count
      """
      Mission variable (don't change). The mission will run in this to mode
      when doing surface comms.
      """

    InitialDive = 1 count
      """
      Mission variable (don't change). The mission will run in this mode after
      surface comms are done to dive the vehicle to the approach depth.
      """

    SettleAtDepth = 2 count
      """
      Mission variable (don't change). The mission will run in this mode to
      settle the vehicle at the target depth.
      """

    MaintainDepth = 3 count
      """
      Mission variable (don't change). The mission will run in this mode to
      maintain the vehicle at the target depth.
      """

    LegDepth = Depth1
      """
      Mission variable to track the current depth for the current leg.
      """
  }

  # Mission timeout

  timeout duration=MissionTimeout

  # Science!

  insert Insert/Science.tl {
    """
    Run the science sensors.
    """
  }

  # 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 = MissionTimeout

  assign in sequence NeedComms:WaitForPitchUp = 0 minute

  insert Insert/BackseatDriver.tl
  assign in parallel BackseatDriver:EnableBackseat = true

  insert Insert/PowerOnly.tl
  assign in parallel PowerOnly:SampleLoad1 = true

  assign in sequence Sensor:MultiRay.lightModeCommand = 2 count
  readData strategy="MinError" {
    while ( Sensor:MultiRay.loadAtStartup )

    Sensor:MultiRay.lightModeLog
  }

  behavior Guidance:Buoyancy {
    run in parallel

    set position = BuoyancyNeutral
  }

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

    assign in sequence DiveMode = DoingComms

    call refId="NeedComms"

    assign in sequence DiveMode = InitialDive
  }

  aggregate DiveCmd {
    """
    Called when the vehicle should be underwater. Arbitrates between 4
    dive modes: 1) descend from the surface to initial depth. 2) settle
    at target depth using the VB. 3) cruise at target depth and go slow
    while within depth deviation bounds if a slow speed is set.
    """

    run when ( called )

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

      run while ( DiveMode == InitialDive )

      aggregate dive {
        run in sequence

        assign in parallel Control:VerticalControl.pitchLimit = ApproachPitchLimit

        assign in parallel Control:VerticalControl.kpDepth = kpDepth

        behavior Guidance:Mass {
          run in parallel

          set position = MassDefault
        }

        # behavior Guidance:Buoyancy {
        #   run in parallel

        #   set position = BuoyancyNeutral
        # }

        syslog info "Waiting for "
             + ApproachSettleTimePreDive~minute + "while pumping down to neutral."

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

          run in sequence

          set duration = ApproachSettleTimePreDive
        }

        syslog "Moving to " + ApproachDepth~meter

        aggregate ApproachDepth {
          run in sequence

          behavior Guidance:SetSpeed {
            run in parallel

            set speed = ApproachSpeed
          }

          behavior Guidance:Pitch {
            run in sequence

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

              behavior Guidance:Execute {
                run in sequence

                set command = "stop"
              }
            }

            set depth = ApproachDepth
            set depthRate = ApproachDepthRate
          }
        }

        assign in sequence DiveMode = SettleAtDepth
      }
    }

    aggregate SettleAtDepth {
      """
      Take a few more moments here to make sure the vehicle is settled
      at the target depth.
      """

      run while ( DiveMode == SettleAtDepth )

      aggregate dive {
        run in sequence

        syslog info "Reached " + Universal:depth~meter + ", settling for "
             + ApproachSettleTimePostDive~minute

        behavior Guidance:Pitch {
          run in parallel

          set depth = LegDepth
        }

        behavior Guidance:Wait {
          run in sequence

          set duration = ApproachSettleTimePostDive
        }

        assign in sequence DiveMode = MaintainDepth
      }
    }

    aggregate MaintainDepth {
      """
      Cruise at the target depth.
      """

      run while (
        DiveMode == MaintainDepth
        and ( Universal:depth > ( LegDepth + DepthDeviationSlow ) )
        or ( Universal:depth < ( LegDepth - DepthDeviationSlow ) )
      )

      aggregate dive {
        run in parallel

        aggregate ThrusterDive {
          run while ( FastSpeed > 0.0 meter_per_second )

          behavior Guidance:Mass {
            run in parallel

            set position = MassDefault
          }

          # behavior Guidance:Buoyancy {
          #   run in parallel

          #   set position = BuoyancyNeutral
          # }

          behavior Guidance:SetSpeed {
            run in parallel

            set speed = FastSpeed
          }
        }

        behavior Guidance:Pitch {
          run in parallel

          set depth = LegDepth
        }
      }
    }

    aggregate MaintainDepthSlow {
      """
      Cruise slow at the target depth.
      """

      run while (
        ( not isNaN ( SlowSpeed ) )
        and ( DiveMode == MaintainDepth )
        and ( Universal:depth <= ( LegDepth + DepthDeviationSlow ) )
        and ( Universal:depth >= ( LegDepth - DepthDeviationSlow ) )
      )

      behavior Guidance:SetSpeed {
        run in parallel

        set speed = SlowSpeed
      }

      # Let's make sure the vertical control depth deadband doesn't interfere with our mission
      # level version of the deadband. And we'll add an extra 3m so we don't trigger any
      # faults inside vertical control when attempting to regain the commanded depth.
      assign in parallel Control:VerticalControl.depthDeadband = ( DepthDeviationSlow + 3 m )

      behavior Guidance:Buoyancy {
        run in parallel

        set position = NaN cc
      }

      behavior Guidance:Pitch {
        run in parallel

        set depth = LegDepth
      }
    }
  }

  # Start mission sequence

  call id="StartingMission" refId="SurfaceComms"

  aggregate Lap {
    run in sequence repeat=Repeat

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

      call refId="DiveCmd"
    }

    # Default behavior: Depths correspond to laps
    # Run through all waypoints at each depth
    aggregate DepthByLap {
      run in sequence

      break if ( DepthPerLeg )

      assign in sequence LegDepth = Depth1

      aggregate Wpt1 {
        run in sequence

        behavior Guidance:Waypoint {
          run in sequence

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

      macro $i = 2..8 {
        aggregate Wpt$i {
          run in sequence

          behavior Guidance:Waypoint {
            run in sequence

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

      macro $j = 2..8 {
        aggregate Leg$j {
          run in sequence

          break if ( isNaN ( Depth[$j] ) )

          syslog important "Transiting waypoints at depth " + Depth[$j]~meter
          assign in sequence LegDepth = Depth[$j]

          macro $i = 1..8 {
            aggregate Wpt$i {
              run in sequence

              behavior Guidance:Waypoint {
                run in sequence

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

    # Non-default behavior: depth by leg
    # Transit to waypoint at corresponding depth, repeat per lap
    # (e.g. Transit to waypoint 1 at depth 1, waypoint 2 at depth 2, and so on)
    aggregate DepthByLeg {
      run in sequence

      break if ( not DepthPerLeg )

      aggregate Leg1 {
        run in sequence

        assign in sequence LegDepth = Depth1

        behavior Guidance:Waypoint {
          run in sequence

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

      macro $i = 2..8 {
        aggregate Leg$i {
          run in sequence

          break if ( isNaN ( Depth[$i] ) )

          syslog info "Transiting to next waypoint at depth " + Depth[$i]~meter
          assign in sequence LegDepth = Depth[$i]

          aggregate Wpt$i {
            run in sequence

            behavior Guidance:Waypoint {
              run in sequence

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


2025-03-12T21:54:32.217Z,1741816472.217 [CommandExec](IMPORTANT): Loaded ./Missions/Science/sci2_noyo_optim.tl id=sci2_noyo_optim
2025-03-12T21:55:04.319Z,1741816504.319 [CommandExec](IMPORTANT): got command set sci2_noyo_optim.MissionTimeout 6 hour
2025-03-12T21:55:04.320Z,1741816504.320 [CommandExec](IMPORTANT): got command set sci2_noyo_optim.NeedCommsTime 60 minute
2025-03-12T21:55:04.321Z,1741816504.321 [CommandExec](IMPORTANT): got command set sci2_noyo_optim.Depth1 250 meter
2025-03-12T21:55:04.322Z,1741816504.322 [CommandExec](IMPORTANT): got command set sci2_noyo_optim.Depth2 280 meter
2025-03-12T21:55:04.322Z,1741816504.322 [CommandExec](IMPORTANT): got command set sci2_noyo_optim.Depth3 NaN meter
2025-03-12T21:55:05.204Z,1741816505.204 [DAT](INFO): DAT read: Rx Time:21:55:04.4110

2025-03-12T21:55:05.205Z,1741816505.205 [DAT](INFO): Rx dataTimestamp_ set to:1741816505.204530
2025-03-12T21:55:05.714Z,1741816505.714 [DAT](INFO): DAT read: 21:55:04.4110 LVL= 32752, 32753, 32754, 32755, AGC= 91, IDX= 357,-0.02, 0.533, 2.410, 0.933, 1.400, PHS=-0.898, 0.984,-0.471, RAW= 317.5,   4.6, CAL= 320.9,   2.4, ROT= 189.1,  -2.4

2025-03-12T21:55:05.715Z,1741816505.715 [DAT](INFO): got valid direction response:
 21:55:04.4110 LVL= 32752, 32753, 32754, 32755, AGC= 91, IDX= 357,-0.02, 0.533, 2.410, 0.933, 1.400, PHS=-0.898, 0.984,-0.471, RAW= 317.5,   4.6, CAL= 320.9,   2.4, ROT= 189.1,  -2.4

2025-03-12T21:55:05.716Z,1741816505.716 [DAT](INFO): DAT read: $Error in header

2025-03-12T21:55:05.716Z,1741816505.716 [DAT](INFO): Received a bad header
2025-03-12T21:55:05.728Z,1741816505.728 [DAT](INFO): #Rx 70: Read direction message, but no range.
2025-03-12T21:55:05.729Z,1741816505.729 [DAT](INFO): direction in FSK: [-0.986548,-0.158019,0.041876]
2025-03-12T21:55:28.825Z,1741816528.825 [CommandExec](IMPORTANT): got command set sci2_noyo_optim.Repeat 6 count
2025-03-12T21:55:28.826Z,1741816528.826 [CommandExec](IMPORTANT): got command set sci2_noyo_optim.Lat1 36.79279 degree
2025-03-12T21:55:28.831Z,1741816528.831 [CommandExec](IMPORTANT): got command set sci2_noyo_optim.Lon1 -121.88919 degree
2025-03-12T21:55:28.832Z,1741816528.832 [CommandExec](IMPORTANT): got command set sci2_noyo_optim.Lat2 36.78427 degree
2025-03-12T21:55:28.833Z,1741816528.833 [CommandExec](IMPORTANT): got command set sci2_noyo_optim.Lon2 -121.91339 degree
2025-03-12T21:55:42.524Z,1741816542.524 [DAT](INFO): DAT read: Rx Time:21:55:41.7911

2025-03-12T21:55:42.525Z,1741816542.525 [DAT](INFO): Rx dataTimestamp_ set to:1741816542.524430
2025-03-12T21:55:43.034Z,1741816543.034 [DAT](INFO): DAT read: 21:55:41.7911 LVL= 26048, 24033, 28402, 32755, AGC= 91, IDX= 215, 0.09,-1.462,-2.205,-0.229,-0.524, PHS=-0.969,-1.708, 0.292, RAW= 188.6,  25.7, CAL= 188.3,  42.7, ROT= 321.7, -42.7

2025-03-12T21:55:43.035Z,1741816543.035 [DAT](INFO): got valid direction response:
 21:55:41.7911 LVL= 26048, 24033, 28402, 32755, AGC= 91, IDX= 215, 0.09,-1.462,-2.205,-0.229,-0.524, PHS=-0.969,-1.708, 0.292, RAW= 188.6,  25.7, CAL= 188.3,  42.7, ROT= 321.7, -42.7

2025-03-12T21:55:43.036Z,1741816543.036 [DAT](INFO): DAT read: $Error in header

2025-03-12T21:55:43.036Z,1741816543.036 [DAT](INFO): Received a bad header
2025-03-12T21:55:43.048Z,1741816543.048 [DAT](INFO): #Rx 71: Read direction message, but no range.
2025-03-12T21:55:43.049Z,1741816543.049 [DAT](INFO): direction in FSK: [0.576744,-0.455484,0.678160]
2025-03-12T21:56:15.086Z,1741816575.086 [CommandExec](IMPORTANT): got command set sci2_noyo_optim.ApproachDepth 10 meter
2025-03-12T21:56:15.087Z,1741816575.087 [CommandExec](IMPORTANT): got command set sci2_noyo_optim.SlowSpeed 0.35 meter_per_second
2025-03-12T21:56:15.088Z,1741816575.088 [CommandExec](IMPORTANT): got command set sci2_noyo_optim.MinAltitude 10 meter
2025-03-12T21:56:15.089Z,1741816575.089 [CommandExec](IMPORTANT): got command set sci2_noyo_optim.MaxDepth 290 meter
2025-03-12T21:56:15.090Z,1741816575.090 [CommandExec](IMPORTANT): got command set sci2_noyo_optim:PowerOnly.SampleLoad1 1 bool
2025-03-12T21:56:15.090Z,1741816575.090 [CommandExec](IMPORTANT): got command run
2025-03-12T21:56:15.093Z,1741816575.093 [CommandExec](IMPORTANT): Running 
2025-03-12T21:56:15.243Z,1741816575.243 [Default] Stopped
2025-03-12T21:56:15.243Z,1741816575.243 [Default](DEBUG): Aggregate::uninitialize Default
2025-03-12T21:56:15.243Z,1741816575.243 [Default:B.GoToSurface] Stopped
2025-03-12T21:56:15.244Z,1741816575.244 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-03-12T21:56:15.244Z,1741816575.244 [Default:CheckIn] Stopped
2025-03-12T21:56:15.244Z,1741816575.244 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-03-12T21:56:15.244Z,1741816575.244 [Default:CheckIn:Read_GPS] Stopped
2025-03-12T21:56:15.244Z,1741816575.244 [MissionManager](IMPORTANT): Started mission sci2_noyo_optim
2025-03-12T21:56:15.244Z,1741816575.244 [sci2_noyo_optim] Running Loop=1
2025-03-12T21:56:15.244Z,1741816575.244 [sci2_noyo_optim](DEBUG): Aggregate::initialize sci2_noyo_optim
2025-03-12T21:56:15.244Z,1741816575.244 [sci2_noyo_optim:Science] Running Loop=1
2025-03-12T21:56:15.244Z,1741816575.244 [sci2_noyo_optim:Science](DEBUG): Aggregate::initialize sci2_noyo_optim:Science
2025-03-12T21:56:15.245Z,1741816575.245 [sci2_noyo_optim:Science:A] Running Loop=1
2025-03-12T21:56:15.245Z,1741816575.245 [sci2_noyo_optim:Science:B] Running Loop=1
2025-03-12T21:56:15.245Z,1741816575.245 [sci2_noyo_optim:Science:C] Running Loop=1
2025-03-12T21:56:15.245Z,1741816575.245 [sci2_noyo_optim:Science:D] Running Loop=1
2025-03-12T21:56:15.245Z,1741816575.245 [sci2_noyo_optim:Science:E] Running Loop=1
2025-03-12T21:56:15.245Z,1741816575.245 [sci2_noyo_optim:Science:F] Running Loop=1
2025-03-12T21:56:15.245Z,1741816575.245 [sci2_noyo_optim:Science:Read_Oil] Running Loop=1
2025-03-12T21:56:15.245Z,1741816575.245 [sci2_noyo_optim:Science:PeakDetectChl] Running Loop=1
2025-03-12T21:56:15.245Z,1741816575.245 [sci2_noyo_optim:Science:PeakDetectChl](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:PeakDetectChl
2025-03-12T21:56:15.245Z,1741816575.245 [sci2_noyo_optim:Science:PeakDetectChl:A] Running Loop=1
2025-03-12T21:56:15.245Z,1741816575.245 [sci2_noyo_optim:Science:EdgeDetectChl] Running Loop=1
2025-03-12T21:56:15.245Z,1741816575.245 [sci2_noyo_optim:Science:EdgeDetectChl](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:EdgeDetectChl
2025-03-12T21:56:15.246Z,1741816575.246 [sci2_noyo_optim:Science:EdgeDetectChl:A] Running Loop=1
2025-03-12T21:56:15.246Z,1741816575.246 [sci2_noyo_optim:Science:HighestChlPeakReport] Running Loop=1
2025-03-12T21:56:15.246Z,1741816575.246 [sci2_noyo_optim:Science:HighestChlPeakReport](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:HighestChlPeakReport
2025-03-12T21:56:15.246Z,1741816575.246 [sci2_noyo_optim:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-03-12T21:56:15.246Z,1741816575.246 [sci2_noyo_optim:Science:HighestChlPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-03-12T21:56:15.246Z,1741816575.246 [sci2_noyo_optim:Science:PeakDetectNO3] Running Loop=1
2025-03-12T21:56:15.246Z,1741816575.246 [sci2_noyo_optim:Science:PeakDetectNO3](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:PeakDetectNO3
2025-03-12T21:56:15.247Z,1741816575.247 [sci2_noyo_optim:Science:PeakDetectNO3:A] Running Loop=1
2025-03-12T21:56:15.247Z,1741816575.247 [sci2_noyo_optim:Science:PeakDetectOil] Running Loop=1
2025-03-12T21:56:15.247Z,1741816575.247 [sci2_noyo_optim:Science:PeakDetectOil](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:PeakDetectOil
2025-03-12T21:56:15.251Z,1741816575.251 [sci2_noyo_optim:Science:PeakDetectOil:A] Running Loop=1
2025-03-12T21:56:15.251Z,1741816575.251 [sci2_noyo_optim:Science:HighestOilPeakReport] Running Loop=1
2025-03-12T21:56:15.251Z,1741816575.251 [sci2_noyo_optim:Science:HighestOilPeakReport](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:HighestOilPeakReport
2025-03-12T21:56:15.252Z,1741816575.252 [sci2_noyo_optim:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-03-12T21:56:15.252Z,1741816575.252 [sci2_noyo_optim:Science:HighestOilPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-03-12T21:56:15.253Z,1741816575.253 [sci2_noyo_optim:Science:PeakDetectFDOM] Running Loop=1
2025-03-12T21:56:15.253Z,1741816575.253 [sci2_noyo_optim:Science:PeakDetectFDOM](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:PeakDetectFDOM
2025-03-12T21:56:15.254Z,1741816575.254 [sci2_noyo_optim:Science:PeakDetectFDOM:A] Running Loop=1
2025-03-12T21:56:15.254Z,1741816575.254 [sci2_noyo_optim:Science:PeakDetectSalinity] Running Loop=1
2025-03-12T21:56:15.259Z,1741816575.259 [sci2_noyo_optim:Science:PeakDetectSalinity](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:PeakDetectSalinity
2025-03-12T21:56:15.260Z,1741816575.260 [sci2_noyo_optim:Science:PeakDetectSalinity:A] Running Loop=1
2025-03-12T21:56:15.260Z,1741816575.260 [sci2_noyo_optim:Science:HighestSaltPeakReport] Running Loop=1
2025-03-12T21:56:15.260Z,1741816575.260 [sci2_noyo_optim:Science:HighestSaltPeakReport](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:HighestSaltPeakReport
2025-03-12T21:56:15.260Z,1741816575.260 [sci2_noyo_optim:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-03-12T21:56:15.260Z,1741816575.260 [sci2_noyo_optim:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-03-12T21:56:15.260Z,1741816575.260 [sci2_noyo_optim:Science:PeakDetectPlanktivoreLMavgROI] Running Loop=1
2025-03-12T21:56:15.260Z,1741816575.260 [sci2_noyo_optim:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:PeakDetectPlanktivoreLMavgROI
2025-03-12T21:56:15.261Z,1741816575.261 [sci2_noyo_optim:Science:PeakDetectPlanktivoreLMavgROI:A] Running Loop=1
2025-03-12T21:56:15.261Z,1741816575.261 [sci2_noyo_optim:Science:EdgeDetectPlanktivoreLMavgROI] Running Loop=1
2025-03-12T21:56:15.261Z,1741816575.261 [sci2_noyo_optim:Science:EdgeDetectPlanktivoreLMavgROI](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:EdgeDetectPlanktivoreLMavgROI
2025-03-12T21:56:15.261Z,1741816575.261 [sci2_noyo_optim:Science:EdgeDetectPlanktivoreLMavgROI:A] Running Loop=1
2025-03-12T21:56:15.261Z,1741816575.261 [sci2_noyo_optim:Science:PeakDetectPlanktivoreHMavgROI] Running Loop=1
2025-03-12T21:56:15.261Z,1741816575.261 [sci2_noyo_optim:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:PeakDetectPlanktivoreHMavgROI
2025-03-12T21:56:15.262Z,1741816575.262 [sci2_noyo_optim:Science:PeakDetectPlanktivoreHMavgROI:A] Running Loop=1
2025-03-12T21:56:15.262Z,1741816575.262 [sci2_noyo_optim:Science:PeakDetectPlanktivoreDiatoms] Running Loop=1
2025-03-12T21:56:15.262Z,1741816575.262 [sci2_noyo_optim:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:PeakDetectPlanktivoreDiatoms
2025-03-12T21:56:15.262Z,1741816575.262 [sci2_noyo_optim:Science:PeakDetectPlanktivoreDiatoms:A] Running Loop=1
2025-03-12T21:56:15.262Z,1741816575.262 [sci2_noyo_optim:Science:PeakDetectPlanktivoreDinoflagellates] Running Loop=1
2025-03-12T21:56:15.262Z,1741816575.262 [sci2_noyo_optim:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:PeakDetectPlanktivoreDinoflagellates
2025-03-12T21:56:15.262Z,1741816575.262 [sci2_noyo_optim:Science:PeakDetectPlanktivoreDinoflagellates:A] Running Loop=1
2025-03-12T21:56:15.262Z,1741816575.262 [sci2_noyo_optim:Science:ChlThreshTrigger] Running Loop=1
2025-03-12T21:56:15.262Z,1741816575.262 [sci2_noyo_optim:Science:ChlThreshTrigger](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:ChlThreshTrigger
2025-03-12T21:56:15.263Z,1741816575.263 [sci2_noyo_optim:Science:ChlThreshTrigger:A.ValueDetect] Running Loop=1
2025-03-12T21:56:15.263Z,1741816575.263 [sci2_noyo_optim:Science:ChlThreshTrigger:A.ValueDetect](INFO): Initialize.
2025-03-12T21:56:15.267Z,1741816575.267 [sci2_noyo_optim:Science:OceanCurrent] Running Loop=1
2025-03-12T21:56:15.267Z,1741816575.267 [sci2_noyo_optim:Science:OceanCurrent](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:OceanCurrent
2025-03-12T21:56:15.267Z,1741816575.267 [sci2_noyo_optim:Science:OceanCurrent:A.] Running Loop=1
2025-03-12T21:56:15.268Z,1741816575.268 [sci2_noyo_optim:Science:OceanCurrent:A.](INFO): Initializing CurrentEstimator.
2025-03-12T21:56:15.268Z,1741816575.268 [sci2_noyo_optim:StandardEnvelopes] Running Loop=1
2025-03-12T21:56:15.268Z,1741816575.268 [sci2_noyo_optim:StandardEnvelopes](DEBUG): Aggregate::initialize sci2_noyo_optim:StandardEnvelopes
2025-03-12T21:56:15.268Z,1741816575.268 [sci2_noyo_optim:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-03-12T21:56:15.268Z,1741816575.268 [sci2_noyo_optim:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-03-12T21:56:15.268Z,1741816575.268 [sci2_noyo_optim:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-03-12T21:56:15.268Z,1741816575.268 [sci2_noyo_optim:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-03-12T21:56:15.268Z,1741816575.268 [sci2_noyo_optim:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-03-12T21:56:15.268Z,1741816575.268 [sci2_noyo_optim:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-03-12T21:56:15.268Z,1741816575.268 [sci2_noyo_optim:BackseatDriver] Running Loop=1
2025-03-12T21:56:15.269Z,1741816575.269 [sci2_noyo_optim:BackseatDriver](DEBUG): Aggregate::initialize sci2_noyo_optim:BackseatDriver
2025-03-12T21:56:15.269Z,1741816575.269 [sci2_noyo_optim:BackseatDriver:A.BackseatDriver] Running Loop=1
2025-03-12T21:56:15.269Z,1741816575.269 [sci2_noyo_optim:J] Running Loop=1
2025-03-12T21:56:15.269Z,1741816575.269 [sci2_noyo_optim:PowerOnly] Running Loop=1
2025-03-12T21:56:15.269Z,1741816575.269 [sci2_noyo_optim:PowerOnly](DEBUG): Aggregate::initialize sci2_noyo_optim:PowerOnly
2025-03-12T21:56:15.269Z,1741816575.269 [sci2_noyo_optim:PowerOnly:A] Running Loop=1
2025-03-12T21:56:15.269Z,1741816575.269 [sci2_noyo_optim:PowerOnly:B] Running Loop=1
2025-03-12T21:56:15.269Z,1741816575.269 [sci2_noyo_optim:PowerOnly:C] Running Loop=1
2025-03-12T21:56:15.269Z,1741816575.269 [sci2_noyo_optim:PowerOnly:D] Running Loop=1
2025-03-12T21:56:15.269Z,1741816575.269 [sci2_noyo_optim:PowerOnly:E.Wait] Running Loop=1
2025-03-12T21:56:15.269Z,1741816575.269 [sci2_noyo_optim:PowerOnly:E.Wait](DEBUG): Initialize Wait Component.
2025-03-12T21:56:15.270Z,1741816575.270 [sci2_noyo_optim:L] Running Loop=1
2025-03-12T21:56:15.270Z,1741816575.270 [sci2_noyo_optim:N] Running Loop=1
2025-03-12T21:56:15.270Z,1741816575.270 [sci2_noyo_optim:O.Buoyancy] Running Loop=1
2025-03-12T21:56:15.270Z,1741816575.270 [sci2_noyo_optim:O.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-03-12T21:56:15.270Z,1741816575.270 [sci2_noyo_optim:C] Running Loop=1
2025-03-12T21:56:15.275Z,1741816575.275 [sci2_noyo_optim:O.Buoyancy] Running Loop=1
2025-03-12T21:56:15.276Z,1741816575.276 [sci2_noyo_optim:N] Running Loop=1
2025-03-12T21:56:15.276Z,1741816575.276 [sci2_noyo_optim:N](DEBUG): Initialize ReadDataComponent to sense MultiRay.lightModeLog
2025-03-12T21:56:15.276Z,1741816575.276 [sci2_noyo_optim:L] Running Loop=1
2025-03-12T21:56:15.277Z,1741816575.277 [sci2_noyo_optim:PowerOnly] Running Loop=1
2025-03-12T21:56:15.277Z,1741816575.277 [sci2_noyo_optim:PowerOnly:D] Stopped
2025-03-12T21:56:15.277Z,1741816575.277 [sci2_noyo_optim:PowerOnly:C] Stopped
2025-03-12T21:56:15.277Z,1741816575.277 [sci2_noyo_optim:PowerOnly:B] Running Loop=1
2025-03-12T21:56:15.278Z,1741816575.278 [sci2_noyo_optim:PowerOnly:B](DEBUG): Initialize ReadDataComponent to sense PowerOnly.sampleLoad1
2025-03-12T21:56:15.278Z,1741816575.278 [sci2_noyo_optim:PowerOnly:A] Stopped
2025-03-12T21:56:15.278Z,1741816575.278 [sci2_noyo_optim:J] Running Loop=1
2025-03-12T21:56:15.278Z,1741816575.278 [sci2_noyo_optim:BackseatDriver] Running Loop=1
2025-03-12T21:56:15.278Z,1741816575.278 [sci2_noyo_optim:BackseatDriver:A.BackseatDriver](INFO): Initializing backseat
2025-03-12T21:56:15.296Z,1741816575.296 [BackseatComponent](INFO): Powering up
2025-03-12T21:56:15.297Z,1741816575.297 [BackseatComponent](INFO): Subscribing to LCM channels.
2025-03-12T21:56:15.314Z,1741816575.314 [sci2_noyo_optim:C] Stopped
2025-03-12T21:56:15.314Z,1741816575.314 [sci2_noyo_optim:D] Running Loop=1
2025-03-12T21:56:15.314Z,1741816575.314 [sci2_noyo_optim:StandardEnvelopes] Running Loop=1
2025-03-12T21:56:15.314Z,1741816575.314 [sci2_noyo_optim:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-03-12T21:56:15.314Z,1741816575.314 [sci2_noyo_optim:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-03-12T21:56:15.315Z,1741816575.315 [sci2_noyo_optim:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-03-12T21:56:15.315Z,1741816575.315 [sci2_noyo_optim:Science] Running Loop=1
2025-03-12T21:56:15.316Z,1741816575.316 [sci2_noyo_optim:Science:ChlThreshTrigger] Stopped
2025-03-12T21:56:15.317Z,1741816575.317 [sci2_noyo_optim:Science:ChlThreshTrigger](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:ChlThreshTrigger
2025-03-12T21:56:15.317Z,1741816575.317 [sci2_noyo_optim:Science:ChlThreshTrigger:A.ValueDetect] Stopped
2025-03-12T21:56:15.317Z,1741816575.317 [sci2_noyo_optim:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Uninitialize.
2025-03-12T21:56:15.317Z,1741816575.317 [sci2_noyo_optim:Science:PeakDetectPlanktivoreDinoflagellates] Stopped
2025-03-12T21:56:15.317Z,1741816575.317 [sci2_noyo_optim:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:PeakDetectPlanktivoreDinoflagellates
2025-03-12T21:56:15.317Z,1741816575.317 [sci2_noyo_optim:Science:PeakDetectPlanktivoreDinoflagellates:A] Stopped
2025-03-12T21:56:15.317Z,1741816575.317 [sci2_noyo_optim:Science:PeakDetectPlanktivoreDiatoms] Stopped
2025-03-12T21:56:15.317Z,1741816575.317 [sci2_noyo_optim:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:PeakDetectPlanktivoreDiatoms
2025-03-12T21:56:15.317Z,1741816575.317 [sci2_noyo_optim:Science:PeakDetectPlanktivoreDiatoms:A] Stopped
2025-03-12T21:56:15.317Z,1741816575.317 [sci2_noyo_optim:Science:PeakDetectPlanktivoreHMavgROI] Stopped
2025-03-12T21:56:15.317Z,1741816575.317 [sci2_noyo_optim:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:PeakDetectPlanktivoreHMavgROI
2025-03-12T21:56:15.317Z,1741816575.317 [sci2_noyo_optim:Science:PeakDetectPlanktivoreHMavgROI:A] Stopped
2025-03-12T21:56:15.318Z,1741816575.318 [sci2_noyo_optim:Science:EdgeDetectPlanktivoreLMavgROI] Stopped
2025-03-12T21:56:15.318Z,1741816575.318 [sci2_noyo_optim:Science:EdgeDetectPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:EdgeDetectPlanktivoreLMavgROI
2025-03-12T21:56:15.318Z,1741816575.318 [sci2_noyo_optim:Science:EdgeDetectPlanktivoreLMavgROI:A] Stopped
2025-03-12T21:56:15.318Z,1741816575.318 [sci2_noyo_optim:Science:PeakDetectPlanktivoreLMavgROI] Stopped
2025-03-12T21:56:15.318Z,1741816575.318 [sci2_noyo_optim:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:PeakDetectPlanktivoreLMavgROI
2025-03-12T21:56:15.318Z,1741816575.318 [sci2_noyo_optim:Science:PeakDetectPlanktivoreLMavgROI:A] Stopped
2025-03-12T21:56:15.318Z,1741816575.318 [sci2_noyo_optim:Science:HighestSaltPeakReport] Stopped
2025-03-12T21:56:15.318Z,1741816575.318 [sci2_noyo_optim:Science:HighestSaltPeakReport](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:HighestSaltPeakReport
2025-03-12T21:56:15.318Z,1741816575.318 [sci2_noyo_optim:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Stopped
2025-03-12T21:56:15.318Z,1741816575.318 [sci2_noyo_optim:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-03-12T21:56:15.318Z,1741816575.318 [sci2_noyo_optim:Science:PeakDetectSalinity] Stopped
2025-03-12T21:56:15.318Z,1741816575.318 [sci2_noyo_optim:Science:PeakDetectSalinity](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:PeakDetectSalinity
2025-03-12T21:56:15.318Z,1741816575.318 [sci2_noyo_optim:Science:PeakDetectSalinity:A] Stopped
2025-03-12T21:56:15.319Z,1741816575.319 [sci2_noyo_optim:Science:PeakDetectFDOM] Stopped
2025-03-12T21:56:15.319Z,1741816575.319 [sci2_noyo_optim:Science:PeakDetectFDOM](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:PeakDetectFDOM
2025-03-12T21:56:15.319Z,1741816575.319 [sci2_noyo_optim:Science:PeakDetectFDOM:A] Stopped
2025-03-12T21:56:15.319Z,1741816575.319 [sci2_noyo_optim:Science:HighestOilPeakReport] Stopped
2025-03-12T21:56:15.319Z,1741816575.319 [sci2_noyo_optim:Science:HighestOilPeakReport](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:HighestOilPeakReport
2025-03-12T21:56:15.319Z,1741816575.319 [sci2_noyo_optim:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Stopped
2025-03-12T21:56:15.319Z,1741816575.319 [sci2_noyo_optim:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-03-12T21:56:15.320Z,1741816575.320 [sci2_noyo_optim:Science:PeakDetectOil] Stopped
2025-03-12T21:56:15.320Z,1741816575.320 [sci2_noyo_optim:Science:PeakDetectOil](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:PeakDetectOil
2025-03-12T21:56:15.320Z,1741816575.320 [sci2_noyo_optim:Science:PeakDetectOil:A] Stopped
2025-03-12T21:56:15.320Z,1741816575.320 [sci2_noyo_optim:Science:PeakDetectNO3] Stopped
2025-03-12T21:56:15.320Z,1741816575.320 [sci2_noyo_optim:Science:PeakDetectNO3](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:PeakDetectNO3
2025-03-12T21:56:15.320Z,1741816575.320 [sci2_noyo_optim:Science:PeakDetectNO3:A] Stopped
2025-03-12T21:56:15.320Z,1741816575.320 [sci2_noyo_optim:Science:HighestChlPeakReport] Stopped
2025-03-12T21:56:15.320Z,1741816575.320 [sci2_noyo_optim:Science:HighestChlPeakReport](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:HighestChlPeakReport
2025-03-12T21:56:15.320Z,1741816575.320 [sci2_noyo_optim:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Stopped
2025-03-12T21:56:15.320Z,1741816575.320 [sci2_noyo_optim:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-03-12T21:56:15.320Z,1741816575.320 [sci2_noyo_optim:Science:EdgeDetectChl] Stopped
2025-03-12T21:56:15.320Z,1741816575.320 [sci2_noyo_optim:Science:EdgeDetectChl](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:EdgeDetectChl
2025-03-12T21:56:15.321Z,1741816575.321 [sci2_noyo_optim:Science:EdgeDetectChl:A] Stopped
2025-03-12T21:56:15.321Z,1741816575.321 [sci2_noyo_optim:Science:PeakDetectChl] Stopped
2025-03-12T21:56:15.321Z,1741816575.321 [sci2_noyo_optim:Science:PeakDetectChl](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:PeakDetectChl
2025-03-12T21:56:15.321Z,1741816575.321 [sci2_noyo_optim:Science:PeakDetectChl:A] Stopped
2025-03-12T21:56:15.321Z,1741816575.321 [sci2_noyo_optim:Science:OceanCurrent:A.] Running Loop=1
2025-03-12T21:56:15.321Z,1741816575.321 [sci2_noyo_optim:Science:Read_Oil] Stopped
2025-03-12T21:56:15.321Z,1741816575.321 [sci2_noyo_optim:Science:F] Stopped
2025-03-12T21:56:15.321Z,1741816575.321 [sci2_noyo_optim:Science:E] Running Loop=1
2025-03-12T21:56:15.322Z,1741816575.322 [sci2_noyo_optim:Science:E](DEBUG): Initialize ReadDataComponent to sense mass_concentration_of_chlorophyll_in_sea_water
2025-03-12T21:56:15.322Z,1741816575.322 [sci2_noyo_optim:Science:D] Stopped
2025-03-12T21:56:15.322Z,1741816575.322 [sci2_noyo_optim:Science:C] Running Loop=1
2025-03-12T21:56:15.322Z,1741816575.322 [sci2_noyo_optim:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_temperature
2025-03-12T21:56:15.323Z,1741816575.323 [sci2_noyo_optim:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_salinity
2025-03-12T21:56:15.323Z,1741816575.323 [sci2_noyo_optim:Science:B] Running Loop=1
2025-03-12T21:56:15.332Z,1741816575.332 [sci2_noyo_optim:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_temperature
2025-03-12T21:56:15.332Z,1741816575.332 [sci2_noyo_optim:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_salinity
2025-03-12T21:56:15.332Z,1741816575.332 [sci2_noyo_optim:Science:A] Stopped
2025-03-12T21:56:15.622Z,1741816575.622 [PowerOnly](INFO): Powering up loadControl
2025-03-12T21:56:15.676Z,1741816575.676 [sci2_noyo_optim:D] Stopped
2025-03-12T21:56:15.676Z,1741816575.676 [sci2_noyo_optim:E] Running Loop=1
2025-03-12T21:56:15.712Z,1741816575.712 [WetLabsBB2FL](INFO): Powering up
2025-03-12T21:56:16.043Z,1741816576.043 [sci2_noyo_optim:E] Stopped
2025-03-12T21:56:16.044Z,1741816576.044 [sci2_noyo_optim:G] Running Loop=1
2025-03-12T21:56:16.444Z,1741816576.444 [sci2_noyo_optim:G] Stopped
2025-03-12T21:56:16.444Z,1741816576.444 [sci2_noyo_optim:H] Running Loop=1
2025-03-12T21:56:16.832Z,1741816576.832 [sci2_noyo_optim:H] Stopped
2025-03-12T21:56:16.832Z,1741816576.832 [sci2_noyo_optim:M] Running Loop=1
2025-03-12T21:56:17.234Z,1741816577.234 [sci2_noyo_optim:M] Stopped
2025-03-12T21:56:17.235Z,1741816577.235 [sci2_noyo_optim:StartingMission] Running Loop=1
2025-03-12T21:56:17.235Z,1741816577.235 [sci2_noyo_optim:StartingMission](DEBUG): Aggregate::initialize sci2_noyo_optim:StartingMission
2025-03-12T21:56:17.658Z,1741816577.658 [sci2_noyo_optim:SurfaceComms] Running Loop=1
2025-03-12T21:56:17.658Z,1741816577.658 [sci2_noyo_optim:SurfaceComms](DEBUG): Aggregate::initialize sci2_noyo_optim:SurfaceComms
2025-03-12T21:56:17.658Z,1741816577.658 [sci2_noyo_optim:SurfaceComms:A] Running Loop=1
2025-03-12T21:56:17.658Z,1741816577.658 [sci2_noyo_optim:SurfaceComms:A] Stopped
2025-03-12T21:56:17.659Z,1741816577.659 [sci2_noyo_optim:SurfaceComms:B] Running Loop=1
2025-03-12T21:56:17.659Z,1741816577.659 [sci2_noyo_optim:SurfaceComms:B](DEBUG): Aggregate::initialize sci2_noyo_optim:SurfaceComms:B
2025-03-12T21:56:18.087Z,1741816578.087 [sci2_noyo_optim:NeedComms] Running Loop=1
2025-03-12T21:56:18.087Z,1741816578.087 [sci2_noyo_optim:NeedComms](DEBUG): Aggregate::initialize sci2_noyo_optim:NeedComms
2025-03-12T21:56:18.087Z,1741816578.087 [sci2_noyo_optim:NeedComms:B.GoToSurface] Running Loop=1
2025-03-12T21:56:18.087Z,1741816578.087 [sci2_noyo_optim:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-03-12T21:56:18.088Z,1741816578.088 [sci2_noyo_optim:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-03-12T21:56:18.088Z,1741816578.088 [sci2_noyo_optim:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-03-12T21:56:18.089Z,1741816578.089 [sci2_noyo_optim:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-03-12T21:56:18.089Z,1741816578.089 [sci2_noyo_optim:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-03-12T21:56:18.089Z,1741816578.089 [sci2_noyo_optim:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-03-12T21:56:18.089Z,1741816578.089 [sci2_noyo_optim:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-03-12T21:56:18.090Z,1741816578.090 [sci2_noyo_optim:NeedComms:A] Running Loop=1
2025-03-12T21:56:18.091Z,1741816578.091 [sci2_noyo_optim:NeedComms:A](INFO): last time_fix was:  1741813027.000000 second since 1970/01/01T00:00:00Z 
2025-03-12T21:56:18.091Z,1741816578.091 [sci2_noyo_optim:NeedComms:A] Stopped
2025-03-12T21:56:18.175Z,1741816578.175 [CTD_Seabird](ERROR): Pressure reading out of range: -10.110000 decibar
2025-03-12T21:56:18.176Z,1741816578.176 [CTD_Seabird](INFO): some bad data, not updating bins
2025-03-12T21:56:18.480Z,1741816578.480 [sci2_noyo_optim:NeedComms:C] Running Loop=1
2025-03-12T21:56:18.876Z,1741816578.876 [sci2_noyo_optim:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-03-12T21:56:19.649Z,1741816579.649 [MultiRay](IMPORTANT): MultiRay white lights ON
2025-03-12T21:56:19.836Z,1741816579.836 [DAT](INFO): DAT read: Rx Time:21:56:19.1613

2025-03-12T21:56:19.837Z,1741816579.837 [DAT](INFO): Rx dataTimestamp_ set to:1741816579.836418
2025-03-12T21:56:20.346Z,1741816580.346 [DAT](INFO): DAT read: 21:56:19.1613 LVL= 32752, 27985, 32754, 32755, AGC= 89, IDX= 161, 0.30, 2.620,-1.538, 2.576,-2.663, PHS=-1.031, 1.098,-1.048, RAW= 330.4,   9.2, CAL= 331.9,  12.9, ROT= 178.1, -12.9

2025-03-12T21:56:20.347Z,1741816580.347 [DAT](INFO): got valid direction response:
 21:56:19.1613 LVL= 32752, 27985, 32754, 32755, AGC= 89, IDX= 161, 0.30, 2.620,-1.538, 2.576,-2.663, PHS=-1.031, 1.098,-1.048, RAW= 330.4,   9.2, CAL= 331.9,  12.9, ROT= 178.1, -12.9

2025-03-12T21:56:20.348Z,1741816580.348 [DAT](INFO): DAT read: $Error in header

2025-03-12T21:56:20.348Z,1741816580.348 [DAT](INFO): Received a bad header
2025-03-12T21:56:20.359Z,1741816580.359 [DAT](INFO): #Rx 72: Read direction message, but no range.
2025-03-12T21:56:20.360Z,1741816580.360 [DAT](INFO): direction in FSK: [-0.974225,0.032318,0.223250]
2025-03-12T21:57:13.720Z,1741816633.720 [BackseatComponent](IMPORTANT): ikshana: running backseat application.
2025-03-12T21:58:37.073Z,1741816717.073 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2025-03-12T22:03:18.696Z,1741816998.696 [sci2_noyo_optim:NeedComms:C](INFO): Timed out from 2025-03-12T21:56:18.5Z
2025-03-12T22:03:18.696Z,1741816998.696 [sci2_noyo_optim:NeedComms:C:A_Timeout] Running Loop=1
2025-03-12T22:03:18.696Z,1741816998.696 [sci2_noyo_optim:NeedComms:C:A_Timeout](DEBUG): Aggregate::initialize sci2_noyo_optim:NeedComms:C:A_Timeout
2025-03-12T22:03:18.696Z,1741816998.696 [sci2_noyo_optim:NeedComms:C:A_Timeout:A] Running Loop=1
2025-03-12T22:03:18.696Z,1741816998.696 [sci2_noyo_optim:NeedComms:C:A_Timeout:A](IMPORTANT): first GPS update timeout
2025-03-12T22:03:18.697Z,1741816998.697 [sci2_noyo_optim:NeedComms:C:A_Timeout:A] Stopped
2025-03-12T22:03:18.697Z,1741816998.697 [sci2_noyo_optim:NeedComms:C:A_Timeout](INFO): Completed sci2_noyo_optim:NeedComms:C:A_Timeout
2025-03-12T22:03:18.697Z,1741816998.697 [sci2_noyo_optim:NeedComms:C] Stopped
2025-03-12T22:03:18.697Z,1741816998.697 [sci2_noyo_optim:NeedComms:D] Running Loop=1
2025-03-12T22:03:19.152Z,1741816999.152 [sci2_noyo_optim:NeedComms:D](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-03-12T22:03:26.771Z,1741817006.771 [DataOverHttps](INFO): Sending 39 bytes from file Logs/20250311T232940/Courier0171.lzma
2025-03-12T22:03:27.774Z,1741817007.774 [DataOverHttps](INFO): Moved sent file to Logs/20250311T232940/Courier0171.lzma.bak
2025-03-12T22:03:27.774Z,1741817007.774 [DataOverHttps](INFO): SBD MOMSN=24207890
2025-03-12T22:03:44.809Z,1741817024.809 [DataOverHttps](INFO): Sending 1049 bytes from file Logs/20250311T232940/Express0172.lzma
2025-03-12T22:03:45.813Z,1741817025.813 [DataOverHttps](INFO): Moved sent file to Logs/20250311T232940/Express0172.lzma.bak
2025-03-12T22:03:45.814Z,1741817025.814 [DataOverHttps](INFO): SBD MOMSN=24207892
2025-03-12T22:03:49.397Z,1741817029.397 [NAL9602](INFO): Not Powering down - fast GPS
2025-03-12T22:04:05.275Z,1741817045.275 [DataOverHttps](INFO): Sending 62 bytes from file Logs/20250311T232940/Express0175.lzma
2025-03-12T22:04:06.278Z,1741817046.278 [DataOverHttps](INFO): Moved sent file to Logs/20250311T232940/Express0175.lzma.bak
2025-03-12T22:04:06.278Z,1741817046.278 [DataOverHttps](INFO): SBD MOMSN=24207933
2025-03-12T22:04:07.639Z,1741817047.639 [sci2_noyo_optim:NeedComms:D] Stopped
2025-03-12T22:04:07.640Z,1741817047.640 [sci2_noyo_optim:NeedComms:E] Running Loop=1
2025-03-12T22:04:08.056Z,1741817048.056 [sci2_noyo_optim:NeedComms:E](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-03-12T22:04:09.257Z,1741817049.257 [NAL9602](FAULT): GPS failed to acquire within timeout.
2025-03-12T22:04:09.257Z,1741817049.257 [NAL9602] Data Fault, FailCount= 3
2025-03-12T22:04:09.257Z,1741817049.257 [NAL9602](ERROR): Data Fault
2025-03-12T22:04:09.309Z,1741817049.309 [CBIT](ERROR): Data Fault in component: NAL9602
2025-03-12T22:04:09.662Z,1741817049.662 [NAL9602](INFO): Powering down
2025-03-12T22:04:10.507Z,1741817050.507 [CBIT](INFO): Clearing failed state for component NAL9602
2025-03-12T22:04:10.508Z,1741817050.508 [NAL9602] No Fault, FailCount= 3
2025-03-12T22:04:39.938Z,1741817079.938 [NAL9602](INFO): Powering up NAL9602
2025-03-12T22:04:50.846Z,1741817090.846 [NAL9602](INFO): NAL9602 initialized
2025-03-12T22:07:13.947Z,1741817233.947 [sci2_noyo_optim:BackseatDriver:A.BackseatDriver](INFO): Created data writer for _.data_dir_logging_rate with code: 2169
2025-03-12T22:08:47.240Z,1741817327.240 [DAT](INFO): DAT read: Rx Time:22:08:46.6295

2025-03-12T22:08:47.241Z,1741817327.241 [DAT](INFO): Rx dataTimestamp_ set to:1741817327.240478
2025-03-12T22:08:47.749Z,1741817327.749 [DAT](INFO): DAT read: $Error in header

2025-03-12T22:08:47.749Z,1741817327.749 [DAT](INFO): Received a bad header
2025-03-12T22:09:53.966Z,1741817393.966 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2025-03-12T22:11:07.936Z,1741817467.936 [sci2_noyo_optim:NeedComms:E](INFO): Timed out from 2025-03-12T22:04:07.6Z
2025-03-12T22:11:07.936Z,1741817467.936 [sci2_noyo_optim:NeedComms:E:A_Timeout] Running Loop=1
2025-03-12T22:11:07.936Z,1741817467.936 [sci2_noyo_optim:NeedComms:E:A_Timeout](DEBUG): Aggregate::initialize sci2_noyo_optim:NeedComms:E:A_Timeout
2025-03-12T22:11:07.937Z,1741817467.937 [sci2_noyo_optim:NeedComms:E:A_Timeout:A] Running Loop=1
2025-03-12T22:11:07.937Z,1741817467.937 [sci2_noyo_optim:NeedComms:E:A_Timeout:A](IMPORTANT): second GPS update timeout
2025-03-12T22:11:07.937Z,1741817467.937 [sci2_noyo_optim:NeedComms:E:A_Timeout:A] Stopped
2025-03-12T22:11:07.937Z,1741817467.937 [sci2_noyo_optim:NeedComms:E:A_Timeout](INFO): Completed sci2_noyo_optim:NeedComms:E:A_Timeout
2025-03-12T22:11:07.937Z,1741817467.937 [sci2_noyo_optim:NeedComms:E] Stopped
2025-03-12T22:11:07.944Z,1741817467.944 [sci2_noyo_optim:NeedComms](INFO): Completed sci2_noyo_optim:NeedComms
2025-03-12T22:11:07.944Z,1741817467.944 [sci2_noyo_optim:NeedComms] Stopped
2025-03-12T22:11:07.944Z,1741817467.944 [sci2_noyo_optim:NeedComms](DEBUG): Aggregate::uninitialize sci2_noyo_optim:NeedComms
2025-03-12T22:11:07.944Z,1741817467.944 [sci2_noyo_optim:NeedComms:B.GoToSurface] Stopped
2025-03-12T22:11:07.944Z,1741817467.944 [sci2_noyo_optim:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-03-12T22:11:08.336Z,1741817468.336 [sci2_noyo_optim:SurfaceComms:B](INFO): Completed sci2_noyo_optim:SurfaceComms:B
2025-03-12T22:11:08.336Z,1741817468.336 [sci2_noyo_optim:SurfaceComms:B] Stopped
2025-03-12T22:11:08.336Z,1741817468.336 [sci2_noyo_optim:SurfaceComms:B](DEBUG): Aggregate::uninitialize sci2_noyo_optim:SurfaceComms:B
2025-03-12T22:11:08.336Z,1741817468.336 [sci2_noyo_optim:SurfaceComms:C] Running Loop=1
2025-03-12T22:11:08.720Z,1741817468.720 [sci2_noyo_optim:SurfaceComms:C] Stopped
2025-03-12T22:11:08.720Z,1741817468.720 [sci2_noyo_optim:SurfaceComms](INFO): Completed sci2_noyo_optim:SurfaceComms
2025-03-12T22:11:08.720Z,1741817468.720 [sci2_noyo_optim:SurfaceComms] Stopped
2025-03-12T22:11:08.720Z,1741817468.720 [sci2_noyo_optim:SurfaceComms](DEBUG): Aggregate::uninitialize sci2_noyo_optim:SurfaceComms
2025-03-12T22:11:09.131Z,1741817469.131 [sci2_noyo_optim:StartingMission](INFO): Completed sci2_noyo_optim:StartingMission
2025-03-12T22:11:09.131Z,1741817469.131 [sci2_noyo_optim:StartingMission] Stopped
2025-03-12T22:11:09.132Z,1741817469.132 [sci2_noyo_optim:StartingMission](DEBUG): Aggregate::uninitialize sci2_noyo_optim:StartingMission
2025-03-12T22:11:09.132Z,1741817469.132 [sci2_noyo_optim:Lap] Running Loop=1
2025-03-12T22:11:09.132Z,1741817469.132 [sci2_noyo_optim:Lap](DEBUG): Aggregate::initialize sci2_noyo_optim:Lap
2025-03-12T22:11:09.132Z,1741817469.132 [sci2_noyo_optim:Lap:Dive] Running Loop=1
2025-03-12T22:11:09.133Z,1741817469.133 [sci2_noyo_optim:Lap:Dive](DEBUG): Aggregate::initialize sci2_noyo_optim:Lap:Dive
2025-03-12T22:11:09.133Z,1741817469.133 [sci2_noyo_optim:Lap:Dive:A] Running Loop=1
2025-03-12T22:11:09.133Z,1741817469.133 [sci2_noyo_optim:Lap:Dive:A](DEBUG): Aggregate::initialize sci2_noyo_optim:Lap:Dive:A
2025-03-12T22:11:09.133Z,1741817469.133 [sci2_noyo_optim:Lap:DepthByLap] Running Loop=1
2025-03-12T22:11:09.133Z,1741817469.133 [sci2_noyo_optim:Lap:DepthByLap](DEBUG): Aggregate::initialize sci2_noyo_optim:Lap:DepthByLap
2025-03-12T22:11:09.134Z,1741817469.134 [sci2_noyo_optim:Lap:DepthByLap:A] Running Loop=1
2025-03-12T22:11:09.134Z,1741817469.134 [sci2_noyo_optim:SurfaceComms] Running Loop=1
2025-03-12T22:11:09.134Z,1741817469.134 [sci2_noyo_optim:SurfaceComms](DEBUG): Aggregate::initialize sci2_noyo_optim:SurfaceComms
2025-03-12T22:11:09.134Z,1741817469.134 [sci2_noyo_optim:SurfaceComms:A] Running Loop=1
2025-03-12T22:11:09.135Z,1741817469.135 [sci2_noyo_optim:SurfaceComms:A] Stopped
2025-03-12T22:11:09.135Z,1741817469.135 [sci2_noyo_optim:SurfaceComms:B] Running Loop=1
2025-03-12T22:11:09.135Z,1741817469.135 [sci2_noyo_optim:SurfaceComms:B](DEBUG): Aggregate::initialize sci2_noyo_optim:SurfaceComms:B
2025-03-12T22:11:09.537Z,1741817469.537 [sci2_noyo_optim:Lap:DepthByLap:A] Stopped
2025-03-12T22:11:09.537Z,1741817469.537 [sci2_noyo_optim:Lap:DepthByLap:Wpt1] Running Loop=1
2025-03-12T22:11:09.537Z,1741817469.537 [sci2_noyo_optim:Lap:DepthByLap:Wpt1](DEBUG): Aggregate::initialize sci2_noyo_optim:Lap:DepthByLap:Wpt1
2025-03-12T22:11:09.537Z,1741817469.537 [sci2_noyo_optim:Lap:DepthByLap:Wpt1:A.Waypoint] Running Loop=1
2025-03-12T22:11:09.537Z,1741817469.537 [sci2_noyo_optim:Lap:DepthByLap:Wpt1:A.Waypoint](DEBUG): Initialize WaypointComponent.
2025-03-12T22:11:09.538Z,1741817469.538 [sci2_noyo_optim:Lap:DepthByLap:Wpt1:A.Waypoint](IMPORTANT): Navigating to waypoint: 36.792789,-121.889191
2025-03-12T22:11:09.538Z,1741817469.538 [sci2_noyo_optim:Lap:Dive] Stopped
2025-03-12T22:11:09.539Z,1741817469.539 [sci2_noyo_optim:Lap:Dive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Lap:Dive
2025-03-12T22:11:09.539Z,1741817469.539 [sci2_noyo_optim:Lap:Dive:A] Stopped
2025-03-12T22:11:09.539Z,1741817469.539 [sci2_noyo_optim:Lap:Dive:A](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Lap:Dive:A
2025-03-12T22:11:09.539Z,1741817469.539 [sci2_noyo_optim:DiveCmd] Running Loop=1
2025-03-12T22:11:09.539Z,1741817469.539 [sci2_noyo_optim:DiveCmd](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd
2025-03-12T22:11:09.539Z,1741817469.539 [sci2_noyo_optim:DiveCmd:InitialDive] Running Loop=1
2025-03-12T22:11:09.540Z,1741817469.540 [sci2_noyo_optim:DiveCmd:InitialDive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:InitialDive
2025-03-12T22:11:09.540Z,1741817469.540 [sci2_noyo_optim:DiveCmd:InitialDive:dive] Running Loop=1
2025-03-12T22:11:09.540Z,1741817469.540 [sci2_noyo_optim:DiveCmd:InitialDive:dive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:InitialDive:dive
2025-03-12T22:11:09.540Z,1741817469.540 [sci2_noyo_optim:DiveCmd:InitialDive:dive:A] Running Loop=1
2025-03-12T22:11:09.540Z,1741817469.540 [sci2_noyo_optim:DiveCmd:InitialDive:dive:B] Running Loop=1
2025-03-12T22:11:09.540Z,1741817469.540 [sci2_noyo_optim:DiveCmd:InitialDive:dive:C.Mass] Running Loop=1
2025-03-12T22:11:09.540Z,1741817469.540 [sci2_noyo_optim:DiveCmd:InitialDive:dive:C.Mass](DEBUG): Initialize.
2025-03-12T22:11:09.540Z,1741817469.540 [sci2_noyo_optim:DiveCmd:InitialDive:dive:D] Running Loop=1
2025-03-12T22:11:09.540Z,1741817469.540 [sci2_noyo_optim:DiveCmd:SettleAtDepth] Running Loop=1
2025-03-12T22:11:09.540Z,1741817469.540 [sci2_noyo_optim:DiveCmd:SettleAtDepth](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:SettleAtDepth
2025-03-12T22:11:09.541Z,1741817469.541 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive] Running Loop=1
2025-03-12T22:11:09.541Z,1741817469.541 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:SettleAtDepth:dive
2025-03-12T22:11:09.541Z,1741817469.541 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:B.Pitch] Running Loop=1
2025-03-12T22:11:09.541Z,1741817469.541 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:B.Pitch](DEBUG): Initialize.
2025-03-12T22:11:09.542Z,1741817469.542 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:A] Running Loop=1
2025-03-12T22:11:09.542Z,1741817469.542 [sci2_noyo_optim:DiveCmd:MaintainDepth] Running Loop=1
2025-03-12T22:11:09.542Z,1741817469.542 [sci2_noyo_optim:DiveCmd:MaintainDepth](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepth
2025-03-12T22:11:09.542Z,1741817469.542 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive] Running Loop=1
2025-03-12T22:11:09.542Z,1741817469.542 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive
2025-03-12T22:11:09.542Z,1741817469.542 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive] Running Loop=1
2025-03-12T22:11:09.542Z,1741817469.542 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive
2025-03-12T22:11:09.542Z,1741817469.542 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass] Running Loop=1
2025-03-12T22:11:09.542Z,1741817469.542 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass](DEBUG): Initialize.
2025-03-12T22:11:09.543Z,1741817469.543 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed] Running Loop=1
2025-03-12T22:11:09.543Z,1741817469.543 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed](DEBUG): Initialize.
2025-03-12T22:11:09.543Z,1741817469.543 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:B.Pitch] Running Loop=1
2025-03-12T22:11:09.543Z,1741817469.543 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:B.Pitch](DEBUG): Initialize.
2025-03-12T22:11:09.543Z,1741817469.543 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow] Running Loop=1
2025-03-12T22:11:09.543Z,1741817469.543 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepthSlow
2025-03-12T22:11:09.544Z,1741817469.544 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:A.SetSpeed] Running Loop=1
2025-03-12T22:11:09.544Z,1741817469.544 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:A.SetSpeed](DEBUG): Initialize.
2025-03-12T22:11:09.544Z,1741817469.544 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:B] Running Loop=1
2025-03-12T22:11:09.544Z,1741817469.544 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:C.Buoyancy] Running Loop=1
2025-03-12T22:11:09.544Z,1741817469.544 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:C.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-03-12T22:11:09.544Z,1741817469.544 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:D.Pitch] Running Loop=1
2025-03-12T22:11:09.544Z,1741817469.544 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:D.Pitch](DEBUG): Initialize.
2025-03-12T22:11:09.545Z,1741817469.545 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow] Stopped
2025-03-12T22:11:09.545Z,1741817469.545 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepthSlow
2025-03-12T22:11:09.545Z,1741817469.545 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:A.SetSpeed] Stopped
2025-03-12T22:11:09.545Z,1741817469.545 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:A.SetSpeed](DEBUG): Uninitialize.
2025-03-12T22:11:09.545Z,1741817469.545 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:B] Stopped
2025-03-12T22:11:09.545Z,1741817469.545 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:C.Buoyancy] Stopped
2025-03-12T22:11:09.545Z,1741817469.545 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-03-12T22:11:09.545Z,1741817469.545 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:D.Pitch] Stopped
2025-03-12T22:11:09.545Z,1741817469.545 [sci2_noyo_optim:DiveCmd:MaintainDepth] Running Loop=1
2025-03-12T22:11:09.546Z,1741817469.546 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive] Running Loop=1
2025-03-12T22:11:09.546Z,1741817469.546 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:B.Pitch] Running Loop=1
2025-03-12T22:11:09.546Z,1741817469.546 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive] Running Loop=1
2025-03-12T22:11:09.546Z,1741817469.546 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed] Running Loop=1
2025-03-12T22:11:09.546Z,1741817469.546 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass] Running Loop=1
2025-03-12T22:11:09.547Z,1741817469.547 [sci2_noyo_optim:DiveCmd:SettleAtDepth] Stopped
2025-03-12T22:11:09.547Z,1741817469.547 [sci2_noyo_optim:DiveCmd:SettleAtDepth](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:SettleAtDepth
2025-03-12T22:11:09.547Z,1741817469.547 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive] Stopped
2025-03-12T22:11:09.547Z,1741817469.547 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:SettleAtDepth:dive
2025-03-12T22:11:09.547Z,1741817469.547 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:A] Stopped
2025-03-12T22:11:09.547Z,1741817469.547 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:B.Pitch] Stopped
2025-03-12T22:11:09.547Z,1741817469.547 [sci2_noyo_optim:DiveCmd:InitialDive] Stopped
2025-03-12T22:11:09.548Z,1741817469.548 [sci2_noyo_optim:DiveCmd:InitialDive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:InitialDive
2025-03-12T22:11:09.548Z,1741817469.548 [sci2_noyo_optim:DiveCmd:InitialDive:dive] Stopped
2025-03-12T22:11:09.548Z,1741817469.548 [sci2_noyo_optim:DiveCmd:InitialDive:dive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:InitialDive:dive
2025-03-12T22:11:09.548Z,1741817469.548 [sci2_noyo_optim:DiveCmd:InitialDive:dive:A] Stopped
2025-03-12T22:11:09.548Z,1741817469.548 [sci2_noyo_optim:DiveCmd:InitialDive:dive:B] Stopped
2025-03-12T22:11:09.548Z,1741817469.548 [sci2_noyo_optim:DiveCmd:InitialDive:dive:C.Mass] Stopped
2025-03-12T22:11:09.548Z,1741817469.548 [sci2_noyo_optim:DiveCmd:InitialDive:dive:C.Mass](DEBUG): Uninitialize.
2025-03-12T22:11:09.548Z,1741817469.548 [sci2_noyo_optim:DiveCmd:InitialDive:dive:D] Stopped
2025-03-12T22:11:09.551Z,1741817469.551 [sci2_noyo_optim:NeedComms] Running Loop=1
2025-03-12T22:11:09.551Z,1741817469.551 [sci2_noyo_optim:NeedComms](DEBUG): Aggregate::initialize sci2_noyo_optim:NeedComms
2025-03-12T22:11:09.551Z,1741817469.551 [sci2_noyo_optim:NeedComms:B.GoToSurface] Running Loop=1
2025-03-12T22:11:09.551Z,1741817469.551 [sci2_noyo_optim:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-03-12T22:11:09.552Z,1741817469.552 [sci2_noyo_optim:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-03-12T22:11:09.552Z,1741817469.552 [sci2_noyo_optim:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-03-12T22:11:09.553Z,1741817469.553 [sci2_noyo_optim:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-03-12T22:11:09.553Z,1741817469.553 [sci2_noyo_optim:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-03-12T22:11:09.553Z,1741817469.553 [sci2_noyo_optim:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-03-12T22:11:09.554Z,1741817469.554 [sci2_noyo_optim:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-03-12T22:11:09.554Z,1741817469.554 [sci2_noyo_optim:NeedComms:A] Running Loop=1
2025-03-12T22:11:09.556Z,1741817469.556 [sci2_noyo_optim:NeedComms:A](INFO): last time_fix was:  1741813027.000000 second since 1970/01/01T00:00:00Z 
2025-03-12T22:11:09.557Z,1741817469.557 [sci2_noyo_optim:NeedComms:A] Stopped
2025-03-12T22:11:09.954Z,1741817469.954 [sci2_noyo_optim:Lap:DepthByLap:Wpt1:A.Waypoint](INFO): Navigating to waypoint: 36.792789,-121.889191
2025-03-12T22:11:09.960Z,1741817469.960 [sci2_noyo_optim:NeedComms:C] Running Loop=1
2025-03-12T22:11:34.164Z,1741817494.164 [BPC1](INFO): Calculating totals. Valid battery stick count: 51. Valid reserve battery stick count: 5.
2025-03-12T22:11:34.167Z,1741817494.167 [BPC1](FAULT): Failed to receive data from 2 sticks prior to timeout. Will not retry this scan cycle. Missing stick IDs are: 21, 24.
2025-03-12T22:14:52.594Z,1741817692.594 [NAL9602](FAULT): GPS failed to acquire within timeout.
2025-03-12T22:14:52.594Z,1741817692.594 [NAL9602] Data Fault, FailCount= 4
2025-03-12T22:14:52.594Z,1741817692.594 [NAL9602](ERROR): Data Fault
2025-03-12T22:14:52.647Z,1741817692.647 [CBIT](ERROR): Data Fault in component: NAL9602
2025-03-12T22:14:52.965Z,1741817692.965 [NAL9602](INFO): Powering down
2025-03-12T22:14:53.859Z,1741817693.859 [CBIT](INFO): Clearing failed state for component NAL9602
2025-03-12T22:14:53.860Z,1741817693.860 [NAL9602] No Fault, FailCount= 4
2025-03-12T22:15:23.265Z,1741817723.265 [NAL9602](INFO): Powering up NAL9602
2025-03-12T22:15:34.171Z,1741817734.171 [NAL9602](INFO): NAL9602 initialized
2025-03-12T22:18:10.132Z,1741817890.132 [sci2_noyo_optim:NeedComms:C](INFO): Timed out from 2025-03-12T22:11:09.0Z
2025-03-12T22:18:10.132Z,1741817890.132 [sci2_noyo_optim:NeedComms:C:A_Timeout] Running Loop=1
2025-03-12T22:18:10.132Z,1741817890.132 [sci2_noyo_optim:NeedComms:C:A_Timeout](DEBUG): Aggregate::initialize sci2_noyo_optim:NeedComms:C:A_Timeout
2025-03-12T22:18:10.132Z,1741817890.132 [sci2_noyo_optim:NeedComms:C:A_Timeout:A] Running Loop=1
2025-03-12T22:18:10.132Z,1741817890.132 [sci2_noyo_optim:NeedComms:C:A_Timeout:A](IMPORTANT): first GPS update timeout
2025-03-12T22:18:10.132Z,1741817890.132 [sci2_noyo_optim:NeedComms:C:A_Timeout:A] Stopped
2025-03-12T22:18:10.133Z,1741817890.133 [sci2_noyo_optim:NeedComms:C:A_Timeout](INFO): Completed sci2_noyo_optim:NeedComms:C:A_Timeout
2025-03-12T22:18:10.133Z,1741817890.133 [sci2_noyo_optim:NeedComms:C] Stopped
2025-03-12T22:18:10.133Z,1741817890.133 [sci2_noyo_optim:NeedComms:D] Running Loop=1
2025-03-12T22:18:18.743Z,1741817898.743 [DataOverHttps](INFO): Sending 50 bytes from file Logs/20250311T232940/Courier0177.lzma
2025-03-12T22:18:19.746Z,1741817899.746 [DataOverHttps](INFO): Moved sent file to Logs/20250311T232940/Courier0177.lzma.bak
2025-03-12T22:18:19.746Z,1741817899.746 [DataOverHttps](INFO): SBD MOMSN=24210278
2025-03-12T22:18:39.148Z,1741817919.148 [DataOverHttps](INFO): Sending 407 bytes from file Logs/20250311T232940/Express0178.lzma
2025-03-12T22:18:40.150Z,1741817920.150 [DataOverHttps](INFO): Moved sent file to Logs/20250311T232940/Express0178.lzma.bak
2025-03-12T22:18:40.150Z,1741817920.150 [DataOverHttps](INFO): SBD MOMSN=24210280
2025-03-12T22:18:41.263Z,1741817921.263 [sci2_noyo_optim:NeedComms:D] Stopped
2025-03-12T22:18:41.264Z,1741817921.264 [sci2_noyo_optim:NeedComms:E] Running Loop=1
2025-03-12T22:25:36.582Z,1741818336.582 [NAL9602](FAULT): GPS failed to acquire within timeout.
2025-03-12T22:25:36.582Z,1741818336.582 [NAL9602] Data Fault, FailCount= 5
2025-03-12T22:25:36.582Z,1741818336.582 [NAL9602](ERROR): Data Fault
2025-03-12T22:25:36.623Z,1741818336.623 [CBIT](ERROR): Data Fault in component: NAL9602
2025-03-12T22:25:36.624Z,1741818336.624 [CBIT](CRITICAL): Data Fault in component: NAL9602
2025-03-12T22:25:36.989Z,1741818336.989 [NAL9602](INFO): Powering down
2025-03-12T22:25:37.017Z,1741818337.017 [CBIT](INFO): Critical error at 20250312T222536
2025-03-12T22:25:37.017Z,1741818337.017 [Supervisor](INFO): Stop Mission called by CBIT::checkCriticals
2025-03-12T22:25:37.423Z,1741818337.423 [MissionManager](INFO): MissionManager is completed.
2025-03-12T22:25:37.423Z,1741818337.423 [MissionManager](INFO): Uninitializing Mission sci2_noyo_optim
2025-03-12T22:25:37.423Z,1741818337.423 [sci2_noyo_optim] Stopped
2025-03-12T22:25:37.427Z,1741818337.427 [sci2_noyo_optim](DEBUG): Aggregate::uninitialize sci2_noyo_optim
2025-03-12T22:25:37.427Z,1741818337.427 [sci2_noyo_optim:Science] Stopped
2025-03-12T22:25:37.427Z,1741818337.427 [sci2_noyo_optim:Science](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science
2025-03-12T22:25:37.427Z,1741818337.427 [sci2_noyo_optim:Science:B] Stopped
2025-03-12T22:25:37.428Z,1741818337.428 [sci2_noyo_optim:Science:C] Stopped
2025-03-12T22:25:37.428Z,1741818337.428 [sci2_noyo_optim:Science:E] Stopped
2025-03-12T22:25:37.428Z,1741818337.428 [sci2_noyo_optim:Science:OceanCurrent] Stopped
2025-03-12T22:25:37.428Z,1741818337.428 [sci2_noyo_optim:Science:OceanCurrent](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:OceanCurrent
2025-03-12T22:25:37.428Z,1741818337.428 [sci2_noyo_optim:Science:OceanCurrent:A.] Stopped
2025-03-12T22:25:37.428Z,1741818337.428 [sci2_noyo_optim:StandardEnvelopes] Stopped
2025-03-12T22:25:37.428Z,1741818337.428 [sci2_noyo_optim:StandardEnvelopes](DEBUG): Aggregate::uninitialize sci2_noyo_optim:StandardEnvelopes
2025-03-12T22:25:37.428Z,1741818337.428 [sci2_noyo_optim:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-03-12T22:25:37.428Z,1741818337.428 [sci2_noyo_optim:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-03-12T22:25:37.428Z,1741818337.428 [sci2_noyo_optim:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-03-12T22:25:37.428Z,1741818337.428 [sci2_noyo_optim:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-03-12T22:25:37.428Z,1741818337.428 [sci2_noyo_optim:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-03-12T22:25:37.428Z,1741818337.428 [sci2_noyo_optim:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-03-12T22:25:37.429Z,1741818337.429 [sci2_noyo_optim:NeedComms] Stopped
2025-03-12T22:25:37.429Z,1741818337.429 [sci2_noyo_optim:NeedComms](DEBUG): Aggregate::uninitialize sci2_noyo_optim:NeedComms
2025-03-12T22:25:37.429Z,1741818337.429 [sci2_noyo_optim:NeedComms:B.GoToSurface] Stopped
2025-03-12T22:25:37.430Z,1741818337.430 [sci2_noyo_optim:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-03-12T22:25:37.430Z,1741818337.430 [sci2_noyo_optim:NeedComms:E] Stopped
2025-03-12T22:25:37.430Z,1741818337.430 [sci2_noyo_optim:BackseatDriver] Stopped
2025-03-12T22:25:37.431Z,1741818337.431 [sci2_noyo_optim:BackseatDriver](DEBUG): Aggregate::uninitialize sci2_noyo_optim:BackseatDriver
2025-03-12T22:25:37.435Z,1741818337.435 [sci2_noyo_optim:BackseatDriver:A.BackseatDriver] Stopped
2025-03-12T22:25:37.435Z,1741818337.435 [sci2_noyo_optim:J] Stopped
2025-03-12T22:25:37.435Z,1741818337.435 [sci2_noyo_optim:PowerOnly] Stopped
2025-03-12T22:25:37.436Z,1741818337.436 [sci2_noyo_optim:PowerOnly](DEBUG): Aggregate::uninitialize sci2_noyo_optim:PowerOnly
2025-03-12T22:25:37.436Z,1741818337.436 [sci2_noyo_optim:PowerOnly:B] Stopped
2025-03-12T22:25:37.436Z,1741818337.436 [sci2_noyo_optim:PowerOnly:E.Wait] Stopped
2025-03-12T22:25:37.436Z,1741818337.436 [sci2_noyo_optim:PowerOnly:E.Wait](DEBUG): Uninitialize Wait Component.
2025-03-12T22:25:37.436Z,1741818337.436 [sci2_noyo_optim:L] Stopped
2025-03-12T22:25:37.436Z,1741818337.436 [sci2_noyo_optim:N] Stopped
2025-03-12T22:25:37.436Z,1741818337.436 [sci2_noyo_optim:O.Buoyancy] Stopped
2025-03-12T22:25:37.436Z,1741818337.436 [sci2_noyo_optim:O.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-03-12T22:25:37.436Z,1741818337.436 [sci2_noyo_optim:SurfaceComms] Stopped
2025-03-12T22:25:37.436Z,1741818337.436 [sci2_noyo_optim:SurfaceComms](DEBUG): Aggregate::uninitialize sci2_noyo_optim:SurfaceComms
2025-03-12T22:25:37.436Z,1741818337.436 [sci2_noyo_optim:SurfaceComms:B] Stopped
2025-03-12T22:25:37.436Z,1741818337.436 [sci2_noyo_optim:SurfaceComms:B](DEBUG): Aggregate::uninitialize sci2_noyo_optim:SurfaceComms:B
2025-03-12T22:25:37.436Z,1741818337.436 [sci2_noyo_optim:DiveCmd] Stopped
2025-03-12T22:25:37.437Z,1741818337.437 [sci2_noyo_optim:DiveCmd](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd
2025-03-12T22:25:37.437Z,1741818337.437 [sci2_noyo_optim:DiveCmd:MaintainDepth] Stopped
2025-03-12T22:25:37.437Z,1741818337.437 [sci2_noyo_optim:DiveCmd:MaintainDepth](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepth
2025-03-12T22:25:37.437Z,1741818337.437 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive] Stopped
2025-03-12T22:25:37.437Z,1741818337.437 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive
2025-03-12T22:25:37.437Z,1741818337.437 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive] Stopped
2025-03-12T22:25:37.437Z,1741818337.437 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive
2025-03-12T22:25:37.437Z,1741818337.437 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass] Stopped
2025-03-12T22:25:37.437Z,1741818337.437 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass](DEBUG): Uninitialize.
2025-03-12T22:25:37.437Z,1741818337.437 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed] Stopped
2025-03-12T22:25:37.437Z,1741818337.437 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed](DEBUG): Uninitialize.
2025-03-12T22:25:37.437Z,1741818337.437 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:B.Pitch] Stopped
2025-03-12T22:25:37.437Z,1741818337.437 [sci2_noyo_optim:Lap] Stopped
2025-03-12T22:25:37.438Z,1741818337.438 [sci2_noyo_optim:Lap](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Lap
2025-03-12T22:25:37.438Z,1741818337.438 [sci2_noyo_optim:Lap:DepthByLap] Stopped
2025-03-12T22:25:37.438Z,1741818337.438 [sci2_noyo_optim:Lap:DepthByLap](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Lap:DepthByLap
2025-03-12T22:25:37.438Z,1741818337.438 [sci2_noyo_optim:Lap:DepthByLap:Wpt1] Stopped
2025-03-12T22:25:37.438Z,1741818337.438 [sci2_noyo_optim:Lap:DepthByLap:Wpt1](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Lap:DepthByLap:Wpt1
2025-03-12T22:25:37.438Z,1741818337.438 [sci2_noyo_optim:Lap:DepthByLap:Wpt1:A.Waypoint] Stopped
2025-03-12T22:25:37.438Z,1741818337.438 [sci2_noyo_optim:Lap:DepthByLap:Wpt1:A.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-03-12T22:25:37.632Z,1741818337.632 [WetLabsBB2FL](INFO): Powering down
2025-03-12T22:25:37.948Z,1741818337.948 [MissionManager](IMPORTANT): Started mission Default
2025-03-12T22:25:37.948Z,1741818337.948 [Default] Running Loop=1
2025-03-12T22:25:37.948Z,1741818337.948 [Default](DEBUG): Aggregate::initialize Default
2025-03-12T22:25:37.948Z,1741818337.948 [Default:B.GoToSurface] Running Loop=1
2025-03-12T22:25:37.948Z,1741818337.948 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-03-12T22:25:37.949Z,1741818337.949 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-03-12T22:25:37.949Z,1741818337.949 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-03-12T22:25:37.949Z,1741818337.949 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-03-12T22:25:37.950Z,1741818337.950 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-03-12T22:25:37.950Z,1741818337.950 [Default:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-03-12T22:25:37.950Z,1741818337.950 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-03-12T22:25:37.951Z,1741818337.951 [Default:A.Wait] Running Loop=1
2025-03-12T22:25:37.951Z,1741818337.951 [Default:A.Wait](DEBUG): Initialize Wait Component.
2025-03-12T22:25:38.001Z,1741818338.001 [BackseatComponent](INFO): Sent LCM shutdown request.
2025-03-12T22:25:38.001Z,1741818338.001 [BackseatComponent](INFO): Shutdown requested. Waiting (18.00 sec to power down.).
2025-03-12T22:25:51.281Z,1741818351.281 [Default:A.Wait](INFO): Done Waiting.
2025-03-12T22:25:51.281Z,1741818351.281 [Default:A.Wait] Stopped
2025-03-12T22:25:51.281Z,1741818351.281 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2025-03-12T22:25:51.566Z,1741818351.566 [Default:CheckIn] Running Loop=1
2025-03-12T22:25:51.567Z,1741818351.567 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-03-12T22:25:51.567Z,1741818351.567 [Default:CheckIn:Read_GPS] Running Loop=1
2025-03-12T22:25:56.192Z,1741818356.192 [BackseatComponent](INFO): Powering down and starting shutdown timer (18.00 sec).
2025-03-12T22:25:56.192Z,1741818356.192 [BackseatComponent](INFO): Unsubscribing from LCM channels.
2025-03-12T22:25:56.192Z,1741818356.192 [LcmUniversalReporter](INFO): Deactivating messaging.
2025-03-12T22:27:07.881Z,1741818427.881 [PowerOnly](INFO): Powering down loadControl
2025-03-12T22:27:36.596Z,1741818456.596 [CBIT](INFO): Clearing failed state for component NAL9602
2025-03-12T22:27:36.596Z,1741818456.596 [NAL9602] No Fault, FailCount= 5
2025-03-12T22:27:36.977Z,1741818456.977 [NAL9602](INFO): Powering up NAL9602
2025-03-12T22:27:47.878Z,1741818467.878 [NAL9602](INFO): NAL9602 initialized
2025-03-12T22:30:51.713Z,1741818651.713 [Default:CheckIn:Read_GPS](INFO): Timed out from 2025-03-12T22:25:51.6Z
2025-03-12T22:30:51.714Z,1741818651.714 [Default:CheckIn:Read_GPS] Stopped
2025-03-12T22:30:51.714Z,1741818651.714 [Default:CheckIn:Read_Iridium] Running Loop=1
2025-03-12T22:31:00.351Z,1741818660.351 [DataOverHttps](INFO): Sending 81 bytes from file Logs/20250311T232940/Courier0180.lzma
2025-03-12T22:31:01.353Z,1741818661.353 [DataOverHttps](INFO): Moved sent file to Logs/20250311T232940/Courier0180.lzma.bak
2025-03-12T22:31:01.353Z,1741818661.353 [DataOverHttps](INFO): SBD MOMSN=24212165
2025-03-12T22:31:17.315Z,1741818677.315 [DataOverHttps](INFO): Sending 184 bytes from file Logs/20250311T232940/Express0181.lzma
2025-03-12T22:31:18.318Z,1741818678.318 [DataOverHttps](INFO): Moved sent file to Logs/20250311T232940/Express0181.lzma.bak
2025-03-12T22:31:18.318Z,1741818678.318 [DataOverHttps](INFO): SBD MOMSN=24212169
2025-03-12T22:31:19.596Z,1741818679.596 [Default:CheckIn:Read_Iridium] Stopped
2025-03-12T22:31:19.596Z,1741818679.596 [Default:CheckIn:C.Wait] Running Loop=1
2025-03-12T22:31:19.596Z,1741818679.596 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2025-03-12T22:31:22.404Z,1741818682.404 [NAL9602](INFO): Not Powering down - fast GPS
2025-03-12T22:36:20.206Z,1741818980.206 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2025-03-12T22:36:20.206Z,1741818980.206 [Default:CheckIn:C.Wait] Stopped
2025-03-12T22:36:20.206Z,1741818980.206 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2025-03-12T22:36:20.206Z,1741818980.206 [Default:CheckIn:D] Running Loop=1
2025-03-12T22:36:20.607Z,1741818980.607 [Default:CheckIn:D] Stopped
2025-03-12T22:36:20.607Z,1741818980.607 [Default:CheckIn:E] Running Loop=1
2025-03-12T22:36:21.012Z,1741818981.012 [Default:CheckIn:E](IMPORTANT): Default mission has been running for  10.710971 min 
2025-03-12T22:36:21.013Z,1741818981.013 [Default:CheckIn:E] Stopped
2025-03-12T22:36:21.013Z,1741818981.013 [Default:CheckIn](INFO): Completed Default:CheckIn
2025-03-12T22:36:21.013Z,1741818981.013 [Default:CheckIn] Stopped
2025-03-12T22:36:21.013Z,1741818981.013 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-03-12T22:36:21.013Z,1741818981.013 [Default:CheckIn](INFO): Running loop #2
2025-03-12T22:36:21.013Z,1741818981.013 [Default:CheckIn] Running Loop=2
2025-03-12T22:36:21.013Z,1741818981.013 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-03-12T22:36:21.013Z,1741818981.013 [Default:CheckIn:Read_GPS] Running Loop=1
2025-03-12T22:36:23.024Z,1741818983.024 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,223621.00,A,3648.03872,N,12151.58568,W,1.847,70.54,120325,,,A*46
2025-03-12T22:36:23.026Z,1741818983.026 [NAL9602](INFO): GPS fix at 20250312T223621: (36.800645, -121.859761)
2025-03-12T22:36:23.053Z,1741818983.053 [UniversalFixResidualReporter](INFO): Fix residual: 61.3 %DT, over the last 1860.9 m. Residual distance 1140.4 m at bearing -105.3 degrees. Fix at (36.8006, -121.8598) with 2642.2 m made good.
2025-03-12T22:36:23.054Z,1741818983.054 [Default:CheckIn:Read_GPS] Stopped
2025-03-12T22:36:23.054Z,1741818983.054 [Default:CheckIn:Read_Iridium] Running Loop=1
2025-03-12T22:36:30.295Z,1741818990.295 [DataOverHttps](INFO): Sending 82 bytes from file Logs/20250311T232940/Courier0183.lzma
2025-03-12T22:36:31.297Z,1741818991.297 [DataOverHttps](INFO): Moved sent file to Logs/20250311T232940/Courier0183.lzma.bak
2025-03-12T22:36:31.298Z,1741818991.298 [DataOverHttps](INFO): SBD MOMSN=24213143
2025-03-12T22:36:47.795Z,1741819007.795 [DataOverHttps](INFO): Sending 162 bytes from file Logs/20250311T232940/Express0184.lzma
2025-03-12T22:36:48.797Z,1741819008.797 [DataOverHttps](INFO): Moved sent file to Logs/20250311T232940/Express0184.lzma.bak
2025-03-12T22:36:48.798Z,1741819008.798 [DataOverHttps](INFO): SBD MOMSN=24213146
2025-03-12T22:36:48.886Z,1741819008.886 [NAL9602](IMPORTANT): SBD MO Status=0, MOMSN=18517, MT Status=1, MTMSN=1046
2025-03-12T22:36:48.887Z,1741819008.887 [NAL9602](INFO): Data available in MT queue
2025-03-12T22:36:49.624Z,1741819009.624 [NAL9602](INFO): Received command: sched asap "load Science/sci2_noyo_optim.tl;set sci2_noyo_optim.MissionTimeout 3 h;set sci2_noyo_optim.NeedCommsTime 60 min;set sci2_noyo_optim.Depth1 90 m;set sci2_noyo_optim.Repeat 2 count;set sci2_noyo_optim.Lat1 36.79702 degree" 32jvd 1 3
2025-03-12T22:36:49.660Z,1741819009.660 [CommandExec](IMPORTANT): got command schedule asap "load Science/sci2_noyo_optim.tl;set sci2_noyo_optim.MissionTimeout 3 h;set sci2_noyo_optim.NeedCommsTime 60 min;set sci2_noyo_optim.Depth1 90 m;set sci2_noyo_optim.Repeat 2 count;set sci2_noyo_optim.Lat1 36.79702 degree" 32jvd 1 3.000000
2025-03-12T22:36:49.661Z,1741819009.661 [CommandExec](IMPORTANT): Scheduling command #1 of 3 with id=32jvd
2025-03-12T22:36:49.662Z,1741819009.662 [CommandExec](IMPORTANT): Scheduled #25 (#1 of 3 with id='32jvd'): "load Science/sci2_noyo_optim.tl;set sci2_noyo_optim.MissionTimeout 3 h;set sci2_noyo_optim.NeedCommsTime 60 min;set sci2_noyo_optim.Depth1 90 m;set sci2_noyo_optim.Repeat 2 count;set sci2_noyo_optim.Lat1 36.79702 degree", ASAP
2025-03-12T22:36:50.111Z,1741819010.111 [Default:CheckIn:Read_Iridium] Stopped
2025-03-12T22:36:50.111Z,1741819010.111 [Default:CheckIn:C.Wait] Running Loop=1
2025-03-12T22:36:50.111Z,1741819010.111 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2025-03-12T22:37:19.987Z,1741819039.987 [NAL9602](INFO): Not Powering down - fast GPS
2025-03-12T22:41:50.689Z,1741819310.689 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2025-03-12T22:41:50.690Z,1741819310.690 [Default:CheckIn:C.Wait] Stopped
2025-03-12T22:41:50.690Z,1741819310.690 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2025-03-12T22:41:50.690Z,1741819310.690 [Default:CheckIn:D] Running Loop=1
2025-03-12T22:41:51.120Z,1741819311.120 [Default:CheckIn:D] Stopped
2025-03-12T22:41:51.120Z,1741819311.120 [Default:CheckIn:E] Running Loop=1
2025-03-12T22:41:51.516Z,1741819311.516 [Default:CheckIn:E](IMPORTANT): Default mission has been running for  16.219527 min 
2025-03-12T22:41:51.517Z,1741819311.517 [Default:CheckIn:E] Stopped
2025-03-12T22:41:51.517Z,1741819311.517 [Default:CheckIn](INFO): Completed Default:CheckIn
2025-03-12T22:41:51.517Z,1741819311.517 [Default:CheckIn] Stopped
2025-03-12T22:41:51.517Z,1741819311.517 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-03-12T22:41:51.517Z,1741819311.517 [Default:CheckIn](INFO): Running loop #3
2025-03-12T22:41:51.517Z,1741819311.517 [Default:CheckIn] Running Loop=3
2025-03-12T22:41:51.517Z,1741819311.517 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-03-12T22:41:51.517Z,1741819311.517 [Default:CheckIn:Read_GPS] Running Loop=1
2025-03-12T22:41:53.507Z,1741819313.507 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,224151.00,A,3648.05062,N,12151.49213,W,0.661,102.85,120325,,,A*76
2025-03-12T22:41:53.509Z,1741819313.509 [NAL9602](INFO): GPS fix at 20250312T224151: (36.800844, -121.858202)
2025-03-12T22:41:53.523Z,1741819313.523 [Default:CheckIn:Read_GPS] Stopped
2025-03-12T22:41:53.524Z,1741819313.524 [Default:CheckIn:Read_Iridium] Running Loop=1
2025-03-12T22:42:00.727Z,1741819320.727 [DataOverHttps](INFO): Sending 73 bytes from file Logs/20250311T232940/Courier0186.lzma
2025-03-12T22:42:01.729Z,1741819321.729 [DataOverHttps](INFO): Moved sent file to Logs/20250311T232940/Courier0186.lzma.bak
2025-03-12T22:42:01.730Z,1741819321.730 [DataOverHttps](INFO): SBD MOMSN=24214093
2025-03-12T22:42:07.246Z,1741819327.246 [NAL9602](IMPORTANT): SBD MO Status=0, MOMSN=18518, MT Status=1, MTMSN=1047
2025-03-12T22:42:07.246Z,1741819327.246 [NAL9602](INFO): Data available in MT queue
2025-03-12T22:42:07.968Z,1741819327.968 [NAL9602](INFO): Received command: sched asap "set sci2_noyo_optim.Lon1 -121.8667 degree;set sci2_noyo_optim.Lat2 36.79688 degree;set sci2_noyo_optim.Lon2 -121.88005 degree;set sci2_noyo_optim.ApproachDepth 10 m;set sci2_noyo_optim.SlowSpeed 0.4 m/s" 32jvd 2 3
2025-03-12T22:42:08.060Z,1741819328.060 [CommandExec](IMPORTANT): got command schedule asap "set sci2_noyo_optim.Lon1 -121.8667 degree;set sci2_noyo_optim.Lat2 36.79688 degree;set sci2_noyo_optim.Lon2 -121.88005 degree;set sci2_noyo_optim.ApproachDepth 10 m;set sci2_noyo_optim.SlowSpeed 0.4 m/s" 32jvd 2 3.000000
2025-03-12T22:42:08.061Z,1741819328.061 [CommandExec](IMPORTANT): Scheduling command #2 of 3 with id=32jvd
2025-03-12T22:42:08.062Z,1741819328.062 [CommandExec](IMPORTANT): Scheduled #26 (#2 of 3 with id='32jvd'): "set sci2_noyo_optim.Lon1 -121.8667 degree;set sci2_noyo_optim.Lat2 36.79688 degree;set sci2_noyo_optim.Lon2 -121.88005 degree;set sci2_noyo_optim.ApproachDepth 10 m;set sci2_noyo_optim.SlowSpeed 0.4 m/s", ASAP
2025-03-12T22:42:17.748Z,1741819337.748 [DataOverHttps](INFO): Sending 407 bytes from file Logs/20250311T232940/Express0187.lzma
2025-03-12T22:42:19.754Z,1741819339.754 [DataOverHttps](INFO): Moved sent file to Logs/20250311T232940/Express0187.lzma.bak
2025-03-12T22:42:19.754Z,1741819339.754 [DataOverHttps](INFO): SBD MOMSN=24214096
2025-03-12T22:42:20.995Z,1741819340.995 [Default:CheckIn:Read_Iridium] Stopped
2025-03-12T22:42:20.995Z,1741819340.995 [Default:CheckIn:C.Wait] Running Loop=1
2025-03-12T22:42:20.995Z,1741819340.995 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2025-03-12T22:42:38.373Z,1741819358.373 [NAL9602](INFO): Not Powering down - fast GPS
2025-03-12T22:45:26.273Z,1741819526.273 [DataOverHttps](IMPORTANT): SBD MTMSN=20250312T224525
2025-03-12T22:45:34.771Z,1741819534.771 [DataOverHttps](INFO): Received command: sched asap "load Science/sci2_noyo_optim.tl;set sci2_noyo_optim.MissionTimeout 6 h;set sci2_noyo_optim.NeedCommsTime 60 min;set sci2_noyo_optim.Depth1 250 m;set sci2_noyo_optim.Depth2 280 m;set sci2_noyo_optim.Depth3 NaN m" 330j5 1 3
2025-03-12T22:45:34.788Z,1741819534.788 [CommandExec](IMPORTANT): got command schedule asap "load Science/sci2_noyo_optim.tl;set sci2_noyo_optim.MissionTimeout 6 h;set sci2_noyo_optim.NeedCommsTime 60 min;set sci2_noyo_optim.Depth1 250 m;set sci2_noyo_optim.Depth2 280 m;set sci2_noyo_optim.Depth3 NaN m" 330j5 1 3.000000
2025-03-12T22:45:34.789Z,1741819534.789 [CommandExec](IMPORTANT): Scheduling command #1 of 3 with id=330j5
2025-03-12T22:45:34.790Z,1741819534.790 [CommandExec](IMPORTANT): Scheduled #27 (#1 of 3 with id='330j5'): "load Science/sci2_noyo_optim.tl;set sci2_noyo_optim.MissionTimeout 6 h;set sci2_noyo_optim.NeedCommsTime 60 min;set sci2_noyo_optim.Depth1 250 m;set sci2_noyo_optim.Depth2 280 m;set sci2_noyo_optim.Depth3 NaN m", ASAP
2025-03-12T22:45:35.774Z,1741819535.774 [DataOverHttps](IMPORTANT): SBD MTMSN=20250312T224534
2025-03-12T22:45:43.156Z,1741819543.156 [DataOverHttps](INFO): Received command: sched asap "set sci2_noyo_optim.Repeat 6 count;set sci2_noyo_optim.Lat1 36.79279 degree;set sci2_noyo_optim.Lon1 -121.88919 degree;set sci2_noyo_optim.Lat2 36.78427 degree;set sci2_noyo_optim.Lon2 -121.91339 degree" 330j5 2 3
2025-03-12T22:45:43.212Z,1741819543.212 [CommandExec](IMPORTANT): got command schedule asap "set sci2_noyo_optim.Repeat 6 count;set sci2_noyo_optim.Lat1 36.79279 degree;set sci2_noyo_optim.Lon1 -121.88919 degree;set sci2_noyo_optim.Lat2 36.78427 degree;set sci2_noyo_optim.Lon2 -121.91339 degree" 330j5 2 3.000000
2025-03-12T22:45:43.213Z,1741819543.213 [CommandExec](IMPORTANT): Scheduling command #2 of 3 with id=330j5
2025-03-12T22:45:43.214Z,1741819543.214 [CommandExec](IMPORTANT): Scheduled #28 (#2 of 3 with id='330j5'): "set sci2_noyo_optim.Repeat 6 count;set sci2_noyo_optim.Lat1 36.79279 degree;set sci2_noyo_optim.Lon1 -121.88919 degree;set sci2_noyo_optim.Lat2 36.78427 degree;set sci2_noyo_optim.Lon2 -121.91339 degree", ASAP
2025-03-12T22:45:44.158Z,1741819544.158 [DataOverHttps](IMPORTANT): SBD MTMSN=20250312T224543
2025-03-12T22:45:54.399Z,1741819554.399 [DataOverHttps](INFO): Received command: sched asap "set sci2_noyo_optim.ApproachDepth 10 m;set sci2_noyo_optim.SlowSpeed 0.35 m/s;set sci2_noyo_optim.MinAltitude 10 m;set sci2_noyo_optim.MaxDepth 290 m;set sci2_noyo_optim:PowerOnly.SampleLoad1 1 bool;run" 330j5 3 3
2025-03-12T22:45:54.449Z,1741819554.449 [CommandExec](IMPORTANT): got command schedule asap "set sci2_noyo_optim.ApproachDepth 10 m;set sci2_noyo_optim.SlowSpeed 0.35 m/s;set sci2_noyo_optim.MinAltitude 10 m;set sci2_noyo_optim.MaxDepth 290 m;set sci2_noyo_optim:PowerOnly.SampleLoad1 1 bool;run" 330j5 3 3.000000
2025-03-12T22:45:54.449Z,1741819554.449 [CommandExec](IMPORTANT): Scheduling command #3 of 3 with id=330j5
2025-03-12T22:45:54.450Z,1741819554.450 [CommandExec](IMPORTANT): Scheduled #29 (#3 of 3 with id='330j5'): "set sci2_noyo_optim.ApproachDepth 10 m;set sci2_noyo_optim.SlowSpeed 0.35 m/s;set sci2_noyo_optim.MinAltitude 10 m;set sci2_noyo_optim.MaxDepth 290 m;set sci2_noyo_optim:PowerOnly.SampleLoad1 1 bool;run", ASAP
2025-03-12T22:45:54.589Z,1741819554.589 [CommandExec](IMPORTANT): got command load ./Missions/Science/sci2_noyo_optim.tl
2025-03-12T22:45:54.590Z,1741819554.590 [MissionManager](INFO): Loading Mission from file: ./Missions/Science/sci2_noyo_optim.tl
2025-03-12T22:45:54.590Z,1741819554.590 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Science/sci2_noyo_optim.tl
2025-03-12T22:45:54.593Z,1741819554.593 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Science/sci2_noyo_optim.tl
2025-03-12T22:46:00.182Z,1741819560.182 [MissionManager](DEBUG): TethyslAPI: ./Missions/Science/sci2_noyo_optim.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Mission Id="sci2_noyo_optim">
    <DefineArg Name="MissionTimeout">
        <Units:hour />
        <Value>2</Value>
    </DefineArg>
    <DefineArg Name="NeedCommsTime">
        <Units:minute />
        <Value>60</Value>
    </DefineArg>
    <DefineArg Name="Depth1">
        <Units:meter />
        <Value>35</Value>
    </DefineArg>
    <DefineArg Name="Depth2">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Depth3">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Depth4">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Depth5">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Depth6">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Depth7">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Depth8">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="DepthPerLeg">
        <False />
    </DefineArg>
    <DefineArg Name="Repeat">
        <Units:count />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="Lat1">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lat2">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lat3">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lat4">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lat5">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lat6">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lat7">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lat8">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lon1">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lon2">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lon3">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lon4">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lon5">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lon6">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lon7">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lon8">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="FastSpeed">
        <Units:meter_per_second />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="ApproachDepth">
        <Units:meter />
        <Value>30</Value>
    </DefineArg>
    <DefineArg Name="ApproachSpeed">
        <Units:meter_per_second />
        <Value>0.7</Value>
    </DefineArg>
    <DefineArg Name="ApproachDepthRate">
        <Units:meter_per_second />
        <Value>0.05</Value>
    </DefineArg>
    <DefineArg Name="ApproachPitchLimit">
        <Units:degree />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="ApproachDepthTimeout">
        <Units:minute />
        <Value>15</Value>
    </DefineArg>
    <DefineArg Name="ApproachSettleTimePreDive">
        <Units:minute />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="ApproachSettleTimePostDive">
        <Units:minute />
        <Value>3</Value>
    </DefineArg>
    <DefineArg Name="kpDepth">
        <Units:radian_per_meter />
        <Value>0.07</Value>
    </DefineArg>
    <DefineArg Name="SlowSpeed">
        <Units:meter_per_second />
        <Value>0.25</Value>
    </DefineArg>
    <DefineArg Name="DepthDeviationSlow">
        <Units:meter />
        <Value>3</Value>
    </DefineArg>
    <DefineArg Name="BuoyancyNeutral">
        <Control:VerticalControl.buoyancyNeutral />
    </DefineArg>
    <DefineArg Name="MassDefault">
        <Control:VerticalControl.massDefault />
    </DefineArg>
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>2</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>50</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:kilometer />
        <Value>2</Value>
    </DefineArg>
    <DefineOutput Name="DiveMode">
        <Units:count />
        <Value>0</Value>
    </DefineOutput>
    <DefineOutput Name="DoingComms">
        <Units:count />
        <Value>0</Value>
    </DefineOutput>
    <DefineOutput Name="InitialDive">
        <Units:count />
        <Value>1</Value>
    </DefineOutput>
    <DefineOutput Name="SettleAtDepth">
        <Units:count />
        <Value>2</Value>
    </DefineOutput>
    <DefineOutput Name="MaintainDepth">
        <Units:count />
        <Value>3</Value>
    </DefineOutput>
    <DefineOutput Name="LegDepth">
        <Arg Name="Depth1" />
    </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="MissionTimeout" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="NeedComms:WaitForPitchUp" />
        <Units:minute />
        <Value>0</Value>
    </Assign>
    <Insert Filename="Insert/BackseatDriver.tl" />
    <Assign>
        <Parallel />
        <Arg Name="BackseatDriver:EnableBackseat" />
        <True />
    </Assign>
    <Insert Filename="Insert/PowerOnly.tl" />
    <Assign>
        <Parallel />
        <Arg Name="PowerOnly:SampleLoad1" />
        <True />
    </Assign>
    <Assign>
        <Sequence />
        <Sensor:MultiRay.lightModeCommand />
        <Units:count />
        <Value>2</Value>
    </Assign>
    <ReadData Strategy="MinError">
        <While>
            <Sensor:MultiRay.loadAtStartup />
        </While>
        <Sensor:MultiRay.lightModeLog />
    </ReadData>
    <Guidance:Buoyancy>
        <Parallel />
        <Setting>
            <Guidance:Buoyancy.position />
            <Arg Name="BuoyancyNeutral" />
        </Setting>
    </Guidance:Buoyancy>
    <Aggregate Id="SurfaceComms">
        <When>
            <Called />
            <Or>
                <Elapsed>
                    <Universal:time_fix />
                </Elapsed>
                <Gt>
                    <Arg Name="NeedCommsTime" />
                </Gt>
            </Or>
        </When>
        <Assign>
            <Sequence />
            <Arg Name="DiveMode" />
            <Arg Name="DoingComms" />
        </Assign>
        <Call RefId="NeedComms" />
        <Assign>
            <Sequence />
            <Arg Name="DiveMode" />
            <Arg Name="InitialDive" />
        </Assign>
    </Aggregate>
    <Aggregate Id="DiveCmd">
        <When>
            <Called />
        </When>
        <Aggregate Id="InitialDive">
            <While>
                <Arg Name="DiveMode" />
                <Eq>
                    <Arg Name="InitialDive" />
                </Eq>
            </While>
            <Aggregate Id="dive">
                <Sequence />
                <Assign>
                    <Parallel />
                    <Control:VerticalControl.pitchLimit />
                    <Arg Name="ApproachPitchLimit" />
                </Assign>
                <Assign>
                    <Parallel />
                    <Control:VerticalControl.kpDepth />
                    <Arg Name="kpDepth" />
                </Assign>
                <Guidance:Mass>
                    <Parallel />
                    <Setting>
                        <Guidance:Mass.position />
                        <Arg Name="MassDefault" />
                    </Setting>
                </Guidance:Mass>
                <Syslog Severity="Info">
                    Waiting for 
                    <Arg Name="ApproachSettleTimePreDive" />
                    <Units:minute />
                    while pumping down to neutral.
                </Syslog>
                <Guidance:Wait>
                    <Sequence />
                    <Setting>
                        <Guidance:Wait.duration />
                        <Arg Name="ApproachSettleTimePreDive" />
                    </Setting>
                </Guidance:Wait>
                <Syslog>
                    Moving to 
                    <Arg Name="ApproachDepth" />
                    <Units:meter />
                </Syslog>
                <Aggregate Id="ApproachDepth">
                    <Sequence />
                    <Guidance:SetSpeed>
                        <Parallel />
                        <Setting>
                            <Guidance:SetSpeed.speed />
                            <Arg Name="ApproachSpeed" />
                        </Setting>
                    </Guidance:SetSpeed>
                    <Guidance:Pitch>
                        <Sequence />
                        <Timeout Duration="ApproachDepthTimeout">
                            <Syslog Severity="Important">
                                Timed out while trying to reach target depth at current depth of 
                                <Universal:depth />
                                <Units:meter />
                            </Syslog>
                            <Guidance:Execute>
                                <Sequence />
                                <Setting>
                                    <Guidance:Execute.command />
                                    <String>stop</String>
                                </Setting>
                            </Guidance:Execute>
                        </Timeout>
                        <Setting>
                            <Guidance:Pitch.depth />
                            <Arg Name="ApproachDepth" />
                        </Setting>
                        <Setting>
                            <Guidance:Pitch.depthRate />
                            <Arg Name="ApproachDepthRate" />
                        </Setting>
                    </Guidance:Pitch>
                </Aggregate>
                <Assign>
                    <Sequence />
                    <Arg Name="DiveMode" />
                    <Arg Name="SettleAtDepth" />
                </Assign>
            </Aggregate>
        </Aggregate>
        <Aggregate Id="SettleAtDepth">
            <While>
                <Arg Name="DiveMode" />
                <Eq>
                    <Arg Name="SettleAtDepth" />
                </Eq>
            </While>
            <Aggregate Id="dive">
                <Sequence />
                <Syslog Severity="Info">
                    Reached 
                    <Universal:depth />
                    <Units:meter />
                    , settling for 
                    <Arg Name="ApproachSettleTimePostDive" />
                    <Units:minute />
                </Syslog>
                <Guidance:Pitch>
                    <Parallel />
                    <Setting>
                        <Guidance:Pitch.depth />
                        <Arg Name="LegDepth" />
                    </Setting>
                </Guidance:Pitch>
                <Guidance:Wait>
                    <Sequence />
                    <Setting>
                        <Guidance:Wait.duration />
                        <Arg Name="ApproachSettleTimePostDive" />
                    </Setting>
                </Guidance:Wait>
                <Assign>
                    <Sequence />
                    <Arg Name="DiveMode" />
                    <Arg Name="MaintainDepth" />
                </Assign>
            </Aggregate>
        </Aggregate>
        <Aggregate Id="MaintainDepth">
            <While>
                <Arg Name="DiveMode" />
                <Eq>
                    <Arg Name="MaintainDepth" />
                </Eq>
                <And>
                    <Universal:depth />
                    <Gt>
                        <Arg Name="LegDepth" />
                        <Add>
                            <Arg Name="DepthDeviationSlow" />
                        </Add>
                    </Gt>
                </And>
                <Or>
                    <Universal:depth />
                    <Lt>
                        <Arg Name="LegDepth" />
                        <Sub>
                            <Arg Name="DepthDeviationSlow" />
                        </Sub>
                    </Lt>
                </Or>
            </While>
            <Aggregate Id="dive">
                <Parallel />
                <Aggregate Id="ThrusterDive">
                    <While>
                        <Arg Name="FastSpeed" />
                        <Gt>
                            <Units:meter_per_second />
                            <Value>0.0</Value>
                        </Gt>
                    </While>
                    <Guidance:Mass>
                        <Parallel />
                        <Setting>
                            <Guidance:Mass.position />
                            <Arg Name="MassDefault" />
                        </Setting>
                    </Guidance:Mass>
                    <Guidance:SetSpeed>
                        <Parallel />
                        <Setting>
                            <Guidance:SetSpeed.speed />
                            <Arg Name="FastSpeed" />
                        </Setting>
                    </Guidance:SetSpeed>
                </Aggregate>
                <Guidance:Pitch>
                    <Parallel />
                    <Setting>
                        <Guidance:Pitch.depth />
                        <Arg Name="LegDepth" />
                    </Setting>
                </Guidance:Pitch>
            </Aggregate>
        </Aggregate>
        <Aggregate Id="MaintainDepthSlow">
            <While>
                <Not>
                    <IsNaN>
                        <Arg Name="SlowSpeed" />
                    </IsNaN>
                </Not>
                <And>
                    <Arg Name="DiveMode" />
                    <Eq>
                        <Arg Name="MaintainDepth" />
                    </Eq>
                </And>
                <And>
                    <Universal:depth />
                    <Le>
                        <Arg Name="LegDepth" />
                        <Add>
                            <Arg Name="DepthDeviationSlow" />
                        </Add>
                    </Le>
                </And>
                <And>
                    <Universal:depth />
                    <Ge>
                        <Arg Name="LegDepth" />
                        <Sub>
                            <Arg Name="DepthDeviationSlow" />
                        </Sub>
                    </Ge>
                </And>
            </While>
            <Guidance:SetSpeed>
                <Parallel />
                <Setting>
                    <Guidance:SetSpeed.speed />
                    <Arg Name="SlowSpeed" />
                </Setting>
            </Guidance:SetSpeed>
            <Assign>
                <Parallel />
                <Control:VerticalControl.depthDeadband />
                <Arg Name="DepthDeviationSlow" />
                <Add>
                    <Units:meter />
                    <Value>3</Value>
                </Add>
            </Assign>
            <Guidance:Buoyancy>
                <Parallel />
                <Setting>
                    <Guidance:Buoyancy.position />
                    <Units:cubic_centimeter />
                    <Value>NaN</Value>
                </Setting>
            </Guidance:Buoyancy>
            <Guidance:Pitch>
                <Parallel />
                <Setting>
                    <Guidance:Pitch.depth />
                    <Arg Name="LegDepth" />
                </Setting>
            </Guidance:Pitch>
        </Aggregate>
    </Aggregate>
    <Call RefId="SurfaceComms" Id="StartingMission" />
    <Aggregate Id="Lap">
        <Sequence Repeat="Repeat" />
        <Aggregate Id="Dive">
            <While>
                <Not>
                    <Arg Name="DiveMode" />
                    <Eq>
                        <Arg Name="DoingComms" />
                    </Eq>
                </Not>
            </While>
            <Call RefId="DiveCmd" />
        </Aggregate>
        <Aggregate Id="DepthByLap">
            <Sequence />
            <Break>
                <Arg Name="DepthPerLeg" />
            </Break>
            <Assign>
                <Sequence />
                <Arg Name="LegDepth" />
                <Arg Name="Depth1" />
            </Assign>
            <Aggregate Id="Wpt1">
                <Sequence />
                <Guidance:Waypoint>
                    <Sequence />
                    <Setting>
                        <Guidance:Waypoint.latitude />
                        <Arg Name="Lat1" />
                    </Setting>
                    <Setting>
                        <Guidance:Waypoint.longitude />
                        <Arg Name="Lon1" />
                    </Setting>
                </Guidance:Waypoint>
            </Aggregate>
            <Aggregate Id="Wpt2">
                <Sequence />
                <Guidance:Waypoint>
                    <Sequence />
                    <Setting>
                        <Guidance:Waypoint.latitude />
                        <Arg Name="Lat2" />
                    </Setting>
                    <Setting>
                        <Guidance:Waypoint.longitude />
                        <Arg Name="Lon2" />
                    </Setting>
                </Guidance:Waypoint>
            </Aggregate>
            <Aggregate Id="Wpt3">
                <Sequence />
                <Guidance:Waypoint>
                    <Sequence />
                    <Setting>
                        <Guidance:Waypoint.latitude />
                        <Arg Name="Lat3" />
                    </Setting>
                    <Setting>
                        <Guidance:Waypoint.longitude />
                        <Arg Name="Lon3" />
                    </Setting>
                </Guidance:Waypoint>
            </Aggregate>
            <Aggregate Id="Wpt4">
                <Sequence />
                <Guidance:Waypoint>
                    <Sequence />
                    <Setting>
                        <Guidance:Waypoint.latitude />
                        <Arg Name="Lat4" />
                    </Setting>
                    <Setting>
                        <Guidance:Waypoint.longitude />
                        <Arg Name="Lon4" />
                    </Setting>
                </Guidance:Waypoint>
            </Aggregate>
            <Aggregate Id="Wpt5">
                <Sequence />
                <Guidance:Waypoint>
                    <Sequence />
                    <Setting>
                        <Guidance:Waypoint.latitude />
                        <Arg Name="Lat5" />
                    </Setting>
                    <Setting>
                        <Guidance:Waypoint.longitude />
                        <Arg Name="Lon5" />
                    </Setting>
                </Guidance:Waypoint>
            </Aggregate>
            <Aggregate Id="Wpt6">
                <Sequence />
                <Guidance:Waypoint>
                    <Sequence />
                    <Setting>
                        <Guidance:Waypoint.latitude />
                        <Arg Name="Lat6" />
                    </Setting>
                    <Setting>
                        <Guidance:Waypoint.longitude />
                        <Arg Name="Lon6" />
                    </Setting>
                </Guidance:Waypoint>
            </Aggregate>
            <Aggregate Id="Wpt7">
                <Sequence />
                <Guidance:Waypoint>
                    <Sequence />
                    <Setting>
                        <Guidance:Waypoint.latitude />
                        <Arg Name="Lat7" />
                    </Setting>
                    <Setting>
                        <Guidance:Waypoint.longitude />
                        <Arg Name="Lon7" />
                    </Setting>
                </Guidance:Waypoint>
            </Aggregate>
            <Aggregate Id="Wpt8">
                <Sequence />
                <Guidance:Waypoint>
                    <Sequence />
                    <Setting>
                        <Guidance:Waypoint.latitude />
                        <Arg Name="Lat8" />
                    </Setting>
                    <Setting>
                        <Guidance:Waypoint.longitude />
                        <Arg Name="Lon8" />
                    </Setting>
                </Guidance:Waypoint>
            </Aggregate>
            <Aggregate Id="Leg2">
                <Sequence />
                <Break>
                    <IsNaN>
                        <Arg Name="Depth2" />
                    </IsNaN>
                </Break>
                <Syslog Severity="Important">
                    Transiting waypoints at depth 
                    <Arg Name="Depth2" />
                    <Units:meter />
                </Syslog>
                <Assign>
                    <Sequence />
                    <Arg Name="LegDepth" />
                    <Arg Name="Depth2" />
                </Assign>
                <Aggregate Id="Wpt1">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat1" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon1" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt2">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat2" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon2" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt3">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat3" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon3" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt4">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat4" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon4" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt5">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat5" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon5" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt6">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat6" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon6" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt7">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat7" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon7" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt8">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat8" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon8" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
            </Aggregate>
            <Aggregate Id="Leg3">
                <Sequence />
                <Break>
                    <IsNaN>
                        <Arg Name="Depth3" />
                    </IsNaN>
                </Break>
                <Syslog Severity="Important">
                    Transiting waypoints at depth 
                    <Arg Name="Depth3" />
                    <Units:meter />
                </Syslog>
                <Assign>
                    <Sequence />
                    <Arg Name="LegDepth" />
                    <Arg Name="Depth3" />
                </Assign>
                <Aggregate Id="Wpt1">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat1" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon1" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt2">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat2" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon2" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt3">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat3" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon3" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt4">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat4" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon4" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt5">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat5" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon5" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt6">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat6" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon6" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt7">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat7" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon7" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt8">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat8" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon8" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
            </Aggregate>
            <Aggregate Id="Leg4">
                <Sequence />
                <Break>
                    <IsNaN>
                        <Arg Name="Depth4" />
                    </IsNaN>
                </Break>
                <Syslog Severity="Important">
                    Transiting waypoints at depth 
                    <Arg Name="Depth4" />
                    <Units:meter />
                </Syslog>
                <Assign>
                    <Sequence />
                    <Arg Name="LegDepth" />
                    <Arg Name="Depth4" />
                </Assign>
                <Aggregate Id="Wpt1">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat1" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon1" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt2">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat2" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon2" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt3">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat3" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon3" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt4">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat4" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon4" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt5">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat5" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon5" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt6">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat6" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon6" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt7">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat7" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon7" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt8">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat8" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon8" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
            </Aggregate>
            <Aggregate Id="Leg5">
                <Sequence />
                <Break>
                    <IsNaN>
                        <Arg Name="Depth5" />
                    </IsNaN>
                </Break>
                <Syslog Severity="Important">
                    Transiting waypoints at depth 
                    <Arg Name="Depth5" />
                    <Units:meter />
                </Syslog>
                <Assign>
                    <Sequence />
                    <Arg Name="LegDepth" />
                    <Arg Name="Depth5" />
                </Assign>
                <Aggregate Id="Wpt1">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat1" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon1" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt2">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat2" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon2" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt3">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat3" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon3" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt4">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat4" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon4" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt5">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat5" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon5" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt6">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat6" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon6" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt7">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat7" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon7" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt8">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat8" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon8" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
            </Aggregate>
            <Aggregate Id="Leg6">
                <Sequence />
                <Break>
                    <IsNaN>
                        <Arg Name="Depth6" />
                    </IsNaN>
                </Break>
                <Syslog Severity="Important">
                    Transiting waypoints at depth 
                    <Arg Name="Depth6" />
                    <Units:meter />
                </Syslog>
                <Assign>
                    <Sequence />
                    <Arg Name="LegDepth" />
                    <Arg Name="Depth6" />
                </Assign>
                <Aggregate Id="Wpt1">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat1" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon1" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt2">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat2" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon2" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt3">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat3" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon3" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt4">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat4" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon4" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt5">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat5" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon5" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt6">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat6" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon6" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt7">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat7" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon7" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt8">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat8" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon8" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
            </Aggregate>
            <Aggregate Id="Leg7">
                <Sequence />
                <Break>
                    <IsNaN>
                        <Arg Name="Depth7" />
                    </IsNaN>
                </Break>
                <Syslog Severity="Important">
                    Transiting waypoints at depth 
                    <Arg Name="Depth7" />
                    <Units:meter />
                </Syslog>
                <Assign>
                    <Sequence />
                    <Arg Name="LegDepth" />
                    <Arg Name="Depth7" />
                </Assign>
                <Aggregate Id="Wpt1">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat1" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon1" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt2">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat2" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon2" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt3">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat3" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon3" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt4">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat4" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon4" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt5">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat5" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon5" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt6">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat6" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon6" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt7">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat7" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon7" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt8">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat8" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon8" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
            </Aggregate>
            <Aggregate Id="Leg8">
                <Sequence />
                <Break>
                    <IsNaN>
                        <Arg Name="Depth8" />
                    </IsNaN>
                </Break>
                <Syslog Severity="Important">
                    Transiting waypoints at depth 
                    <Arg Name="Depth8" />
                    <Units:meter />
                </Syslog>
                <Assign>
                    <Sequence />
                    <Arg Name="LegDepth" />
                    <Arg Name="Depth8" />
                </Assign>
                <Aggregate Id="Wpt1">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat1" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon1" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt2">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat2" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon2" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt3">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat3" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon3" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt4">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat4" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon4" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt5">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat5" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon5" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt6">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat6" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon6" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt7">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat7" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon7" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt8">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat8" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon8" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
            </Aggregate>
        </Aggregate>
        <Aggregate Id="DepthByLeg">
            <Sequence />
            <Break>
                <Not>
                    <Arg Name="DepthPerLeg" />
                </Not>
            </Break>
            <Aggregate Id="Leg1">
                <Sequence />
                <Assign>
                    <Sequence />
                    <Arg Name="LegDepth" />
                    <Arg Name="Depth1" />
                </Assign>
                <Guidance:Waypoint>
                    <Sequence />
                    <Setting>
                        <Guidance:Waypoint.latitude />
                        <Arg Name="Lat1" />
                    </Setting>
                    <Setting>
                        <Guidance:Waypoint.longitude />
                        <Arg Name="Lon1" />
                    </Setting>
                </Guidance:Waypoint>
            </Aggregate>
            <Aggregate Id="Leg2">
                <Sequence />
                <Break>
                    <IsNaN>
                        <Arg Name="Depth2" />
                    </IsNaN>
                </Break>
                <Syslog Severity="Info">
                    Transiting to next waypoint at depth 
                    <Arg Name="Depth2" />
                    <Units:meter />
                </Syslog>
                <Assign>
                    <Sequence />
                    <Arg Name="LegDepth" />
                    <Arg Name="Depth2" />
                </Assign>
                <Aggregate Id="Wpt2">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat2" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon2" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
            </Aggregate>
            <Aggregate Id="Leg3">
                <Sequence />
                <Break>
                    <IsNaN>
                        <Arg Name="Depth3" />
                    </IsNaN>
                </Break>
                <Syslog Severity="Info">
                    Transiting to next waypoint at depth 
                    <Arg Name="Depth3" />
                    <Units:meter />
                </Syslog>
                <Assign>
                    <Sequence />
                    <Arg Name="LegDepth" />
                    <Arg Name="Depth3" />
                </Assign>
                <Aggregate Id="Wpt3">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat3" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon3" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
            </Aggregate>
            <Aggregate Id="Leg4">
                <Sequence />
                <Break>
                    <IsNaN>
                        <Arg Name="Depth4" />
                    </IsNaN>
                </Break>
                <Syslog Severity="Info">
                    Transiting to next waypoint at depth 
                    <Arg Name="Depth4" />
                    <Units:meter />
                </Syslog>
                <Assign>
                    <Sequence />
                    <Arg Name="LegDepth" />
                    <Arg Name="Depth4" />
                </Assign>
                <Aggregate Id="Wpt4">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat4" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon4" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
            </Aggregate>
            <Aggregate Id="Leg5">
                <Sequence />
                <Break>
                    <IsNaN>
                        <Arg Name="Depth5" />
                    </IsNaN>
                </Break>
                <Syslog Severity="Info">
                    Transiting to next waypoint at depth 
                    <Arg Name="Depth5" />
                    <Units:meter />
                </Syslog>
                <Assign>
                    <Sequence />
                    <Arg Name="LegDepth" />
                    <Arg Name="Depth5" />
                </Assign>
                <Aggregate Id="Wpt5">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat5" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon5" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
            </Aggregate>
            <Aggregate Id="Leg6">
                <Sequence />
                <Break>
                    <IsNaN>
                        <Arg Name="Depth6" />
                    </IsNaN>
                </Break>
                <Syslog Severity="Info">
                    Transiting to next waypoint at depth 
                    <Arg Name="Depth6" />
                    <Units:meter />
                </Syslog>
                <Assign>
                    <Sequence />
                    <Arg Name="LegDepth" />
                    <Arg Name="Depth6" />
                </Assign>
                <Aggregate Id="Wpt6">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat6" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon6" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
            </Aggregate>
            <Aggregate Id="Leg7">
                <Sequence />
                <Break>
                    <IsNaN>
                        <Arg Name="Depth7" />
                    </IsNaN>
                </Break>
                <Syslog Severity="Info">
                    Transiting to next waypoint at depth 
                    <Arg Name="Depth7" />
                    <Units:meter />
                </Syslog>
                <Assign>
                    <Sequence />
                    <Arg Name="LegDepth" />
                    <Arg Name="Depth7" />
                </Assign>
                <Aggregate Id="Wpt7">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat7" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon7" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
            </Aggregate>
            <Aggregate Id="Leg8">
                <Sequence />
                <Break>
                    <IsNaN>
                        <Arg Name="Depth8" />
                    </IsNaN>
                </Break>
                <Syslog Severity="Info">
                    Transiting to next waypoint at depth 
                    <Arg Name="Depth8" />
                    <Units:meter />
                </Syslog>
                <Assign>
                    <Sequence />
                    <Arg Name="LegDepth" />
                    <Arg Name="Depth8" />
                </Assign>
                <Aggregate Id="Wpt8">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat8" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon8" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
            </Aggregate>
        </Aggregate>
    </Aggregate>
</Mission>

2025-03-12T22:46:00.208Z,1741819560.208 [MissionManager](INFO): DefineArg sci2_noyo_optim.MissionTimeout = 2.000000 h
2025-03-12T22:46:00.210Z,1741819560.210 [MissionManager](INFO): DefineArg sci2_noyo_optim.NeedCommsTime = 60.000000 min
2025-03-12T22:46:00.214Z,1741819560.214 [MissionManager](INFO): DefineArg sci2_noyo_optim.Depth1 = 35.000000 m
2025-03-12T22:46:00.216Z,1741819560.216 [MissionManager](INFO): DefineArg sci2_noyo_optim.Depth2 = nan m
2025-03-12T22:46:00.218Z,1741819560.218 [MissionManager](INFO): DefineArg sci2_noyo_optim.Depth3 = nan m
2025-03-12T22:46:00.221Z,1741819560.221 [MissionManager](INFO): DefineArg sci2_noyo_optim.Depth4 = nan m
2025-03-12T22:46:00.223Z,1741819560.223 [MissionManager](INFO): DefineArg sci2_noyo_optim.Depth5 = nan m
2025-03-12T22:46:00.225Z,1741819560.225 [MissionManager](INFO): DefineArg sci2_noyo_optim.Depth6 = nan m
2025-03-12T22:46:00.252Z,1741819560.252 [MissionManager](INFO): DefineArg sci2_noyo_optim.Depth7 = nan m
2025-03-12T22:46:00.254Z,1741819560.254 [MissionManager](INFO): DefineArg sci2_noyo_optim.Depth8 = nan m
2025-03-12T22:46:00.256Z,1741819560.256 [MissionManager](INFO): DefineArg sci2_noyo_optim.DepthPerLeg = 0 bool
2025-03-12T22:46:00.258Z,1741819560.258 [MissionManager](INFO): DefineArg sci2_noyo_optim.Repeat = 1.000000 count
2025-03-12T22:46:00.273Z,1741819560.273 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lat1 = nan arcdeg
2025-03-12T22:46:00.280Z,1741819560.280 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lat2 = nan arcdeg
2025-03-12T22:46:00.282Z,1741819560.282 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lat3 = nan arcdeg
2025-03-12T22:46:00.292Z,1741819560.292 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lat4 = nan arcdeg
2025-03-12T22:46:00.295Z,1741819560.295 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lat5 = nan arcdeg
2025-03-12T22:46:00.301Z,1741819560.301 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lat6 = nan arcdeg
2025-03-12T22:46:00.311Z,1741819560.311 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lat7 = nan arcdeg
2025-03-12T22:46:00.314Z,1741819560.314 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lat8 = nan arcdeg
2025-03-12T22:46:00.319Z,1741819560.319 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lon1 = nan arcdeg
2025-03-12T22:46:00.333Z,1741819560.333 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lon2 = nan arcdeg
2025-03-12T22:46:00.340Z,1741819560.340 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lon3 = nan arcdeg
2025-03-12T22:46:00.344Z,1741819560.344 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lon4 = nan arcdeg
2025-03-12T22:46:00.346Z,1741819560.346 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lon5 = nan arcdeg
2025-03-12T22:46:00.349Z,1741819560.349 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lon6 = nan arcdeg
2025-03-12T22:46:00.355Z,1741819560.355 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lon7 = nan arcdeg
2025-03-12T22:46:00.358Z,1741819560.358 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lon8 = nan arcdeg
2025-03-12T22:46:00.364Z,1741819560.364 [MissionManager](INFO): DefineArg sci2_noyo_optim.FastSpeed = 1.000000 m/s
2025-03-12T22:46:00.366Z,1741819560.366 [MissionManager](INFO): DefineArg sci2_noyo_optim.ApproachDepth = 30.000000 m
2025-03-12T22:46:00.369Z,1741819560.369 [MissionManager](INFO): DefineArg sci2_noyo_optim.ApproachSpeed = 0.700000 m/s
2025-03-12T22:46:00.371Z,1741819560.371 [MissionManager](INFO): DefineArg sci2_noyo_optim.ApproachDepthRate = 0.050000 m/s
2025-03-12T22:46:00.373Z,1741819560.373 [MissionManager](INFO): DefineArg sci2_noyo_optim.ApproachPitchLimit = 20.000000 arcdeg
2025-03-12T22:46:00.426Z,1741819560.426 [MissionManager](INFO): DefineArg sci2_noyo_optim.ApproachDepthTimeout = 15.000000 min
2025-03-12T22:46:00.429Z,1741819560.429 [MissionManager](INFO): DefineArg sci2_noyo_optim.ApproachSettleTimePreDive = 1.000000 min
2025-03-12T22:46:00.452Z,1741819560.452 [MissionManager](INFO): DefineArg sci2_noyo_optim.ApproachSettleTimePostDive = 3.000000 min
2025-03-12T22:46:00.454Z,1741819560.454 [MissionManager](INFO): DefineArg sci2_noyo_optim.kpDepth = 0.070000 rad/m
2025-03-12T22:46:00.456Z,1741819560.456 [MissionManager](INFO): DefineArg sci2_noyo_optim.SlowSpeed = 0.250000 m/s
2025-03-12T22:46:00.459Z,1741819560.459 [MissionManager](INFO): DefineArg sci2_noyo_optim.DepthDeviationSlow = 3.000000 m
2025-03-12T22:46:00.461Z,1741819560.461 [MissionManager](INFO): DefineArg sci2_noyo_optim.BuoyancyNeutral = 373.087250 cc
2025-03-12T22:46:00.476Z,1741819560.476 [MissionManager](INFO): DefineArg sci2_noyo_optim.MassDefault = 0.684636 cm
2025-03-12T22:46:00.478Z,1741819560.478 [MissionManager](INFO): DefineArg sci2_noyo_optim.MinAltitude = 2.000000 m
2025-03-12T22:46:00.481Z,1741819560.481 [MissionManager](INFO): DefineArg sci2_noyo_optim.MaxDepth = 50.000000 m
2025-03-12T22:46:00.483Z,1741819560.483 [MissionManager](INFO): DefineArg sci2_noyo_optim.MinOffshore = 2.000000 km
2025-03-12T22:46:00.485Z,1741819560.485 [MissionManager](INFO): DefineOutput sci2_noyo_optim.DiveMode = 0.000000 count
2025-03-12T22:46:00.502Z,1741819560.502 [MissionManager](INFO): DefineOutput sci2_noyo_optim.DoingComms = 0.000000 count
2025-03-12T22:46:00.510Z,1741819560.510 [MissionManager](INFO): DefineOutput sci2_noyo_optim.InitialDive = 1.000000 count
2025-03-12T22:46:00.518Z,1741819560.518 [MissionManager](INFO): DefineOutput sci2_noyo_optim.SettleAtDepth = 2.000000 count
2025-03-12T22:46:00.520Z,1741819560.520 [MissionManager](INFO): DefineOutput sci2_noyo_optim.MaintainDepth = 3.000000 count
2025-03-12T22:46:00.523Z,1741819560.523 [MissionManager](INFO): DefineOutput sci2_noyo_optim.LegDepth = 35.000000 m
2025-03-12T22:46:00.532Z,1741819560.532 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/Science.tl
2025-03-12T22:46:00.532Z,1741819560.532 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/Science.tl
2025-03-12T22:46:00.536Z,1741819560.536 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/Science.tl
2025-03-12T22:46:03.419Z,1741819563.419 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/Science.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="Science">
    <DefineArg Name="PeakDetectChlActive">
        <False />
    </DefineArg>
    <DefineArg Name="EdgeDetectChlActive">
        <False />
    </DefineArg>
    <DefineArg Name="TimeWindowPeakReport">
        <Units:minute />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="HighestChlPeakReportActive">
        <False />
    </DefineArg>
    <DefineArg Name="HighestSaltPeakReportActive">
        <False />
    </DefineArg>
    <DefineArg Name="HighestOilPeakReportActive">
        <False />
    </DefineArg>
    <DefineArg Name="PatchTracking">
        <False />
    </DefineArg>
    <DefineArg Name="FilterWidthHorizontal">
        <Units:count />
        <Value>3</Value>
    </DefineArg>
    <DefineArg Name="NumProfilesSlidingwindow">
        <Units:count />
        <Value>100</Value>
    </DefineArg>
    <DefineArg Name="OffPeakFractionHorizontal">
        <Units:percent />
        <Value>80</Value>
    </DefineArg>
    <DefineArg Name="PeakDetectNO3Active">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectOilActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectFDOMActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectSalinityActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreLMavgROIActive">
        <False />
    </DefineArg>
    <DefineArg Name="EdgeDetectPlanktivoreLMavgROIActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreHMavgROIActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreDiatomsActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreDinoflagellatesActive">
        <False />
    </DefineArg>
    <DefineArg Name="UpwardDerivativeOfTemperatureActive">
        <False />
    </DefineArg>
    <DefineArg Name="EnabledAanderaaO2">
        <Science:Aanderaa_O2.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledNeilBrown">
        <Science:CTD_NeilBrown.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledSeabird">
        <Science:CTD_Seabird.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledWetLabsBB2FL">
        <Science:WetLabsBB2FL.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledWetLabsSeaOWL_UV_A">
        <Science:WetLabsSeaOWL_UV_A.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledWetLabsUBAT">
        <Science:WetLabsUBAT.loadAtStartup />
    </DefineArg>
    <DefineArg Name="LowPassWindowLength">
        <Units:count />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="MedianFilterLen">
        <Units:count />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="ShallowBound">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="DeepBound">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="DepChangeThreshForAttitudeFlip">
        <Units:meter />
        <Value>2.0</Value>
    </DefineArg>
    <DefineArg Name="OffPeakFractionVertical">
        <Units:percent />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="ChlPeakThresh">
        <Units:microgram_per_liter />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="ChlThreshTriggerActive">
        <False />
    </DefineArg>
    <DefineArg Name="ChlLowerThresh">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="ChlUpperThresh">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="NumProfilesThresh">
        <Units:count />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="PlanktivoreLMavgROIPeakThresh">
        <Units:count_per_second />
        <Value>0</Value>
    </DefineArg>
    <DefineOutput Name="GoDown">
        <True />
    </DefineOutput>
    <DefineOutput Name="PeakChl">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChl">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChlDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChlTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChlLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChlLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3">
        <Units:micromole_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3Depth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3Latitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3Longitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOil">
        <Units:kilogram_per_cubic_meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOilDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOilLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOilLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOM">
        <Units:part_per_billion />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSalt">
        <Units:practical_salinity_unit />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROI">
        <Units:count_per_second />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROIDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROITemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROILatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROILongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROI">
        <Units:count_per_second />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROIDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROITemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROILatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROILongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROI">
        <Units:count_per_second />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROIDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROITemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROILatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROILongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatoms">
        <Units:count_per_milliliter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellates">
        <Units:count_per_milliliter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChl">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlDistance">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSalt">
        <Units:practical_salinity_unit />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltDistance">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOil">
        <Units:practical_salinity_unit />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilDistance">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="TriggeredOnChl">
        <False />
    </DefineOutput>
    <DefineOutput Name="ChlTriggering">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <Parallel />
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledAanderaaO2" />
        </While>
        <Universal:mass_concentration_of_oxygen_in_sea_water />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledNeilBrown" />
            <Or>
                <Arg Name="EnabledSeabird" />
            </Or>
        </While>
        <Universal:sea_water_temperature />
        <Universal:sea_water_salinity />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledSeabird" />
        </While>
        <Science:CTD_Seabird.sea_water_temperature />
        <Science:CTD_Seabird.sea_water_salinity />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledNeilBrown" />
            <Or>
                <Arg Name="EnabledSeabird" />
            </Or>
            <And>
                <Arg Name="UpwardDerivativeOfTemperatureActive" />
            </And>
        </While>
        <Universal:upward_derivative_of_sea_water_temperature />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledWetLabsBB2FL" />
            <Or>
                <Arg Name="PeakDetectChlActive" />
            </Or>
        </While>
        <Universal:mass_concentration_of_chlorophyll_in_sea_water />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledWetLabsUBAT" />
        </While>
        <Science:WetLabsUBAT.average_bioluminescence />
    </ReadData>
    <ReadData Id="Read_Oil" Strategy="MinError">
        <While>
            <Arg Name="EnabledWetLabsSeaOWL_UV_A" />
            <Or>
                <Arg Name="PeakDetectOilActive" />
            </Or>
        </While>
        <Universal:mass_concentration_of_petroleum_hydrocarbons_in_sea_water />
    </ReadData>
    <Aggregate Id="OceanCurrent">
        <Sequence />
        <Estimation:CurrentEstimator>
            <Parallel />
        </Estimation:CurrentEstimator>
    </Aggregate>
    <Aggregate Id="PeakDetectChl">
        <While>
            <Arg Name="PeakDetectChlActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:mass_concentration_of_chlorophyll_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakChl">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakChlDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakChlTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakChlLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakChlLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakChl" />
            <Arg Name="PeakChlDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="EdgeDetectChl">
        <While>
            <Arg Name="EdgeDetectChlActive" />
        </While>
        <Syslog Severity="Debug">EdgeDetectVsDepth</Syslog>
        <Trigger:EdgeDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:EdgeDetectVsDepth.detect />
                <Universal:mass_concentration_of_chlorophyll_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFraction />
                <Arg Name="OffPeakFractionVertical" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.peakThresh />
                <Arg Name="ChlPeakThresh" />
            </Setting>
            <OutputArg Name="GoDown">
                <Trigger:EdgeDetectVsDepth.goDown />
            </OutputArg>
            <OutputArg Name="PeakChl">
                <Trigger:EdgeDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakChlDepth">
                <Trigger:EdgeDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakChlTemperature">
                <Trigger:EdgeDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakChlLatitude">
                <Trigger:EdgeDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakChlLongitude">
                <Trigger:EdgeDetectVsDepth.peakLongitude />
            </OutputArg>
            <OutputArg Name="EdgeChl">
                <Trigger:EdgeDetectVsDepth.edgeDetect />
            </OutputArg>
            <OutputArg Name="EdgeChlDepth">
                <Trigger:EdgeDetectVsDepth.edgeDepth />
            </OutputArg>
            <OutputArg Name="EdgeChlTemperature">
                <Trigger:EdgeDetectVsDepth.edgeTemperature />
            </OutputArg>
            <OutputArg Name="EdgeChlLatitude">
                <Trigger:EdgeDetectVsDepth.edgeLatitude />
            </OutputArg>
            <OutputArg Name="EdgeChlLongitude">
                <Trigger:EdgeDetectVsDepth.edgeLongitude />
            </OutputArg>
        </Trigger:EdgeDetectVsDepth>
        <Syslog Severity="Info">
            GoDown, ChlPeakThresh, PeakChl, PeakChlDepth, EdgeChl, EdgeChlDepth = 
            <Arg Name="GoDown" />
            <Units:bool />
            , 
            <Arg Name="ChlPeakThresh" />
            <Units:microgram_per_liter />
            , 
            <Arg Name="PeakChl" />
            <Units:microgram_per_liter />
            , 
            <Arg Name="PeakChlDepth" />
            <Units:meter />
            , 
            <Arg Name="EdgeChl" />
            <Units:microgram_per_liter />
            , 
            <Arg Name="EdgeChlDepth" />
            <Units:meter />
        </Syslog>
        <SendData Service="Express">
            <Arg Name="PeakChl" />
            <Arg Name="PeakChlDepth" />
            <Arg Name="EdgeChl" />
            <Arg Name="EdgeChlDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="HighestChlPeakReport">
        <While>
            <Arg Name="HighestChlPeakReportActive" />
        </While>
        <Trigger:PeakDetectHorizontal>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectHorizontal.detectFrom />
                <Arg Name="PeakChl" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.depthFrom />
                <Arg Name="PeakChlDepth" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.latitudeFrom />
                <Arg Name="PeakChlLatitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.longitudeFrom />
                <Arg Name="PeakChlLongitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.patchTracking />
                <Arg Name="PatchTracking" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.filterWidth />
                <Arg Name="FilterWidthHorizontal" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.numProfilesSlidingwindow />
                <Arg Name="NumProfilesSlidingwindow" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.offPeakFraction />
                <Arg Name="OffPeakFractionHorizontal" />
            </Setting>
            <OutputArg Name="PatchChl">
                <Trigger:PeakDetectHorizontal.peakDetect />
            </OutputArg>
            <OutputArg Name="PatchChlDepth">
                <Trigger:PeakDetectHorizontal.peakDepth />
            </OutputArg>
            <OutputArg Name="PatchChlLatitude">
                <Trigger:PeakDetectHorizontal.peakLatitude />
            </OutputArg>
            <OutputArg Name="PatchChlLongitude">
                <Trigger:PeakDetectHorizontal.peakLongitude />
            </OutputArg>
            <OutputArg Name="PatchChlDistance">
                <Trigger:PeakDetectHorizontal.peakDistance />
            </OutputArg>
        </Trigger:PeakDetectHorizontal>
    </Aggregate>
    <Aggregate Id="PeakDetectNO3">
        <While>
            <Arg Name="PeakDetectNO3Active" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:mole_concentration_of_nitrate_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <OutputArg Name="PeakNO3">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakNO3Depth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakNO3Latitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakNO3Longitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakNO3" />
            <Arg Name="PeakNO3Depth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectOil">
        <While>
            <Arg Name="PeakDetectOilActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:mass_concentration_of_petroleum_hydrocarbons_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <OutputArg Name="PeakOil">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakOilDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakOilLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakOilLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakOil" />
            <Arg Name="PeakOilDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="HighestOilPeakReport">
        <While>
            <Arg Name="HighestOilPeakReportActive" />
        </While>
        <Trigger:PeakDetectHorizontal>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectHorizontal.detectFrom />
                <Arg Name="PeakOil" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.depthFrom />
                <Arg Name="PeakOilDepth" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.latitudeFrom />
                <Arg Name="PeakOilLatitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.longitudeFrom />
                <Arg Name="PeakOilLongitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.patchTracking />
                <Arg Name="PatchTracking" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.filterWidth />
                <Arg Name="FilterWidthHorizontal" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.numProfilesSlidingwindow />
                <Arg Name="NumProfilesSlidingwindow" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.offPeakFraction />
                <Arg Name="OffPeakFractionHorizontal" />
            </Setting>
            <OutputArg Name="PatchOil">
                <Trigger:PeakDetectHorizontal.peakDetect />
            </OutputArg>
            <OutputArg Name="PatchOilDepth">
                <Trigger:PeakDetectHorizontal.peakDepth />
            </OutputArg>
            <OutputArg Name="PatchOilLatitude">
                <Trigger:PeakDetectHorizontal.peakLatitude />
            </OutputArg>
            <OutputArg Name="PatchOilLongitude">
                <Trigger:PeakDetectHorizontal.peakLongitude />
            </OutputArg>
            <OutputArg Name="PatchOilDistance">
                <Trigger:PeakDetectHorizontal.peakDistance />
            </OutputArg>
        </Trigger:PeakDetectHorizontal>
    </Aggregate>
    <Aggregate Id="PeakDetectFDOM">
        <While>
            <Arg Name="PeakDetectFDOMActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:concentration_of_colored_dissolved_organic_matter_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <OutputArg Name="PeakFDOM">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakFDOMDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakFDOMTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakFDOMLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakFDOMLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakFDOM" />
            <Arg Name="PeakFDOMDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectSalinity">
        <While>
            <Arg Name="PeakDetectSalinityActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:sea_water_salinity />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakSalt">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakSaltDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakSaltTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakSaltLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakSaltLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakSalt" />
            <Arg Name="PeakSaltDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="HighestSaltPeakReport">
        <While>
            <Arg Name="HighestSaltPeakReportActive" />
        </While>
        <Trigger:PeakDetectHorizontal>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectHorizontal.detectFrom />
                <Arg Name="PeakSalt" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.depthFrom />
                <Arg Name="PeakSaltDepth" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.latitudeFrom />
                <Arg Name="PeakSaltLatitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.longitudeFrom />
                <Arg Name="PeakSaltLongitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.patchTracking />
                <Arg Name="PatchTracking" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.filterWidth />
                <Arg Name="FilterWidthHorizontal" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.numProfilesSlidingwindow />
                <Arg Name="NumProfilesSlidingwindow" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.offPeakFraction />
                <Arg Name="OffPeakFractionHorizontal" />
            </Setting>
            <OutputArg Name="PatchSalt">
                <Trigger:PeakDetectHorizontal.peakDetect />
            </OutputArg>
            <OutputArg Name="PatchSaltDepth">
                <Trigger:PeakDetectHorizontal.peakDepth />
            </OutputArg>
            <OutputArg Name="PatchSaltLatitude">
                <Trigger:PeakDetectHorizontal.peakLatitude />
            </OutputArg>
            <OutputArg Name="PatchSaltLongitude">
                <Trigger:PeakDetectHorizontal.peakLongitude />
            </OutputArg>
            <OutputArg Name="PatchSaltDistance">
                <Trigger:PeakDetectHorizontal.peakDistance />
            </OutputArg>
        </Trigger:PeakDetectHorizontal>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreLMavgROI">
        <While>
            <Arg Name="PeakDetectPlanktivoreLMavgROIActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_LM_AvgRois</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreLMavgROI">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROIDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROITemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROILatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROILongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreLMavgROI" />
            <Arg Name="PeakPlanktivoreLMavgROIDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="EdgeDetectPlanktivoreLMavgROI">
        <While>
            <Arg Name="EdgeDetectPlanktivoreLMavgROIActive" />
        </While>
        <Syslog Severity="Debug">EdgeDetectVsDepth</Syslog>
        <Trigger:EdgeDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:EdgeDetectVsDepth.detect />
                <String>_.planktivore_LM_AvgRois</String>
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFraction />
                <Arg Name="OffPeakFractionVertical" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.peakThresh />
                <Arg Name="PlanktivoreLMavgROIPeakThresh" />
            </Setting>
            <OutputArg Name="GoDown">
                <Trigger:EdgeDetectVsDepth.goDown />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROI">
                <Trigger:EdgeDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROIDepth">
                <Trigger:EdgeDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROITemperature">
                <Trigger:EdgeDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROILatitude">
                <Trigger:EdgeDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROILongitude">
                <Trigger:EdgeDetectVsDepth.peakLongitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROI">
                <Trigger:EdgeDetectVsDepth.edgeDetect />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROIDepth">
                <Trigger:EdgeDetectVsDepth.edgeDepth />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROITemperature">
                <Trigger:EdgeDetectVsDepth.edgeTemperature />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROILatitude">
                <Trigger:EdgeDetectVsDepth.edgeLatitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROILongitude">
                <Trigger:EdgeDetectVsDepth.edgeLongitude />
            </OutputArg>
        </Trigger:EdgeDetectVsDepth>
        <Syslog Severity="Important">
            GoDown, PlanktivoreLMavgROIPeakThresh, PeakPlanktivoreLMavgROI, PeakPlanktivoreLMavgROIDepth, EdgePlanktivoreLMavgROI, EdgePlanktivoreLMavgROIDepth = 
            <Arg Name="GoDown" />
            <Units:bool />
            , 
            <Arg Name="PlanktivoreLMavgROIPeakThresh" />
            <Units:microgram_per_liter />
            , 
            <Arg Name="PeakPlanktivoreLMavgROI" />
            <Units:microgram_per_liter />
            , 
            <Arg Name="PeakPlanktivoreLMavgROIDepth" />
            <Units:meter />
            , 
            <Arg Name="EdgePlanktivoreLMavgROI" />
            <Units:microgram_per_liter />
            , 
            <Arg Name="EdgePlanktivoreLMavgROIDepth" />
            <Units:meter />
        </Syslog>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreLMavgROI" />
            <Arg Name="PeakPlanktivoreLMavgROIDepth" />
            <Arg Name="EdgePlanktivoreLMavgROI" />
            <Arg Name="EdgePlanktivoreLMavgROIDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreHMavgROI">
        <While>
            <Arg Name="PeakDetectPlanktivoreHMavgROIActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_HM_AvgRois</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreHMavgROI">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROIDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROITemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROILatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROILongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreHMavgROI" />
            <Arg Name="PeakPlanktivoreHMavgROIDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreDiatoms">
        <While>
            <Arg Name="PeakDetectPlanktivoreDiatomsActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_diatoms</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreDiatoms">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreDiatoms" />
            <Arg Name="PeakPlanktivoreDiatomsDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreDinoflagellates">
        <While>
            <Arg Name="PeakDetectPlanktivoreDinoflagellatesActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_dinoflagellates</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreDinoflagellates">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreDinoflagellates" />
            <Arg Name="PeakPlanktivoreDinoflagellatesDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="ChlThreshTrigger">
        <While>
            <Arg Name="ChlThreshTriggerActive" />
        </While>
        <Trigger:ValueDetect>
            <Sequence />
            <Setting>
                <Trigger:ValueDetect.detect />
                <Arg Name="PeakChl" />
            </Setting>
            <Setting>
                <Trigger:ValueDetect.lowerThreshold />
                <Arg Name="ChlLowerThresh" />
            </Setting>
            <Setting>
                <Trigger:ValueDetect.upperThreshold />
                <Arg Name="ChlUpperThresh" />
            </Setting>
            <Setting>
                <Trigger:ValueDetect.numProfilesThreshold />
                <Arg Name="NumProfilesThresh" />
            </Setting>
            <OutputArg Name="ChlTriggering">
                <Trigger:ValueDetect.outputValue />
            </OutputArg>
        </Trigger:ValueDetect>
        <Assign>
            <Sequence />
            <Arg Name="TriggeredOnChl" />
            <True />
        </Assign>
        <Syslog Severity="Important">
            Triggered. PeakChl values on 
            <Arg Name="NumProfilesThresh" />
            <Units:count />
             consecutive yo-yo profiles fall in [
            <Arg Name="ChlLowerThresh" />
            <Units:microgram_per_liter />
            <Arg Name="ChlUpperThresh" />
            <Units:microgram_per_liter />
            ] (NaN bound is ignored).
        </Syslog>
    </Aggregate>
</Aggregate>

2025-03-12T22:46:03.453Z,1741819563.453 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.PeakDetectChlActive = 0 bool
2025-03-12T22:46:03.455Z,1741819563.455 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.EdgeDetectChlActive = 0 bool
2025-03-12T22:46:03.457Z,1741819563.457 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.TimeWindowPeakReport = nan min
2025-03-12T22:46:03.459Z,1741819563.459 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.HighestChlPeakReportActive = 0 bool
2025-03-12T22:46:03.461Z,1741819563.461 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.HighestSaltPeakReportActive = 0 bool
2025-03-12T22:46:03.464Z,1741819563.464 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.HighestOilPeakReportActive = 0 bool
2025-03-12T22:46:03.465Z,1741819563.465 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.PatchTracking = 0 bool
2025-03-12T22:46:03.468Z,1741819563.468 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.FilterWidthHorizontal = 3.000000 count
2025-03-12T22:46:03.470Z,1741819563.470 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.NumProfilesSlidingwindow = 100.000000 count
2025-03-12T22:46:03.473Z,1741819563.473 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.OffPeakFractionHorizontal = 80.000000 %
2025-03-12T22:46:03.474Z,1741819563.474 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.PeakDetectNO3Active = 0 bool
2025-03-12T22:46:03.505Z,1741819563.505 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.PeakDetectOilActive = 0 bool
2025-03-12T22:46:03.507Z,1741819563.507 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.PeakDetectFDOMActive = 0 bool
2025-03-12T22:46:03.520Z,1741819563.520 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.PeakDetectSalinityActive = 0 bool
2025-03-12T22:46:03.522Z,1741819563.522 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.PeakDetectPlanktivoreLMavgROIActive = 0 bool
2025-03-12T22:46:03.529Z,1741819563.529 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.EdgeDetectPlanktivoreLMavgROIActive = 0 bool
2025-03-12T22:46:03.531Z,1741819563.531 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.PeakDetectPlanktivoreHMavgROIActive = 0 bool
2025-03-12T22:46:03.539Z,1741819563.539 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.PeakDetectPlanktivoreDiatomsActive = 0 bool
2025-03-12T22:46:03.545Z,1741819563.545 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.PeakDetectPlanktivoreDinoflagellatesActive = 0 bool
2025-03-12T22:46:03.551Z,1741819563.551 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2025-03-12T22:46:03.554Z,1741819563.554 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.EnabledAanderaaO2 = 0 bool
2025-03-12T22:46:03.561Z,1741819563.561 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.EnabledNeilBrown = 0 bool
2025-03-12T22:46:03.576Z,1741819563.576 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.EnabledSeabird = 1 bool
2025-03-12T22:46:03.578Z,1741819563.578 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.EnabledWetLabsBB2FL = 1 bool
2025-03-12T22:46:03.599Z,1741819563.599 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.EnabledWetLabsSeaOWL_UV_A = 0 bool
2025-03-12T22:46:03.602Z,1741819563.602 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.EnabledWetLabsUBAT = 0 bool
2025-03-12T22:46:03.604Z,1741819563.604 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.LowPassWindowLength = 20.000000 count
2025-03-12T22:46:03.607Z,1741819563.607 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.MedianFilterLen = 5.000000 count
2025-03-12T22:46:03.654Z,1741819563.654 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.ShallowBound = nan m
2025-03-12T22:46:03.665Z,1741819563.665 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.DeepBound = nan m
2025-03-12T22:46:03.683Z,1741819563.683 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.DepChangeThreshForAttitudeFlip = 2.000000 m
2025-03-12T22:46:03.686Z,1741819563.686 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.OffPeakFractionVertical = nan %
2025-03-12T22:46:03.692Z,1741819563.692 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.ChlPeakThresh = 0.000000 ug/l
2025-03-12T22:46:03.694Z,1741819563.694 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.ChlThreshTriggerActive = 0 bool
2025-03-12T22:46:03.701Z,1741819563.701 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.ChlLowerThresh = nan ug/l
2025-03-12T22:46:03.711Z,1741819563.711 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.ChlUpperThresh = nan ug/l
2025-03-12T22:46:03.714Z,1741819563.714 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.NumProfilesThresh = 5.000000 count
2025-03-12T22:46:03.720Z,1741819563.720 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.PlanktivoreLMavgROIPeakThresh = 0.000000 count/s
2025-03-12T22:46:03.722Z,1741819563.722 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.GoDown = 1 bool
2025-03-12T22:46:03.734Z,1741819563.734 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakChl = nan ug/l
2025-03-12T22:46:03.741Z,1741819563.741 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakChlDepth = nan m
2025-03-12T22:46:03.743Z,1741819563.743 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakChlTemperature = nan degC
2025-03-12T22:46:03.749Z,1741819563.749 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakChlLatitude = nan arcdeg
2025-03-12T22:46:03.764Z,1741819563.764 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakChlLongitude = nan arcdeg
2025-03-12T22:46:03.766Z,1741819563.766 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.EdgeChl = nan ug/l
2025-03-12T22:46:03.773Z,1741819563.773 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.EdgeChlDepth = nan m
2025-03-12T22:46:03.775Z,1741819563.775 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.EdgeChlTemperature = nan degC
2025-03-12T22:46:03.781Z,1741819563.781 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.EdgeChlLatitude = nan arcdeg
2025-03-12T22:46:03.788Z,1741819563.788 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.EdgeChlLongitude = nan arcdeg
2025-03-12T22:46:03.790Z,1741819563.790 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakNO3 = nan umol/l
2025-03-12T22:46:03.796Z,1741819563.796 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakNO3Depth = nan m
2025-03-12T22:46:03.799Z,1741819563.799 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakNO3Latitude = nan arcdeg
2025-03-12T22:46:03.806Z,1741819563.806 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakNO3Longitude = nan arcdeg
2025-03-12T22:46:03.810Z,1741819563.810 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakOil = nan kg/m3
2025-03-12T22:46:03.820Z,1741819563.820 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakOilDepth = nan m
2025-03-12T22:46:03.823Z,1741819563.823 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakOilLatitude = nan arcdeg
2025-03-12T22:46:03.829Z,1741819563.829 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakOilLongitude = nan arcdeg
2025-03-12T22:46:03.836Z,1741819563.836 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakFDOM = nan ppb
2025-03-12T22:46:03.839Z,1741819563.839 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakFDOMDepth = nan m
2025-03-12T22:46:03.846Z,1741819563.846 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakFDOMTemperature = nan degC
2025-03-12T22:46:03.849Z,1741819563.849 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakFDOMLatitude = nan arcdeg
2025-03-12T22:46:03.856Z,1741819563.856 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakFDOMLongitude = nan arcdeg
2025-03-12T22:46:03.858Z,1741819563.858 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakSalt = nan psu
2025-03-12T22:46:03.865Z,1741819563.865 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakSaltDepth = nan m
2025-03-12T22:46:03.867Z,1741819563.867 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakSaltTemperature = nan degC
2025-03-12T22:46:03.869Z,1741819563.869 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakSaltLatitude = nan arcdeg
2025-03-12T22:46:03.872Z,1741819563.872 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakSaltLongitude = nan arcdeg
2025-03-12T22:46:03.874Z,1741819563.874 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreLMavgROI = nan count/s
2025-03-12T22:46:03.899Z,1741819563.899 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreLMavgROIDepth = nan m
2025-03-12T22:46:03.902Z,1741819563.902 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreLMavgROITemperature = nan degC
2025-03-12T22:46:03.918Z,1741819563.918 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreLMavgROILatitude = nan arcdeg
2025-03-12T22:46:03.929Z,1741819563.929 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreLMavgROILongitude = nan arcdeg
2025-03-12T22:46:03.935Z,1741819563.935 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.EdgePlanktivoreLMavgROI = nan count/s
2025-03-12T22:46:03.938Z,1741819563.938 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.EdgePlanktivoreLMavgROIDepth = nan m
2025-03-12T22:46:03.944Z,1741819563.944 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.EdgePlanktivoreLMavgROITemperature = nan degC
2025-03-12T22:46:03.947Z,1741819563.947 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.EdgePlanktivoreLMavgROILatitude = nan arcdeg
2025-03-12T22:46:03.953Z,1741819563.953 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.EdgePlanktivoreLMavgROILongitude = nan arcdeg
2025-03-12T22:46:03.960Z,1741819563.960 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreHMavgROI = nan count/s
2025-03-12T22:46:03.962Z,1741819563.962 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreHMavgROIDepth = nan m
2025-03-12T22:46:03.973Z,1741819563.973 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreHMavgROITemperature = nan degC
2025-03-12T22:46:03.978Z,1741819563.978 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreHMavgROILatitude = nan arcdeg
2025-03-12T22:46:03.993Z,1741819563.993 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreHMavgROILongitude = nan arcdeg
2025-03-12T22:46:03.995Z,1741819563.995 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreDiatoms = nan count/ml
2025-03-12T22:46:04.001Z,1741819564.001 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreDiatomsDepth = nan m
2025-03-12T22:46:04.004Z,1741819564.004 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreDiatomsTemperature = nan degC
2025-03-12T22:46:04.006Z,1741819564.006 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreDiatomsLatitude = nan arcdeg
2025-03-12T22:46:04.053Z,1741819564.053 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreDiatomsLongitude = nan arcdeg
2025-03-12T22:46:04.063Z,1741819564.063 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreDinoflagellates = nan count/ml
2025-03-12T22:46:04.066Z,1741819564.066 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreDinoflagellatesDepth = nan m
2025-03-12T22:46:04.080Z,1741819564.080 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreDinoflagellatesTemperature = nan degC
2025-03-12T22:46:04.083Z,1741819564.083 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreDinoflagellatesLatitude = nan arcdeg
2025-03-12T22:46:04.094Z,1741819564.094 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreDinoflagellatesLongitude = nan arcdeg
2025-03-12T22:46:04.096Z,1741819564.096 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchChl = nan ug/l
2025-03-12T22:46:04.098Z,1741819564.098 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchChlDepth = nan m
2025-03-12T22:46:04.120Z,1741819564.120 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchChlLatitude = nan arcdeg
2025-03-12T22:46:04.122Z,1741819564.122 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchChlLongitude = nan arcdeg
2025-03-12T22:46:04.124Z,1741819564.124 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchChlDistance = nan m
2025-03-12T22:46:04.126Z,1741819564.126 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchSalt = nan psu
2025-03-12T22:46:04.173Z,1741819564.173 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchSaltDepth = nan m
2025-03-12T22:46:04.175Z,1741819564.175 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchSaltLatitude = nan arcdeg
2025-03-12T22:46:04.177Z,1741819564.177 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchSaltLongitude = nan arcdeg
2025-03-12T22:46:04.179Z,1741819564.179 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchSaltDistance = nan m
2025-03-12T22:46:04.182Z,1741819564.182 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchOil = nan psu
2025-03-12T22:46:04.202Z,1741819564.202 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchOilDepth = nan m
2025-03-12T22:46:04.204Z,1741819564.204 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchOilLatitude = nan arcdeg
2025-03-12T22:46:04.206Z,1741819564.206 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchOilLongitude = nan arcdeg
2025-03-12T22:46:04.208Z,1741819564.208 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchOilDistance = nan m
2025-03-12T22:46:04.210Z,1741819564.210 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.TriggeredOnChl = 0 bool
2025-03-12T22:46:04.229Z,1741819564.229 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.ChlTriggering = nan ug/l
2025-03-12T22:46:04.284Z,1741819564.284 [sci2_noyo_optim:Science:PeakDetectChl:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-03-12T22:46:04.332Z,1741819564.332 [sci2_noyo_optim:Science:EdgeDetectChl:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-03-12T22:46:04.376Z,1741819564.376 [sci2_noyo_optim:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-03-12T22:46:04.402Z,1741819564.402 [sci2_noyo_optim:Science:PeakDetectNO3:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-03-12T22:46:04.465Z,1741819564.465 [sci2_noyo_optim:Science:PeakDetectOil:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-03-12T22:46:04.497Z,1741819564.497 [sci2_noyo_optim:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-03-12T22:46:04.518Z,1741819564.518 [sci2_noyo_optim:Science:PeakDetectFDOM:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-03-12T22:46:04.550Z,1741819564.550 [sci2_noyo_optim:Science:PeakDetectSalinity:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-03-12T22:46:04.575Z,1741819564.575 [sci2_noyo_optim:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-03-12T22:46:04.616Z,1741819564.616 [sci2_noyo_optim:Science:PeakDetectPlanktivoreLMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-03-12T22:46:04.648Z,1741819564.648 [sci2_noyo_optim:Science:EdgeDetectPlanktivoreLMavgROI:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-03-12T22:46:04.698Z,1741819564.698 [sci2_noyo_optim:Science:PeakDetectPlanktivoreHMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-03-12T22:46:04.733Z,1741819564.733 [sci2_noyo_optim:Science:PeakDetectPlanktivoreDiatoms:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-03-12T22:46:04.763Z,1741819564.763 [sci2_noyo_optim:Science:PeakDetectPlanktivoreDinoflagellates:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-03-12T22:46:04.783Z,1741819564.783 [sci2_noyo_optim:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Construct ValueDetect.
2025-03-12T22:46:04.797Z,1741819564.797 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-03-12T22:46:04.797Z,1741819564.797 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-03-12T22:46:04.799Z,1741819564.799 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-03-12T22:46:04.966Z,1741819564.966 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/StandardEnvelopes.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="StandardEnvelopes">
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="MaxDepthIgnore">
        <Units:meter />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>200</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:meter />
        <Value>2000</Value>
    </DefineArg>
    <Parallel />
    <Guidance:AltitudeEnvelope>
        <Parallel />
        <Setting>
            <Guidance:AltitudeEnvelope.minAltitude />
            <Arg Name="MinAltitude" />
        </Setting>
        <Setting>
            <Guidance:AltitudeEnvelope.maxDepthIgnore />
            <Arg Name="MaxDepthIgnore" />
        </Setting>
    </Guidance:AltitudeEnvelope>
    <Guidance:DepthEnvelope>
        <Parallel />
        <Setting>
            <Guidance:DepthEnvelope.maxDepth />
            <Arg Name="MaxDepth" />
        </Setting>
    </Guidance:DepthEnvelope>
    <Guidance:OffshoreEnvelope>
        <Parallel />
        <Setting>
            <Guidance:OffshoreEnvelope.minOffshore />
            <Arg Name="MinOffshore" />
        </Setting>
    </Guidance:OffshoreEnvelope>
</Aggregate>

2025-03-12T22:46:04.970Z,1741819564.970 [MissionManager](INFO): DefineArg sci2_noyo_optim:StandardEnvelopes.MinAltitude = 5.000000 m
2025-03-12T22:46:04.972Z,1741819564.972 [MissionManager](INFO): DefineArg sci2_noyo_optim:StandardEnvelopes.MaxDepthIgnore = 0.000000 m
2025-03-12T22:46:04.974Z,1741819564.974 [MissionManager](INFO): DefineArg sci2_noyo_optim:StandardEnvelopes.MaxDepth = 200.000000 m
2025-03-12T22:46:04.977Z,1741819564.977 [MissionManager](INFO): DefineArg sci2_noyo_optim:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-03-12T22:46:04.978Z,1741819564.978 [sci2_noyo_optim:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-03-12T22:46:04.984Z,1741819564.984 [sci2_noyo_optim:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-03-12T22:46:04.990Z,1741819564.990 [sci2_noyo_optim:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-03-12T22:46:04.999Z,1741819564.999 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl
2025-03-12T22:46:04.999Z,1741819564.999 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl
2025-03-12T22:46:05.000Z,1741819565.000 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl
2025-03-12T22:46:05.212Z,1741819565.212 [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>

2025-03-12T22:46:05.217Z,1741819565.217 [MissionManager](INFO): DefineArg sci2_noyo_optim:NeedComms.DiveInterval = 1.000000 h
2025-03-12T22:46:05.283Z,1741819565.283 [MissionManager](INFO): DefineArg sci2_noyo_optim:NeedComms.WaitForPitchUp = 10.000000 min
2025-03-12T22:46:05.286Z,1741819565.286 [MissionManager](INFO): DefineArg sci2_noyo_optim:NeedComms.SurfacePitch = 20.000000 arcdeg
2025-03-12T22:46:05.288Z,1741819565.288 [MissionManager](INFO): DefineArg sci2_noyo_optim:NeedComms.SurfaceDepthRate = nan m/s
2025-03-12T22:46:05.290Z,1741819565.290 [MissionManager](INFO): DefineArg sci2_noyo_optim:NeedComms.SurfaceSpeed = 1.000000 m/s
2025-03-12T22:46:05.309Z,1741819565.309 [MissionManager](INFO): DefineArg sci2_noyo_optim:NeedComms.SurfacingTimeout = 1000.000000 s
2025-03-12T22:46:05.311Z,1741819565.311 [MissionManager](INFO): DefineArg sci2_noyo_optim:NeedComms.GPSTimeout = 7.000000 min
2025-03-12T22:46:05.313Z,1741819565.313 [MissionManager](INFO): DefineArg sci2_noyo_optim:NeedComms.CommsTimeout = 30.000000 min
2025-03-12T22:46:05.319Z,1741819565.319 [sci2_noyo_optim:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2025-03-12T22:46:05.370Z,1741819565.370 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2025-03-12T22:46:05.371Z,1741819565.371 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2025-03-12T22:46:05.376Z,1741819565.376 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2025-03-12T22:46:05.413Z,1741819565.413 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/BackseatDriver.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="BackseatDriver">
    <DefineArg Name="EnableBackseat">
        <False />
    </DefineArg>
    <Parallel />
    <Guidance:BackseatDriver>
        <Sequence />
        <Setting>
            <Guidance:BackseatDriver.powerBackseat />
            <Arg Name="EnableBackseat" />
        </Setting>
    </Guidance:BackseatDriver>
</Aggregate>

2025-03-12T22:46:05.417Z,1741819565.417 [MissionManager](INFO): DefineArg sci2_noyo_optim:BackseatDriver.EnableBackseat = 0 bool
2025-03-12T22:46:05.419Z,1741819565.419 [sci2_noyo_optim:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2025-03-12T22:46:05.423Z,1741819565.423 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2025-03-12T22:46:05.423Z,1741819565.423 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2025-03-12T22:46:05.424Z,1741819565.424 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2025-03-12T22:46:05.546Z,1741819565.546 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/PowerOnly.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="PowerOnly">
    <DefineArg Name="SampleAll">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad1">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad2">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad3">
        <False />
    </DefineArg>
    <DefineArg Name="EnabledPowerOnly">
        <Sensor:PowerOnly.loadAtStartup />
    </DefineArg>
    <Parallel />
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleAll" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.samplePowerOnly />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad1" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad1 />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad2" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad2 />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad3" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad3 />
    </ReadData>
    <Guidance:Wait>
        <Sequence />
        <Setting>
            <Guidance:Wait.duration />
            <Units:hour />
            <Value>99999</Value>
        </Setting>
    </Guidance:Wait>
</Aggregate>

2025-03-12T22:46:05.550Z,1741819565.550 [MissionManager](INFO): DefineArg sci2_noyo_optim:PowerOnly.SampleAll = 0 bool
2025-03-12T22:46:05.552Z,1741819565.552 [MissionManager](INFO): DefineArg sci2_noyo_optim:PowerOnly.SampleLoad1 = 0 bool
2025-03-12T22:46:05.554Z,1741819565.554 [MissionManager](INFO): DefineArg sci2_noyo_optim:PowerOnly.SampleLoad2 = 0 bool
2025-03-12T22:46:05.558Z,1741819565.558 [MissionManager](INFO): DefineArg sci2_noyo_optim:PowerOnly.SampleLoad3 = 0 bool
2025-03-12T22:46:05.561Z,1741819565.561 [MissionManager](INFO): DefineArg sci2_noyo_optim:PowerOnly.EnabledPowerOnly = 1 bool
2025-03-12T22:46:05.568Z,1741819565.568 [sci2_noyo_optim:PowerOnly:E.Wait](DEBUG): Construct Wait.
2025-03-12T22:46:05.574Z,1741819565.574 [sci2_noyo_optim:O.Buoyancy](DEBUG): Construct Buoyancy.
2025-03-12T22:46:05.611Z,1741819565.611 [sci2_noyo_optim:DiveCmd:InitialDive:dive:C.Mass](DEBUG): Construct.
2025-03-12T22:46:05.614Z,1741819565.614 [sci2_noyo_optim:DiveCmd:InitialDive:dive:E.Wait](DEBUG): Construct Wait.
2025-03-12T22:46:05.617Z,1741819565.617 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:A.SetSpeed](DEBUG): Construct.
2025-03-12T22:46:05.664Z,1741819565.664 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:B.Pitch](DEBUG): Construct.
2025-03-12T22:46:05.682Z,1741819565.682 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:B.Pitch:A_Timeout:B.Execute](DEBUG): Construct Execute.
2025-03-12T22:46:05.702Z,1741819565.702 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:B.Pitch](DEBUG): Construct.
2025-03-12T22:46:05.714Z,1741819565.714 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:C.Wait](DEBUG): Construct Wait.
2025-03-12T22:46:05.739Z,1741819565.739 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass](DEBUG): Construct.
2025-03-12T22:46:05.741Z,1741819565.741 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed](DEBUG): Construct.
2025-03-12T22:46:05.744Z,1741819565.744 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:B.Pitch](DEBUG): Construct.
2025-03-12T22:46:05.753Z,1741819565.753 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:A.SetSpeed](DEBUG): Construct.
2025-03-12T22:46:05.757Z,1741819565.757 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:C.Buoyancy](DEBUG): Construct Buoyancy.
2025-03-12T22:46:05.778Z,1741819565.778 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:D.Pitch](DEBUG): Construct.
2025-03-12T22:46:05.789Z,1741819565.789 [sci2_noyo_optim:Lap:DepthByLap:Wpt1:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T22:46:05.794Z,1741819565.794 [sci2_noyo_optim:Lap:DepthByLap:Wpt2:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T22:46:05.800Z,1741819565.800 [sci2_noyo_optim:Lap:DepthByLap:Wpt3:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T22:46:05.805Z,1741819565.805 [sci2_noyo_optim:Lap:DepthByLap:Wpt4:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T22:46:05.811Z,1741819565.811 [sci2_noyo_optim:Lap:DepthByLap:Wpt5:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T22:46:05.826Z,1741819565.826 [sci2_noyo_optim:Lap:DepthByLap:Wpt6:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T22:46:05.831Z,1741819565.831 [sci2_noyo_optim:Lap:DepthByLap:Wpt7:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T22:46:05.837Z,1741819565.837 [sci2_noyo_optim:Lap:DepthByLap:Wpt8:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T22:46:05.845Z,1741819565.845 [sci2_noyo_optim:Lap:DepthByLap:Leg2:Wpt1:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T22:46:05.850Z,1741819565.850 [sci2_noyo_optim:Lap:DepthByLap:Leg2:Wpt2:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T22:46:05.856Z,1741819565.856 [sci2_noyo_optim:Lap:DepthByLap:Leg2:Wpt3:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T22:46:05.861Z,1741819565.861 [sci2_noyo_optim:Lap:DepthByLap:Leg2:Wpt4:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T22:46:05.878Z,1741819565.878 [sci2_noyo_optim:Lap:DepthByLap:Leg2:Wpt5:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T22:46:05.884Z,1741819565.884 [sci2_noyo_optim:Lap:DepthByLap:Leg2:Wpt6:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T22:46:05.889Z,1741819565.889 [sci2_noyo_optim:Lap:DepthByLap:Leg2:Wpt7:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T22:46:05.894Z,1741819565.894 [sci2_noyo_optim:Lap:DepthByLap:Leg2:Wpt8:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T22:46:05.904Z,1741819565.904 [sci2_noyo_optim:Lap:DepthByLap:Leg3:Wpt1:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T22:46:05.914Z,1741819565.914 [sci2_noyo_optim:Lap:DepthByLap:Leg3:Wpt2:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T22:46:05.930Z,1741819565.930 [sci2_noyo_optim:Lap:DepthByLap:Leg3:Wpt3:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T22:46:05.936Z,1741819565.936 [sci2_noyo_optim:Lap:DepthByLap:Leg3:Wpt4:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T22:46:05.941Z,1741819565.941 [sci2_noyo_optim:Lap:DepthByLap:Leg3:Wpt5:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T22:46:05.947Z,1741819565.947 [sci2_noyo_optim:Lap:DepthByLap:Leg3:Wpt6:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T22:46:05.952Z,1741819565.952 [sci2_noyo_optim:Lap:DepthByLap:Leg3:Wpt7:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T22:46:05.958Z,1741819565.958 [sci2_noyo_optim:Lap:DepthByLap:Leg3:Wpt8:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T22:46:05.978Z,1741819565.978 [sci2_noyo_optim:Lap:DepthByLap:Leg4:Wpt1:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T22:46:05.984Z,1741819565.984 [sci2_noyo_optim:Lap:DepthByLap:Leg4:Wpt2:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T22:46:05.990Z,1741819565.990 [sci2_noyo_optim:Lap:DepthByLap:Leg4:Wpt3:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T22:46:05.995Z,1741819565.995 [sci2_noyo_optim:Lap:DepthByLap:Leg4:Wpt4:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T22:46:06.001Z,1741819566.001 [sci2_noyo_optim:Lap:DepthByLap:Leg4:Wpt5:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T22:46:06.006Z,1741819566.006 [sci2_noyo_optim:Lap:DepthByLap:Leg4:Wpt6:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T22:46:06.012Z,1741819566.012 [sci2_noyo_optim:Lap:DepthByLap:Leg4:Wpt7:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T22:46:06.017Z,1741819566.017 [sci2_noyo_optim:Lap:DepthByLap:Leg4:Wpt8:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T22:46:06.090Z,1741819566.090 [sci2_noyo_optim:Lap:DepthByLap:Leg5:Wpt1:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T22:46:06.109Z,1741819566.109 [sci2_noyo_optim:Lap:DepthByLap:Leg5:Wpt2:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T22:46:06.123Z,1741819566.123 [sci2_noyo_optim:Lap:DepthByLap:Leg5:Wpt3:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T22:46:06.133Z,1741819566.133 [sci2_noyo_optim:Lap:DepthByLap:Leg5:Wpt4:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T22:46:06.139Z,1741819566.139 [sci2_noyo_optim:Lap:DepthByLap:Leg5:Wpt5:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T22:46:06.144Z,1741819566.144 [sci2_noyo_optim:Lap:DepthByLap:Leg5:Wpt6:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T22:46:06.150Z,1741819566.150 [sci2_noyo_optim:Lap:DepthByLap:Leg5:Wpt7:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T22:46:06.156Z,1741819566.156 [sci2_noyo_optim:Lap:DepthByLap:Leg5:Wpt8:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T22:46:06.165Z,1741819566.165 [sci2_noyo_optim:Lap:DepthByLap:Leg6:Wpt1:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T22:46:06.170Z,1741819566.170 [sci2_noyo_optim:Lap:DepthByLap:Leg6:Wpt2:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T22:46:06.188Z,1741819566.188 [sci2_noyo_optim:Lap:DepthByLap:Leg6:Wpt3:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T22:46:06.193Z,1741819566.193 [sci2_noyo_optim:Lap:DepthByLap:Leg6:Wpt4:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T22:46:06.199Z,1741819566.199 [sci2_noyo_optim:Lap:DepthByLap:Leg6:Wpt5:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T22:46:06.204Z,1741819566.204 [sci2_noyo_optim:Lap:DepthByLap:Leg6:Wpt6:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T22:46:06.210Z,1741819566.210 [sci2_noyo_optim:Lap:DepthByLap:Leg6:Wpt7:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T22:46:06.215Z,1741819566.215 [sci2_noyo_optim:Lap:DepthByLap:Leg6:Wpt8:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T22:46:06.225Z,1741819566.225 [sci2_noyo_optim:Lap:DepthByLap:Leg7:Wpt1:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T22:46:06.241Z,1741819566.241 [sci2_noyo_optim:Lap:DepthByLap:Leg7:Wpt2:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T22:46:06.246Z,1741819566.246 [sci2_noyo_optim:Lap:DepthByLap:Leg7:Wpt3:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T22:46:06.252Z,1741819566.252 [sci2_noyo_optim:Lap:DepthByLap:Leg7:Wpt4:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T22:46:06.257Z,1741819566.257 [sci2_noyo_optim:Lap:DepthByLap:Leg7:Wpt5:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T22:46:06.263Z,1741819566.263 [sci2_noyo_optim:Lap:DepthByLap:Leg7:Wpt6:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T22:46:06.268Z,1741819566.268 [sci2_noyo_optim:Lap:DepthByLap:Leg7:Wpt7:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T22:46:06.275Z,1741819566.275 [sci2_noyo_optim:Lap:DepthByLap:Leg7:Wpt8:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T22:46:06.294Z,1741819566.294 [sci2_noyo_optim:Lap:DepthByLap:Leg8:Wpt1:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T22:46:06.300Z,1741819566.300 [sci2_noyo_optim:Lap:DepthByLap:Leg8:Wpt2:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T22:46:06.310Z,1741819566.310 [sci2_noyo_optim:Lap:DepthByLap:Leg8:Wpt3:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T22:46:06.316Z,1741819566.316 [sci2_noyo_optim:Lap:DepthByLap:Leg8:Wpt4:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T22:46:06.322Z,1741819566.322 [sci2_noyo_optim:Lap:DepthByLap:Leg8:Wpt5:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T22:46:06.327Z,1741819566.327 [sci2_noyo_optim:Lap:DepthByLap:Leg8:Wpt6:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T22:46:06.342Z,1741819566.342 [sci2_noyo_optim:Lap:DepthByLap:Leg8:Wpt7:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T22:46:06.347Z,1741819566.347 [sci2_noyo_optim:Lap:DepthByLap:Leg8:Wpt8:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T22:46:06.356Z,1741819566.356 [sci2_noyo_optim:Lap:DepthByLeg:Leg1:B.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T22:46:06.366Z,1741819566.366 [sci2_noyo_optim:Lap:DepthByLeg:Leg2:Wpt2:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T22:46:06.376Z,1741819566.376 [sci2_noyo_optim:Lap:DepthByLeg:Leg3:Wpt3:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T22:46:06.392Z,1741819566.392 [sci2_noyo_optim:Lap:DepthByLeg:Leg4:Wpt4:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T22:46:06.401Z,1741819566.401 [sci2_noyo_optim:Lap:DepthByLeg:Leg5:Wpt5:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T22:46:06.410Z,1741819566.410 [sci2_noyo_optim:Lap:DepthByLeg:Leg6:Wpt6:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T22:46:06.419Z,1741819566.419 [sci2_noyo_optim:Lap:DepthByLeg:Leg7:Wpt7:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T22:46:06.429Z,1741819566.429 [sci2_noyo_optim:Lap:DepthByLeg:Leg8:Wpt8:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T22:46:06.581Z,1741819566.581 [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 sci2_noyo_optim {
  """
  Vehicle transits to the specified waypoints at the commanded depth
  (flat-and-level, no yoyos) with science, Optim camera, and multiray
  lights on.
  """

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

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

    Depth1 = 35 meter
      """
      Depth of flat and level flight during the mission for the first transit leg or lap.
      """

    Depth[2..8] = NaN meter
      """
      Depth of flat and level flight during the mission for subsequent transit legs or laps.
      Skipped if NaN.
      """

    DepthPerLeg = false
      """
      Indicates whether additional depths correspond to laps (cycle through all waypoints at
      each depth, default) or legs (use depth for transit leg ending at corresponding waypoint,
      each lap repeats all depths and waypoints).
      """

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

    Lat[1..8] = NaN degree
      """
      Latitude of waypoint {$}. If nan, waypoint is skipped.
      """

    Lon[1..8] = NaN degree
      """
      Longitude of waypoint {$}. If nan, waypoint is skipped.
      """

    FastSpeed = 1 meter_per_second
      """
      Speed while transiting to waypoint.
      """

    ApproachDepth = 30 meter
      """
      Depth for initial descent form the surface.
      """

    ApproachSpeed = 0.7 meter_per_second
      """
      Speed while descending to target depth.
      """

    ApproachDepthRate = 0.05 meter_per_second
      """
      Descent depth rate (Positive depth rate means going down).
      """

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

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

    ApproachSettleTimePreDive = 1 minute
      """
      Time duration for the vehicle to pump down the VBS *BEFORE* leaving the
      surface.
      """

    ApproachSettleTimePostDive = 3 minute
      """
      Time duration for the vehicle to settle *AFTER* reaching the target
      depth.
      """

    kpDepth = 0.07 radian_per_meter
      """
      Dive loop proportional gain (applied only while the vehicle is
      descending to target depth).
      """

    SlowSpeed = 0.25 meter_per_second
      """
      Set this to something other than Nan if slow speed filming with a
      wide depth deadband is desired.
      """

    DepthDeviationSlow = 3 meter
      """
      Allowable +/- deviation from depth during slow flight. Needs a SlowSpeed
      to be set.
      """

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

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

    MinAltitude = 2 meter
      """
      Minimum height above the sea floor for the entire mission.
      """

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

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

  output {
    DiveMode = 0 count
      """
      Mission variable (don't change). The mission sets this variable to
      switch between dive modes. Initialized to DoingComms.
      """

    DoingComms = 0 count
      """
      Mission variable (don't change). The mission will run in this to mode
      when doing surface comms.
      """

    InitialDive = 1 count
      """
      Mission variable (don't change). The mission will run in this mode after
      surface comms are done to dive the vehicle to the approach depth.
      """

    SettleAtDepth = 2 count
      """
      Mission variable (don't change). The mission will run in this mode to
      settle the vehicle at the target depth.
      """

    MaintainDepth = 3 count
      """
      Mission variable (don't change). The mission will run in this mode to
      maintain the vehicle at the target depth.
      """

    LegDepth = Depth1
      """
      Mission variable to track the current depth for the current leg.
      """
  }

  # Mission timeout

  timeout duration=MissionTimeout

  # Science!

  insert Insert/Science.tl {
    """
    Run the science sensors.
    """
  }

  # 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 = MissionTimeout

  assign in sequence NeedComms:WaitForPitchUp = 0 minute

  insert Insert/BackseatDriver.tl
  assign in parallel BackseatDriver:EnableBackseat = true

  insert Insert/PowerOnly.tl
  assign in parallel PowerOnly:SampleLoad1 = true

  assign in sequence Sensor:MultiRay.lightModeCommand = 2 count
  readData strategy="MinError" {
    while ( Sensor:MultiRay.loadAtStartup )

    Sensor:MultiRay.lightModeLog
  }

  behavior Guidance:Buoyancy {
    run in parallel

    set position = BuoyancyNeutral
  }

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

    assign in sequence DiveMode = DoingComms

    call refId="NeedComms"

    assign in sequence DiveMode = InitialDive
  }

  aggregate DiveCmd {
    """
    Called when the vehicle should be underwater. Arbitrates between 4
    dive modes: 1) descend from the surface to initial depth. 2) settle
    at target depth using the VB. 3) cruise at target depth and go slow
    while within depth deviation bounds if a slow speed is set.
    """

    run when ( called )

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

      run while ( DiveMode == InitialDive )

      aggregate dive {
        run in sequence

        assign in parallel Control:VerticalControl.pitchLimit = ApproachPitchLimit

        assign in parallel Control:VerticalControl.kpDepth = kpDepth

        behavior Guidance:Mass {
          run in parallel

          set position = MassDefault
        }

        # behavior Guidance:Buoyancy {
        #   run in parallel

        #   set position = BuoyancyNeutral
        # }

        syslog info "Waiting for "
             + ApproachSettleTimePreDive~minute + "while pumping down to neutral."

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

          run in sequence

          set duration = ApproachSettleTimePreDive
        }

        syslog "Moving to " + ApproachDepth~meter

        aggregate ApproachDepth {
          run in sequence

          behavior Guidance:SetSpeed {
            run in parallel

            set speed = ApproachSpeed
          }

          behavior Guidance:Pitch {
            run in sequence

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

              behavior Guidance:Execute {
                run in sequence

                set command = "stop"
              }
            }

            set depth = ApproachDepth
            set depthRate = ApproachDepthRate
          }
        }

        assign in sequence DiveMode = SettleAtDepth
      }
    }

    aggregate SettleAtDepth {
      """
      Take a few more moments here to make sure the vehicle is settled
      at the target depth.
      """

      run while ( DiveMode == SettleAtDepth )

      aggregate dive {
        run in sequence

        syslog info "Reached " + Universal:depth~meter + ", settling for "
             + ApproachSettleTimePostDive~minute

        behavior Guidance:Pitch {
          run in parallel

          set depth = LegDepth
        }

        behavior Guidance:Wait {
          run in sequence

          set duration = ApproachSettleTimePostDive
        }

        assign in sequence DiveMode = MaintainDepth
      }
    }

    aggregate MaintainDepth {
      """
      Cruise at the target depth.
      """

      run while (
        DiveMode == MaintainDepth
        and ( Universal:depth > ( LegDepth + DepthDeviationSlow ) )
        or ( Universal:depth < ( LegDepth - DepthDeviationSlow ) )
      )

      aggregate dive {
        run in parallel

        aggregate ThrusterDive {
          run while ( FastSpeed > 0.0 meter_per_second )

          behavior Guidance:Mass {
            run in parallel

            set position = MassDefault
          }

          # behavior Guidance:Buoyancy {
          #   run in parallel

          #   set position = BuoyancyNeutral
          # }

          behavior Guidance:SetSpeed {
            run in parallel

            set speed = FastSpeed
          }
        }

        behavior Guidance:Pitch {
          run in parallel

          set depth = LegDepth
        }
      }
    }

    aggregate MaintainDepthSlow {
      """
      Cruise slow at the target depth.
      """

      run while (
        ( not isNaN ( SlowSpeed ) )
        and ( DiveMode == MaintainDepth )
        and ( Universal:depth <= ( LegDepth + DepthDeviationSlow ) )
        and ( Universal:depth >= ( LegDepth - DepthDeviationSlow ) )
      )

      behavior Guidance:SetSpeed {
        run in parallel

        set speed = SlowSpeed
      }

      # Let's make sure the vertical control depth deadband doesn't interfere with our mission
      # level version of the deadband. And we'll add an extra 3m so we don't trigger any
      # faults inside vertical control when attempting to regain the commanded depth.
      assign in parallel Control:VerticalControl.depthDeadband = ( DepthDeviationSlow + 3 m )

      behavior Guidance:Buoyancy {
        run in parallel

        set position = NaN cc
      }

      behavior Guidance:Pitch {
        run in parallel

        set depth = LegDepth
      }
    }
  }

  # Start mission sequence

  call id="StartingMission" refId="SurfaceComms"

  aggregate Lap {
    run in sequence repeat=Repeat

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

      call refId="DiveCmd"
    }

    # Default behavior: Depths correspond to laps
    # Run through all waypoints at each depth
    aggregate DepthByLap {
      run in sequence

      break if ( DepthPerLeg )

      assign in sequence LegDepth = Depth1

      aggregate Wpt1 {
        run in sequence

        behavior Guidance:Waypoint {
          run in sequence

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

      macro $i = 2..8 {
        aggregate Wpt$i {
          run in sequence

          behavior Guidance:Waypoint {
            run in sequence

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

      macro $j = 2..8 {
        aggregate Leg$j {
          run in sequence

          break if ( isNaN ( Depth[$j] ) )

          syslog important "Transiting waypoints at depth " + Depth[$j]~meter
          assign in sequence LegDepth = Depth[$j]

          macro $i = 1..8 {
            aggregate Wpt$i {
              run in sequence

              behavior Guidance:Waypoint {
                run in sequence

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

    # Non-default behavior: depth by leg
    # Transit to waypoint at corresponding depth, repeat per lap
    # (e.g. Transit to waypoint 1 at depth 1, waypoint 2 at depth 2, and so on)
    aggregate DepthByLeg {
      run in sequence

      break if ( not DepthPerLeg )

      aggregate Leg1 {
        run in sequence

        assign in sequence LegDepth = Depth1

        behavior Guidance:Waypoint {
          run in sequence

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

      macro $i = 2..8 {
        aggregate Leg$i {
          run in sequence

          break if ( isNaN ( Depth[$i] ) )

          syslog info "Transiting to next waypoint at depth " + Depth[$i]~meter
          assign in sequence LegDepth = Depth[$i]

          aggregate Wpt$i {
            run in sequence

            behavior Guidance:Waypoint {
              run in sequence

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


2025-03-12T22:46:06.581Z,1741819566.581 [CommandExec](IMPORTANT): Loaded ./Missions/Science/sci2_noyo_optim.tl id=sci2_noyo_optim
2025-03-12T22:46:37.948Z,1741819597.948 [CommandExec](IMPORTANT): got command set sci2_noyo_optim.MissionTimeout 6 hour
2025-03-12T22:46:37.949Z,1741819597.949 [CommandExec](IMPORTANT): got command set sci2_noyo_optim.NeedCommsTime 60 minute
2025-03-12T22:46:37.950Z,1741819597.950 [CommandExec](IMPORTANT): got command set sci2_noyo_optim.Depth1 250 meter
2025-03-12T22:46:37.951Z,1741819597.951 [CommandExec](IMPORTANT): got command set sci2_noyo_optim.Depth2 280 meter
2025-03-12T22:46:37.000Z,1741819598.000 [CommandExec](IMPORTANT): got command set sci2_noyo_optim.Depth3 NaN meter
2025-03-12T22:47:04.478Z,1741819624.478 [CommandExec](IMPORTANT): got command set sci2_noyo_optim.Repeat 6 count
2025-03-12T22:47:04.479Z,1741819624.479 [CommandExec](IMPORTANT): got command set sci2_noyo_optim.Lat1 36.79279 degree
2025-03-12T22:47:04.480Z,1741819624.480 [CommandExec](IMPORTANT): got command set sci2_noyo_optim.Lon1 -121.88919 degree
2025-03-12T22:47:04.481Z,1741819624.481 [CommandExec](IMPORTANT): got command set sci2_noyo_optim.Lat2 36.78427 degree
2025-03-12T22:47:04.481Z,1741819624.481 [CommandExec](IMPORTANT): got command set sci2_noyo_optim.Lon2 -121.91339 degree
2025-03-12T22:47:21.644Z,1741819641.644 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2025-03-12T22:47:21.644Z,1741819641.644 [Default:CheckIn:C.Wait] Stopped
2025-03-12T22:47:21.644Z,1741819641.644 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2025-03-12T22:47:21.644Z,1741819641.644 [Default:CheckIn:D] Running Loop=1
2025-03-12T22:47:22.157Z,1741819642.157 [Default:CheckIn:D] Stopped
2025-03-12T22:47:22.157Z,1741819642.157 [Default:CheckIn:E] Running Loop=1
2025-03-12T22:47:22.447Z,1741819642.447 [Default:CheckIn:E](IMPORTANT): Default mission has been running for  21.736513 min 
2025-03-12T22:47:22.451Z,1741819642.451 [Default:CheckIn:E] Stopped
2025-03-12T22:47:22.451Z,1741819642.451 [Default:CheckIn](INFO): Completed Default:CheckIn
2025-03-12T22:47:22.451Z,1741819642.451 [Default:CheckIn] Stopped
2025-03-12T22:47:22.451Z,1741819642.451 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-03-12T22:47:22.452Z,1741819642.452 [Default:CheckIn](INFO): Running loop #4
2025-03-12T22:47:22.452Z,1741819642.452 [Default:CheckIn] Running Loop=4
2025-03-12T22:47:22.452Z,1741819642.452 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-03-12T22:47:22.452Z,1741819642.452 [Default:CheckIn:Read_GPS] Running Loop=1
2025-03-12T22:47:24.442Z,1741819644.442 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,224723.00,A,3648.06334,N,12151.39702,W,0.778,94.81,120325,,,A*47
2025-03-12T22:47:24.444Z,1741819644.444 [NAL9602](INFO): GPS fix at 20250312T224723: (36.801056, -121.856617)
2025-03-12T22:47:24.470Z,1741819644.470 [Default:CheckIn:Read_GPS] Stopped
2025-03-12T22:47:24.470Z,1741819644.470 [Default:CheckIn:Read_Iridium] Running Loop=1
2025-03-12T22:47:35.419Z,1741819655.419 [DataOverHttps](INFO): Sending 73 bytes from file Logs/20250311T232940/Courier0189.lzma
2025-03-12T22:47:36.422Z,1741819656.422 [DataOverHttps](INFO): Moved sent file to Logs/20250311T232940/Courier0189.lzma.bak
2025-03-12T22:47:36.422Z,1741819656.422 [DataOverHttps](INFO): SBD MOMSN=24215043
2025-03-12T22:47:42.762Z,1741819662.762 [CommandExec](IMPORTANT): got command set sci2_noyo_optim.ApproachDepth 10 meter
2025-03-12T22:47:42.791Z,1741819662.791 [CommandExec](IMPORTANT): got command set sci2_noyo_optim.SlowSpeed 0.35 meter_per_second
2025-03-12T22:47:42.792Z,1741819662.792 [CommandExec](IMPORTANT): got command set sci2_noyo_optim.MinAltitude 10 meter
2025-03-12T22:47:42.793Z,1741819662.793 [CommandExec](IMPORTANT): got command set sci2_noyo_optim.MaxDepth 290 meter
2025-03-12T22:47:42.793Z,1741819662.793 [CommandExec](IMPORTANT): got command set sci2_noyo_optim:PowerOnly.SampleLoad1 1 bool
2025-03-12T22:47:42.794Z,1741819662.794 [CommandExec](IMPORTANT): got command run
2025-03-12T22:47:42.837Z,1741819662.837 [CommandExec](IMPORTANT): Running 
2025-03-12T22:47:42.894Z,1741819662.894 [Default] Stopped
2025-03-12T22:47:42.894Z,1741819662.894 [Default](DEBUG): Aggregate::uninitialize Default
2025-03-12T22:47:42.895Z,1741819662.895 [Default:B.GoToSurface] Stopped
2025-03-12T22:47:42.895Z,1741819662.895 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-03-12T22:47:42.895Z,1741819662.895 [Default:CheckIn] Stopped
2025-03-12T22:47:42.895Z,1741819662.895 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-03-12T22:47:42.895Z,1741819662.895 [Default:CheckIn:Read_Iridium] Stopped
2025-03-12T22:47:42.899Z,1741819662.899 [MissionManager](IMPORTANT): Started mission sci2_noyo_optim
2025-03-12T22:47:42.900Z,1741819662.900 [sci2_noyo_optim] Running Loop=1
2025-03-12T22:47:42.900Z,1741819662.900 [sci2_noyo_optim](DEBUG): Aggregate::initialize sci2_noyo_optim
2025-03-12T22:47:42.900Z,1741819662.900 [sci2_noyo_optim:Science] Running Loop=1
2025-03-12T22:47:42.900Z,1741819662.900 [sci2_noyo_optim:Science](DEBUG): Aggregate::initialize sci2_noyo_optim:Science
2025-03-12T22:47:42.900Z,1741819662.900 [sci2_noyo_optim:Science:A] Running Loop=1
2025-03-12T22:47:42.900Z,1741819662.900 [sci2_noyo_optim:Science:B] Running Loop=1
2025-03-12T22:47:42.900Z,1741819662.900 [sci2_noyo_optim:Science:C] Running Loop=1
2025-03-12T22:47:42.900Z,1741819662.900 [sci2_noyo_optim:Science:D] Running Loop=1
2025-03-12T22:47:42.900Z,1741819662.900 [sci2_noyo_optim:Science:E] Running Loop=1
2025-03-12T22:47:42.900Z,1741819662.900 [sci2_noyo_optim:Science:F] Running Loop=1
2025-03-12T22:47:42.900Z,1741819662.900 [sci2_noyo_optim:Science:Read_Oil] Running Loop=1
2025-03-12T22:47:42.900Z,1741819662.900 [sci2_noyo_optim:Science:PeakDetectChl] Running Loop=1
2025-03-12T22:47:42.900Z,1741819662.900 [sci2_noyo_optim:Science:PeakDetectChl](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:PeakDetectChl
2025-03-12T22:47:42.901Z,1741819662.901 [sci2_noyo_optim:Science:PeakDetectChl:A] Running Loop=1
2025-03-12T22:47:42.901Z,1741819662.901 [sci2_noyo_optim:Science:EdgeDetectChl] Running Loop=1
2025-03-12T22:47:42.901Z,1741819662.901 [sci2_noyo_optim:Science:EdgeDetectChl](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:EdgeDetectChl
2025-03-12T22:47:42.901Z,1741819662.901 [sci2_noyo_optim:Science:EdgeDetectChl:A] Running Loop=1
2025-03-12T22:47:42.901Z,1741819662.901 [sci2_noyo_optim:Science:HighestChlPeakReport] Running Loop=1
2025-03-12T22:47:42.901Z,1741819662.901 [sci2_noyo_optim:Science:HighestChlPeakReport](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:HighestChlPeakReport
2025-03-12T22:47:42.901Z,1741819662.901 [sci2_noyo_optim:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-03-12T22:47:42.901Z,1741819662.901 [sci2_noyo_optim:Science:HighestChlPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-03-12T22:47:42.902Z,1741819662.902 [sci2_noyo_optim:Science:PeakDetectNO3] Running Loop=1
2025-03-12T22:47:42.902Z,1741819662.902 [sci2_noyo_optim:Science:PeakDetectNO3](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:PeakDetectNO3
2025-03-12T22:47:42.902Z,1741819662.902 [sci2_noyo_optim:Science:PeakDetectNO3:A] Running Loop=1
2025-03-12T22:47:42.902Z,1741819662.902 [sci2_noyo_optim:Science:PeakDetectOil] Running Loop=1
2025-03-12T22:47:42.902Z,1741819662.902 [sci2_noyo_optim:Science:PeakDetectOil](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:PeakDetectOil
2025-03-12T22:47:42.902Z,1741819662.902 [sci2_noyo_optim:Science:PeakDetectOil:A] Running Loop=1
2025-03-12T22:47:42.902Z,1741819662.902 [sci2_noyo_optim:Science:HighestOilPeakReport] Running Loop=1
2025-03-12T22:47:42.902Z,1741819662.902 [sci2_noyo_optim:Science:HighestOilPeakReport](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:HighestOilPeakReport
2025-03-12T22:47:42.903Z,1741819662.903 [sci2_noyo_optim:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-03-12T22:47:42.903Z,1741819662.903 [sci2_noyo_optim:Science:HighestOilPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-03-12T22:47:42.921Z,1741819662.921 [sci2_noyo_optim:Science:PeakDetectFDOM] Running Loop=1
2025-03-12T22:47:42.921Z,1741819662.921 [sci2_noyo_optim:Science:PeakDetectFDOM](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:PeakDetectFDOM
2025-03-12T22:47:42.921Z,1741819662.921 [sci2_noyo_optim:Science:PeakDetectFDOM:A] Running Loop=1
2025-03-12T22:47:42.921Z,1741819662.921 [sci2_noyo_optim:Science:PeakDetectSalinity] Running Loop=1
2025-03-12T22:47:42.922Z,1741819662.922 [sci2_noyo_optim:Science:PeakDetectSalinity](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:PeakDetectSalinity
2025-03-12T22:47:42.922Z,1741819662.922 [sci2_noyo_optim:Science:PeakDetectSalinity:A] Running Loop=1
2025-03-12T22:47:42.922Z,1741819662.922 [sci2_noyo_optim:Science:HighestSaltPeakReport] Running Loop=1
2025-03-12T22:47:42.922Z,1741819662.922 [sci2_noyo_optim:Science:HighestSaltPeakReport](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:HighestSaltPeakReport
2025-03-12T22:47:42.922Z,1741819662.922 [sci2_noyo_optim:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-03-12T22:47:42.922Z,1741819662.922 [sci2_noyo_optim:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-03-12T22:47:42.922Z,1741819662.922 [sci2_noyo_optim:Science:PeakDetectPlanktivoreLMavgROI] Running Loop=1
2025-03-12T22:47:42.923Z,1741819662.923 [sci2_noyo_optim:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:PeakDetectPlanktivoreLMavgROI
2025-03-12T22:47:42.923Z,1741819662.923 [sci2_noyo_optim:Science:PeakDetectPlanktivoreLMavgROI:A] Running Loop=1
2025-03-12T22:47:42.923Z,1741819662.923 [sci2_noyo_optim:Science:EdgeDetectPlanktivoreLMavgROI] Running Loop=1
2025-03-12T22:47:42.931Z,1741819662.931 [sci2_noyo_optim:Science:EdgeDetectPlanktivoreLMavgROI](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:EdgeDetectPlanktivoreLMavgROI
2025-03-12T22:47:42.932Z,1741819662.932 [sci2_noyo_optim:Science:EdgeDetectPlanktivoreLMavgROI:A] Running Loop=1
2025-03-12T22:47:42.932Z,1741819662.932 [sci2_noyo_optim:Science:PeakDetectPlanktivoreHMavgROI] Running Loop=1
2025-03-12T22:47:42.932Z,1741819662.932 [sci2_noyo_optim:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:PeakDetectPlanktivoreHMavgROI
2025-03-12T22:47:42.932Z,1741819662.932 [sci2_noyo_optim:Science:PeakDetectPlanktivoreHMavgROI:A] Running Loop=1
2025-03-12T22:47:42.932Z,1741819662.932 [sci2_noyo_optim:Science:PeakDetectPlanktivoreDiatoms] Running Loop=1
2025-03-12T22:47:42.932Z,1741819662.932 [sci2_noyo_optim:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:PeakDetectPlanktivoreDiatoms
2025-03-12T22:47:42.932Z,1741819662.932 [sci2_noyo_optim:Science:PeakDetectPlanktivoreDiatoms:A] Running Loop=1
2025-03-12T22:47:42.932Z,1741819662.932 [sci2_noyo_optim:Science:PeakDetectPlanktivoreDinoflagellates] Running Loop=1
2025-03-12T22:47:42.933Z,1741819662.933 [sci2_noyo_optim:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:PeakDetectPlanktivoreDinoflagellates
2025-03-12T22:47:42.933Z,1741819662.933 [sci2_noyo_optim:Science:PeakDetectPlanktivoreDinoflagellates:A] Running Loop=1
2025-03-12T22:47:42.933Z,1741819662.933 [sci2_noyo_optim:Science:ChlThreshTrigger] Running Loop=1
2025-03-12T22:47:42.933Z,1741819662.933 [sci2_noyo_optim:Science:ChlThreshTrigger](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:ChlThreshTrigger
2025-03-12T22:47:42.933Z,1741819662.933 [sci2_noyo_optim:Science:ChlThreshTrigger:A.ValueDetect] Running Loop=1
2025-03-12T22:47:42.933Z,1741819662.933 [sci2_noyo_optim:Science:ChlThreshTrigger:A.ValueDetect](INFO): Initialize.
2025-03-12T22:47:42.933Z,1741819662.933 [sci2_noyo_optim:Science:OceanCurrent] Running Loop=1
2025-03-12T22:47:42.934Z,1741819662.934 [sci2_noyo_optim:Science:OceanCurrent](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:OceanCurrent
2025-03-12T22:47:42.934Z,1741819662.934 [sci2_noyo_optim:Science:OceanCurrent:A.] Running Loop=1
2025-03-12T22:47:42.934Z,1741819662.934 [sci2_noyo_optim:Science:OceanCurrent:A.](INFO): Initializing CurrentEstimator.
2025-03-12T22:47:42.934Z,1741819662.934 [sci2_noyo_optim:StandardEnvelopes] Running Loop=1
2025-03-12T22:47:42.934Z,1741819662.934 [sci2_noyo_optim:StandardEnvelopes](DEBUG): Aggregate::initialize sci2_noyo_optim:StandardEnvelopes
2025-03-12T22:47:42.934Z,1741819662.934 [sci2_noyo_optim:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-03-12T22:47:42.934Z,1741819662.934 [sci2_noyo_optim:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-03-12T22:47:42.934Z,1741819662.934 [sci2_noyo_optim:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-03-12T22:47:42.934Z,1741819662.934 [sci2_noyo_optim:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-03-12T22:47:42.934Z,1741819662.934 [sci2_noyo_optim:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-03-12T22:47:42.935Z,1741819662.935 [sci2_noyo_optim:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-03-12T22:47:42.935Z,1741819662.935 [sci2_noyo_optim:BackseatDriver] Running Loop=1
2025-03-12T22:47:42.935Z,1741819662.935 [sci2_noyo_optim:BackseatDriver](DEBUG): Aggregate::initialize sci2_noyo_optim:BackseatDriver
2025-03-12T22:47:42.940Z,1741819662.940 [sci2_noyo_optim:BackseatDriver:A.BackseatDriver] Running Loop=1
2025-03-12T22:47:42.940Z,1741819662.940 [sci2_noyo_optim:J] Running Loop=1
2025-03-12T22:47:42.940Z,1741819662.940 [sci2_noyo_optim:PowerOnly] Running Loop=1
2025-03-12T22:47:42.940Z,1741819662.940 [sci2_noyo_optim:PowerOnly](DEBUG): Aggregate::initialize sci2_noyo_optim:PowerOnly
2025-03-12T22:47:42.940Z,1741819662.940 [sci2_noyo_optim:PowerOnly:A] Running Loop=1
2025-03-12T22:47:42.940Z,1741819662.940 [sci2_noyo_optim:PowerOnly:B] Running Loop=1
2025-03-12T22:47:42.940Z,1741819662.940 [sci2_noyo_optim:PowerOnly:C] Running Loop=1
2025-03-12T22:47:42.940Z,1741819662.940 [sci2_noyo_optim:PowerOnly:D] Running Loop=1
2025-03-12T22:47:42.940Z,1741819662.940 [sci2_noyo_optim:PowerOnly:E.Wait] Running Loop=1
2025-03-12T22:47:42.941Z,1741819662.941 [sci2_noyo_optim:PowerOnly:E.Wait](DEBUG): Initialize Wait Component.
2025-03-12T22:47:42.941Z,1741819662.941 [sci2_noyo_optim:L] Running Loop=1
2025-03-12T22:47:42.941Z,1741819662.941 [sci2_noyo_optim:N] Running Loop=1
2025-03-12T22:47:42.941Z,1741819662.941 [sci2_noyo_optim:O.Buoyancy] Running Loop=1
2025-03-12T22:47:42.941Z,1741819662.941 [sci2_noyo_optim:O.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-03-12T22:47:42.941Z,1741819662.941 [sci2_noyo_optim:C] Running Loop=1
2025-03-12T22:47:42.942Z,1741819662.942 [sci2_noyo_optim:O.Buoyancy] Running Loop=1
2025-03-12T22:47:42.942Z,1741819662.942 [sci2_noyo_optim:N] Running Loop=1
2025-03-12T22:47:42.955Z,1741819662.955 [sci2_noyo_optim:N](DEBUG): Initialize ReadDataComponent to sense MultiRay.lightModeLog
2025-03-12T22:47:42.955Z,1741819662.955 [sci2_noyo_optim:L] Running Loop=1
2025-03-12T22:47:42.956Z,1741819662.956 [sci2_noyo_optim:PowerOnly] Running Loop=1
2025-03-12T22:47:42.956Z,1741819662.956 [sci2_noyo_optim:PowerOnly:D] Stopped
2025-03-12T22:47:42.956Z,1741819662.956 [sci2_noyo_optim:PowerOnly:C] Stopped
2025-03-12T22:47:42.956Z,1741819662.956 [sci2_noyo_optim:PowerOnly:B] Running Loop=1
2025-03-12T22:47:42.957Z,1741819662.957 [sci2_noyo_optim:PowerOnly:B](DEBUG): Initialize ReadDataComponent to sense PowerOnly.sampleLoad1
2025-03-12T22:47:42.957Z,1741819662.957 [sci2_noyo_optim:PowerOnly:A] Stopped
2025-03-12T22:47:42.957Z,1741819662.957 [sci2_noyo_optim:J] Running Loop=1
2025-03-12T22:47:42.957Z,1741819662.957 [sci2_noyo_optim:BackseatDriver] Running Loop=1
2025-03-12T22:47:42.957Z,1741819662.957 [sci2_noyo_optim:BackseatDriver:A.BackseatDriver](INFO): Initializing backseat
2025-03-12T22:47:43.015Z,1741819663.015 [BackseatComponent](INFO): Powering up
2025-03-12T22:47:43.016Z,1741819663.016 [BackseatComponent](INFO): Subscribing to LCM channels.
2025-03-12T22:47:43.021Z,1741819663.021 [sci2_noyo_optim:C] Stopped
2025-03-12T22:47:43.022Z,1741819663.022 [sci2_noyo_optim:D] Running Loop=1
2025-03-12T22:47:43.022Z,1741819663.022 [sci2_noyo_optim:StandardEnvelopes] Running Loop=1
2025-03-12T22:47:43.022Z,1741819663.022 [sci2_noyo_optim:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-03-12T22:47:43.022Z,1741819663.022 [sci2_noyo_optim:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-03-12T22:47:43.022Z,1741819663.022 [sci2_noyo_optim:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-03-12T22:47:43.023Z,1741819663.023 [sci2_noyo_optim:Science] Running Loop=1
2025-03-12T22:47:43.032Z,1741819663.032 [sci2_noyo_optim:Science:ChlThreshTrigger] Stopped
2025-03-12T22:47:43.032Z,1741819663.032 [sci2_noyo_optim:Science:ChlThreshTrigger](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:ChlThreshTrigger
2025-03-12T22:47:43.032Z,1741819663.032 [sci2_noyo_optim:Science:ChlThreshTrigger:A.ValueDetect] Stopped
2025-03-12T22:47:43.033Z,1741819663.033 [sci2_noyo_optim:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Uninitialize.
2025-03-12T22:47:43.033Z,1741819663.033 [sci2_noyo_optim:Science:PeakDetectPlanktivoreDinoflagellates] Stopped
2025-03-12T22:47:43.033Z,1741819663.033 [sci2_noyo_optim:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:PeakDetectPlanktivoreDinoflagellates
2025-03-12T22:47:43.033Z,1741819663.033 [sci2_noyo_optim:Science:PeakDetectPlanktivoreDinoflagellates:A] Stopped
2025-03-12T22:47:43.033Z,1741819663.033 [sci2_noyo_optim:Science:PeakDetectPlanktivoreDiatoms] Stopped
2025-03-12T22:47:43.033Z,1741819663.033 [sci2_noyo_optim:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:PeakDetectPlanktivoreDiatoms
2025-03-12T22:47:43.033Z,1741819663.033 [sci2_noyo_optim:Science:PeakDetectPlanktivoreDiatoms:A] Stopped
2025-03-12T22:47:43.033Z,1741819663.033 [sci2_noyo_optim:Science:PeakDetectPlanktivoreHMavgROI] Stopped
2025-03-12T22:47:43.033Z,1741819663.033 [sci2_noyo_optim:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:PeakDetectPlanktivoreHMavgROI
2025-03-12T22:47:43.033Z,1741819663.033 [sci2_noyo_optim:Science:PeakDetectPlanktivoreHMavgROI:A] Stopped
2025-03-12T22:47:43.033Z,1741819663.033 [sci2_noyo_optim:Science:EdgeDetectPlanktivoreLMavgROI] Stopped
2025-03-12T22:47:43.033Z,1741819663.033 [sci2_noyo_optim:Science:EdgeDetectPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:EdgeDetectPlanktivoreLMavgROI
2025-03-12T22:47:43.033Z,1741819663.033 [sci2_noyo_optim:Science:EdgeDetectPlanktivoreLMavgROI:A] Stopped
2025-03-12T22:47:43.034Z,1741819663.034 [sci2_noyo_optim:Science:PeakDetectPlanktivoreLMavgROI] Stopped
2025-03-12T22:47:43.034Z,1741819663.034 [sci2_noyo_optim:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:PeakDetectPlanktivoreLMavgROI
2025-03-12T22:47:43.034Z,1741819663.034 [sci2_noyo_optim:Science:PeakDetectPlanktivoreLMavgROI:A] Stopped
2025-03-12T22:47:43.034Z,1741819663.034 [sci2_noyo_optim:Science:HighestSaltPeakReport] Stopped
2025-03-12T22:47:43.034Z,1741819663.034 [sci2_noyo_optim:Science:HighestSaltPeakReport](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:HighestSaltPeakReport
2025-03-12T22:47:43.034Z,1741819663.034 [sci2_noyo_optim:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Stopped
2025-03-12T22:47:43.034Z,1741819663.034 [sci2_noyo_optim:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-03-12T22:47:43.034Z,1741819663.034 [sci2_noyo_optim:Science:PeakDetectSalinity] Stopped
2025-03-12T22:47:43.034Z,1741819663.034 [sci2_noyo_optim:Science:PeakDetectSalinity](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:PeakDetectSalinity
2025-03-12T22:47:43.034Z,1741819663.034 [sci2_noyo_optim:Science:PeakDetectSalinity:A] Stopped
2025-03-12T22:47:43.034Z,1741819663.034 [sci2_noyo_optim:Science:PeakDetectFDOM] Stopped
2025-03-12T22:47:43.034Z,1741819663.034 [sci2_noyo_optim:Science:PeakDetectFDOM](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:PeakDetectFDOM
2025-03-12T22:47:43.034Z,1741819663.034 [sci2_noyo_optim:Science:PeakDetectFDOM:A] Stopped
2025-03-12T22:47:43.035Z,1741819663.035 [sci2_noyo_optim:Science:HighestOilPeakReport] Stopped
2025-03-12T22:47:43.035Z,1741819663.035 [sci2_noyo_optim:Science:HighestOilPeakReport](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:HighestOilPeakReport
2025-03-12T22:47:43.035Z,1741819663.035 [sci2_noyo_optim:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Stopped
2025-03-12T22:47:43.035Z,1741819663.035 [sci2_noyo_optim:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-03-12T22:47:43.035Z,1741819663.035 [sci2_noyo_optim:Science:PeakDetectOil] Stopped
2025-03-12T22:47:43.044Z,1741819663.044 [sci2_noyo_optim:Science:PeakDetectOil](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:PeakDetectOil
2025-03-12T22:47:43.044Z,1741819663.044 [sci2_noyo_optim:Science:PeakDetectOil:A] Stopped
2025-03-12T22:47:43.044Z,1741819663.044 [sci2_noyo_optim:Science:PeakDetectNO3] Stopped
2025-03-12T22:47:43.044Z,1741819663.044 [sci2_noyo_optim:Science:PeakDetectNO3](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:PeakDetectNO3
2025-03-12T22:47:43.044Z,1741819663.044 [sci2_noyo_optim:Science:PeakDetectNO3:A] Stopped
2025-03-12T22:47:43.044Z,1741819663.044 [sci2_noyo_optim:Science:HighestChlPeakReport] Stopped
2025-03-12T22:47:43.044Z,1741819663.044 [sci2_noyo_optim:Science:HighestChlPeakReport](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:HighestChlPeakReport
2025-03-12T22:47:43.044Z,1741819663.044 [sci2_noyo_optim:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Stopped
2025-03-12T22:47:43.044Z,1741819663.044 [sci2_noyo_optim:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-03-12T22:47:43.044Z,1741819663.044 [sci2_noyo_optim:Science:EdgeDetectChl] Stopped
2025-03-12T22:47:43.044Z,1741819663.044 [sci2_noyo_optim:Science:EdgeDetectChl](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:EdgeDetectChl
2025-03-12T22:47:43.045Z,1741819663.045 [sci2_noyo_optim:Science:EdgeDetectChl:A] Stopped
2025-03-12T22:47:43.045Z,1741819663.045 [sci2_noyo_optim:Science:PeakDetectChl] Stopped
2025-03-12T22:47:43.045Z,1741819663.045 [sci2_noyo_optim:Science:PeakDetectChl](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:PeakDetectChl
2025-03-12T22:47:43.045Z,1741819663.045 [sci2_noyo_optim:Science:PeakDetectChl:A] Stopped
2025-03-12T22:47:43.045Z,1741819663.045 [sci2_noyo_optim:Science:OceanCurrent:A.] Running Loop=1
2025-03-12T22:47:43.045Z,1741819663.045 [sci2_noyo_optim:Science:Read_Oil] Stopped
2025-03-12T22:47:43.045Z,1741819663.045 [sci2_noyo_optim:Science:F] Stopped
2025-03-12T22:47:43.045Z,1741819663.045 [sci2_noyo_optim:Science:E] Running Loop=1
2025-03-12T22:47:43.046Z,1741819663.046 [sci2_noyo_optim:Science:E](DEBUG): Initialize ReadDataComponent to sense mass_concentration_of_chlorophyll_in_sea_water
2025-03-12T22:47:43.046Z,1741819663.046 [sci2_noyo_optim:Science:D] Stopped
2025-03-12T22:47:43.046Z,1741819663.046 [sci2_noyo_optim:Science:C] Running Loop=1
2025-03-12T22:47:43.046Z,1741819663.046 [sci2_noyo_optim:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_temperature
2025-03-12T22:47:43.047Z,1741819663.047 [sci2_noyo_optim:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_salinity
2025-03-12T22:47:43.047Z,1741819663.047 [sci2_noyo_optim:Science:B] Running Loop=1
2025-03-12T22:47:43.056Z,1741819663.056 [sci2_noyo_optim:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_temperature
2025-03-12T22:47:43.056Z,1741819663.056 [sci2_noyo_optim:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_salinity
2025-03-12T22:47:43.056Z,1741819663.056 [sci2_noyo_optim:Science:A] Stopped
2025-03-12T22:47:43.205Z,1741819663.205 [PowerOnly](INFO): Powering up loadControl
2025-03-12T22:47:43.240Z,1741819663.240 [WetLabsBB2FL](INFO): Powering up
2025-03-12T22:47:43.264Z,1741819663.264 [sci2_noyo_optim:D] Stopped
2025-03-12T22:47:43.264Z,1741819663.264 [sci2_noyo_optim:E] Running Loop=1
2025-03-12T22:47:43.651Z,1741819663.651 [sci2_noyo_optim:E] Stopped
2025-03-12T22:47:43.652Z,1741819663.652 [sci2_noyo_optim:G] Running Loop=1
2025-03-12T22:47:44.047Z,1741819664.047 [sci2_noyo_optim:G] Stopped
2025-03-12T22:47:44.048Z,1741819664.048 [sci2_noyo_optim:H] Running Loop=1
2025-03-12T22:47:44.495Z,1741819664.495 [sci2_noyo_optim:H] Stopped
2025-03-12T22:47:44.496Z,1741819664.496 [sci2_noyo_optim:M] Running Loop=1
2025-03-12T22:47:44.849Z,1741819664.849 [sci2_noyo_optim:M] Stopped
2025-03-12T22:47:44.849Z,1741819664.849 [sci2_noyo_optim:StartingMission] Running Loop=1
2025-03-12T22:47:44.849Z,1741819664.849 [sci2_noyo_optim:StartingMission](DEBUG): Aggregate::initialize sci2_noyo_optim:StartingMission
2025-03-12T22:47:45.289Z,1741819665.289 [sci2_noyo_optim:SurfaceComms] Running Loop=1
2025-03-12T22:47:45.290Z,1741819665.290 [sci2_noyo_optim:SurfaceComms](DEBUG): Aggregate::initialize sci2_noyo_optim:SurfaceComms
2025-03-12T22:47:45.290Z,1741819665.290 [sci2_noyo_optim:SurfaceComms:A] Running Loop=1
2025-03-12T22:47:45.290Z,1741819665.290 [sci2_noyo_optim:SurfaceComms:A] Stopped
2025-03-12T22:47:45.290Z,1741819665.290 [sci2_noyo_optim:SurfaceComms:B] Running Loop=1
2025-03-12T22:47:45.290Z,1741819665.290 [sci2_noyo_optim:SurfaceComms:B](DEBUG): Aggregate::initialize sci2_noyo_optim:SurfaceComms:B
2025-03-12T22:47:45.305Z,1741819665.305 [CTD_Seabird](ERROR): Pressure reading out of range: -10.100000 decibar
2025-03-12T22:47:45.306Z,1741819665.306 [CTD_Seabird](INFO): some bad data, not updating bins
2025-03-12T22:47:45.719Z,1741819665.719 [sci2_noyo_optim:NeedComms] Running Loop=1
2025-03-12T22:47:45.719Z,1741819665.719 [sci2_noyo_optim:NeedComms](DEBUG): Aggregate::initialize sci2_noyo_optim:NeedComms
2025-03-12T22:47:45.719Z,1741819665.719 [sci2_noyo_optim:NeedComms:B.GoToSurface] Running Loop=1
2025-03-12T22:47:45.720Z,1741819665.720 [sci2_noyo_optim:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-03-12T22:47:45.720Z,1741819665.720 [sci2_noyo_optim:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-03-12T22:47:45.720Z,1741819665.720 [sci2_noyo_optim:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-03-12T22:47:45.721Z,1741819665.721 [sci2_noyo_optim:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-03-12T22:47:45.721Z,1741819665.721 [sci2_noyo_optim:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-03-12T22:47:45.721Z,1741819665.721 [sci2_noyo_optim:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-03-12T22:47:45.722Z,1741819665.722 [sci2_noyo_optim:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-03-12T22:47:45.722Z,1741819665.722 [sci2_noyo_optim:NeedComms:A] Running Loop=1
2025-03-12T22:47:45.740Z,1741819665.740 [sci2_noyo_optim:NeedComms:A](INFO): last time_fix was:  1741819643.000000 second since 1970/01/01T00:00:00Z 
2025-03-12T22:47:45.740Z,1741819665.740 [sci2_noyo_optim:NeedComms:A] Stopped
2025-03-12T22:47:46.129Z,1741819666.129 [sci2_noyo_optim:NeedComms:C] Running Loop=1
2025-03-12T22:47:46.313Z,1741819666.313 [CTD_Seabird](ERROR): Salinity reading out of range: 106.744118 psu
2025-03-12T22:47:46.315Z,1741819666.315 [CTD_Seabird](INFO): some bad data, not updating bins
2025-03-12T22:47:46.528Z,1741819666.528 [sci2_noyo_optim:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-03-12T22:47:47.253Z,1741819667.253 [MultiRay](IMPORTANT): MultiRay white lights ON
2025-03-12T22:47:59.324Z,1741819679.324 [DataOverHttps](INFO): Sending 817 bytes from file Logs/20250311T232940/Express0190.lzma
2025-03-12T22:48:00.325Z,1741819680.325 [DataOverHttps](INFO): Moved sent file to Logs/20250311T232940/Express0190.lzma.bak
2025-03-12T22:48:00.326Z,1741819680.326 [DataOverHttps](INFO): SBD MOMSN=24215052
2025-03-12T22:48:42.038Z,1741819722.038 [BackseatComponent](IMPORTANT): ikshana: running backseat application.
2025-03-12T22:51:02.831Z,1741819862.831 [NAL9602](IMPORTANT): SBD MO Status=0, MOMSN=18519, MT Status=1, MTMSN=1048
2025-03-12T22:51:02.831Z,1741819862.831 [NAL9602](INFO): Data available in MT queue
2025-03-12T22:51:03.480Z,1741819863.480 [NAL9602](INFO): Received command: sched asap "set sci2_noyo_optim.MinAltitude 10 m;set sci2_noyo_optim.MaxDepth 100 m;set sci2_noyo_optim:PowerOnly.SampleLoad1 1 bool;run" 32jvd 3 3
2025-03-12T22:51:03.555Z,1741819863.555 [CommandExec](IMPORTANT): got command schedule asap "set sci2_noyo_optim.MinAltitude 10 m;set sci2_noyo_optim.MaxDepth 100 m;set sci2_noyo_optim:PowerOnly.SampleLoad1 1 bool;run" 32jvd 3 3.000000
2025-03-12T22:51:03.555Z,1741819863.555 [CommandExec](IMPORTANT): Scheduling command #3 of 3 with id=32jvd
2025-03-12T22:51:03.556Z,1741819863.556 [CommandExec](IMPORTANT): Scheduled #30 (#3 of 3 with id='32jvd'): "set sci2_noyo_optim.MinAltitude 10 m;set sci2_noyo_optim.MaxDepth 100 m;set sci2_noyo_optim:PowerOnly.SampleLoad1 1 bool;run", ASAP
2025-03-12T22:51:03.729Z,1741819863.729 [CommandExec](IMPORTANT): got command load ./Missions/Science/sci2_noyo_optim.tl
2025-03-12T22:51:03.729Z,1741819863.729 [MissionManager](INFO): Uninitializing Mission sci2_noyo_optim
2025-03-12T22:51:03.729Z,1741819863.729 [sci2_noyo_optim] Stopped
2025-03-12T22:51:03.729Z,1741819863.729 [sci2_noyo_optim](DEBUG): Aggregate::uninitialize sci2_noyo_optim
2025-03-12T22:51:03.730Z,1741819863.730 [sci2_noyo_optim:Science] Stopped
2025-03-12T22:51:03.730Z,1741819863.730 [sci2_noyo_optim:Science](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science
2025-03-12T22:51:03.730Z,1741819863.730 [sci2_noyo_optim:Science:B] Stopped
2025-03-12T22:51:03.730Z,1741819863.730 [sci2_noyo_optim:Science:C] Stopped
2025-03-12T22:51:03.730Z,1741819863.730 [sci2_noyo_optim:Science:E] Stopped
2025-03-12T22:51:03.730Z,1741819863.730 [sci2_noyo_optim:Science:OceanCurrent] Stopped
2025-03-12T22:51:03.730Z,1741819863.730 [sci2_noyo_optim:Science:OceanCurrent](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:OceanCurrent
2025-03-12T22:51:03.730Z,1741819863.730 [sci2_noyo_optim:Science:OceanCurrent:A.] Stopped
2025-03-12T22:51:03.730Z,1741819863.730 [sci2_noyo_optim:StandardEnvelopes] Stopped
2025-03-12T22:51:03.730Z,1741819863.730 [sci2_noyo_optim:StandardEnvelopes](DEBUG): Aggregate::uninitialize sci2_noyo_optim:StandardEnvelopes
2025-03-12T22:51:03.731Z,1741819863.731 [sci2_noyo_optim:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-03-12T22:51:03.731Z,1741819863.731 [sci2_noyo_optim:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-03-12T22:51:03.731Z,1741819863.731 [sci2_noyo_optim:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-03-12T22:51:03.731Z,1741819863.731 [sci2_noyo_optim:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-03-12T22:51:03.731Z,1741819863.731 [sci2_noyo_optim:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-03-12T22:51:03.731Z,1741819863.731 [sci2_noyo_optim:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-03-12T22:51:03.731Z,1741819863.731 [sci2_noyo_optim:NeedComms] Stopped
2025-03-12T22:51:03.732Z,1741819863.732 [sci2_noyo_optim:NeedComms](DEBUG): Aggregate::uninitialize sci2_noyo_optim:NeedComms
2025-03-12T22:51:03.732Z,1741819863.732 [sci2_noyo_optim:NeedComms:B.GoToSurface] Stopped
2025-03-12T22:51:03.732Z,1741819863.732 [sci2_noyo_optim:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-03-12T22:51:03.732Z,1741819863.732 [sci2_noyo_optim:NeedComms:C] Stopped
2025-03-12T22:51:03.732Z,1741819863.732 [sci2_noyo_optim:BackseatDriver] Stopped
2025-03-12T22:51:03.732Z,1741819863.732 [sci2_noyo_optim:BackseatDriver](DEBUG): Aggregate::uninitialize sci2_noyo_optim:BackseatDriver
2025-03-12T22:51:03.732Z,1741819863.732 [sci2_noyo_optim:BackseatDriver:A.BackseatDriver] Stopped
2025-03-12T22:51:03.732Z,1741819863.732 [sci2_noyo_optim:J] Stopped
2025-03-12T22:51:03.732Z,1741819863.732 [sci2_noyo_optim:PowerOnly] Stopped
2025-03-12T22:51:03.733Z,1741819863.733 [sci2_noyo_optim:PowerOnly](DEBUG): Aggregate::uninitialize sci2_noyo_optim:PowerOnly
2025-03-12T22:51:03.733Z,1741819863.733 [sci2_noyo_optim:PowerOnly:B] Stopped
2025-03-12T22:51:03.733Z,1741819863.733 [sci2_noyo_optim:PowerOnly:E.Wait] Stopped
2025-03-12T22:51:03.733Z,1741819863.733 [sci2_noyo_optim:PowerOnly:E.Wait](DEBUG): Uninitialize Wait Component.
2025-03-12T22:51:03.733Z,1741819863.733 [sci2_noyo_optim:L] Stopped
2025-03-12T22:51:03.733Z,1741819863.733 [sci2_noyo_optim:N] Stopped
2025-03-12T22:51:03.733Z,1741819863.733 [sci2_noyo_optim:O.Buoyancy] Stopped
2025-03-12T22:51:03.733Z,1741819863.733 [sci2_noyo_optim:O.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-03-12T22:51:03.733Z,1741819863.733 [sci2_noyo_optim:SurfaceComms] Stopped
2025-03-12T22:51:03.733Z,1741819863.733 [sci2_noyo_optim:SurfaceComms](DEBUG): Aggregate::uninitialize sci2_noyo_optim:SurfaceComms
2025-03-12T22:51:03.733Z,1741819863.733 [sci2_noyo_optim:SurfaceComms:B] Stopped
2025-03-12T22:51:03.734Z,1741819863.734 [sci2_noyo_optim:SurfaceComms:B](DEBUG): Aggregate::uninitialize sci2_noyo_optim:SurfaceComms:B
2025-03-12T22:51:03.734Z,1741819863.734 [sci2_noyo_optim:StartingMission] Stopped
2025-03-12T22:51:03.734Z,1741819863.734 [sci2_noyo_optim:StartingMission](DEBUG): Aggregate::uninitialize sci2_noyo_optim:StartingMission
2025-03-12T22:51:03.757Z,1741819863.757 [BackseatComponent](INFO): Sent LCM shutdown request.
2025-03-12T22:51:03.757Z,1741819863.757 [BackseatComponent](INFO): Shutdown requested. Waiting (18.00 sec to power down.).
2025-03-12T22:51:04.032Z,1741819864.032 [WetLabsBB2FL](INFO): Powering down
2025-03-12T22:51:04.045Z,1741819864.045 [MissionManager](INFO): Loading Mission from file: ./Missions/Science/sci2_noyo_optim.tl
2025-03-12T22:51:04.045Z,1741819864.045 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Science/sci2_noyo_optim.tl
2025-03-12T22:51:04.050Z,1741819864.050 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Science/sci2_noyo_optim.tl
2025-03-12T22:51:04.550Z,1741819864.550 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,225103.00,A,3648.07075,N,12151.33856,W,1.341,73.40,120325,,,A*4A
2025-03-12T22:51:04.553Z,1741819864.553 [NAL9602](INFO): GPS fix at 20250312T225103: (36.801179, -121.855643)
2025-03-12T22:51:09.218Z,1741819869.218 [MissionManager](DEBUG): TethyslAPI: ./Missions/Science/sci2_noyo_optim.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Mission Id="sci2_noyo_optim">
    <DefineArg Name="MissionTimeout">
        <Units:hour />
        <Value>2</Value>
    </DefineArg>
    <DefineArg Name="NeedCommsTime">
        <Units:minute />
        <Value>60</Value>
    </DefineArg>
    <DefineArg Name="Depth1">
        <Units:meter />
        <Value>35</Value>
    </DefineArg>
    <DefineArg Name="Depth2">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Depth3">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Depth4">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Depth5">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Depth6">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Depth7">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Depth8">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="DepthPerLeg">
        <False />
    </DefineArg>
    <DefineArg Name="Repeat">
        <Units:count />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="Lat1">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lat2">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lat3">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lat4">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lat5">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lat6">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lat7">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lat8">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lon1">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lon2">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lon3">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lon4">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lon5">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lon6">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lon7">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lon8">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="FastSpeed">
        <Units:meter_per_second />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="ApproachDepth">
        <Units:meter />
        <Value>30</Value>
    </DefineArg>
    <DefineArg Name="ApproachSpeed">
        <Units:meter_per_second />
        <Value>0.7</Value>
    </DefineArg>
    <DefineArg Name="ApproachDepthRate">
        <Units:meter_per_second />
        <Value>0.05</Value>
    </DefineArg>
    <DefineArg Name="ApproachPitchLimit">
        <Units:degree />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="ApproachDepthTimeout">
        <Units:minute />
        <Value>15</Value>
    </DefineArg>
    <DefineArg Name="ApproachSettleTimePreDive">
        <Units:minute />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="ApproachSettleTimePostDive">
        <Units:minute />
        <Value>3</Value>
    </DefineArg>
    <DefineArg Name="kpDepth">
        <Units:radian_per_meter />
        <Value>0.07</Value>
    </DefineArg>
    <DefineArg Name="SlowSpeed">
        <Units:meter_per_second />
        <Value>0.25</Value>
    </DefineArg>
    <DefineArg Name="DepthDeviationSlow">
        <Units:meter />
        <Value>3</Value>
    </DefineArg>
    <DefineArg Name="BuoyancyNeutral">
        <Control:VerticalControl.buoyancyNeutral />
    </DefineArg>
    <DefineArg Name="MassDefault">
        <Control:VerticalControl.massDefault />
    </DefineArg>
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>2</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>50</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:kilometer />
        <Value>2</Value>
    </DefineArg>
    <DefineOutput Name="DiveMode">
        <Units:count />
        <Value>0</Value>
    </DefineOutput>
    <DefineOutput Name="DoingComms">
        <Units:count />
        <Value>0</Value>
    </DefineOutput>
    <DefineOutput Name="InitialDive">
        <Units:count />
        <Value>1</Value>
    </DefineOutput>
    <DefineOutput Name="SettleAtDepth">
        <Units:count />
        <Value>2</Value>
    </DefineOutput>
    <DefineOutput Name="MaintainDepth">
        <Units:count />
        <Value>3</Value>
    </DefineOutput>
    <DefineOutput Name="LegDepth">
        <Arg Name="Depth1" />
    </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="MissionTimeout" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="NeedComms:WaitForPitchUp" />
        <Units:minute />
        <Value>0</Value>
    </Assign>
    <Insert Filename="Insert/BackseatDriver.tl" />
    <Assign>
        <Parallel />
        <Arg Name="BackseatDriver:EnableBackseat" />
        <True />
    </Assign>
    <Insert Filename="Insert/PowerOnly.tl" />
    <Assign>
        <Parallel />
        <Arg Name="PowerOnly:SampleLoad1" />
        <True />
    </Assign>
    <Assign>
        <Sequence />
        <Sensor:MultiRay.lightModeCommand />
        <Units:count />
        <Value>2</Value>
    </Assign>
    <ReadData Strategy="MinError">
        <While>
            <Sensor:MultiRay.loadAtStartup />
        </While>
        <Sensor:MultiRay.lightModeLog />
    </ReadData>
    <Guidance:Buoyancy>
        <Parallel />
        <Setting>
            <Guidance:Buoyancy.position />
            <Arg Name="BuoyancyNeutral" />
        </Setting>
    </Guidance:Buoyancy>
    <Aggregate Id="SurfaceComms">
        <When>
            <Called />
            <Or>
                <Elapsed>
                    <Universal:time_fix />
                </Elapsed>
                <Gt>
                    <Arg Name="NeedCommsTime" />
                </Gt>
            </Or>
        </When>
        <Assign>
            <Sequence />
            <Arg Name="DiveMode" />
            <Arg Name="DoingComms" />
        </Assign>
        <Call RefId="NeedComms" />
        <Assign>
            <Sequence />
            <Arg Name="DiveMode" />
            <Arg Name="InitialDive" />
        </Assign>
    </Aggregate>
    <Aggregate Id="DiveCmd">
        <When>
            <Called />
        </When>
        <Aggregate Id="InitialDive">
            <While>
                <Arg Name="DiveMode" />
                <Eq>
                    <Arg Name="InitialDive" />
                </Eq>
            </While>
            <Aggregate Id="dive">
                <Sequence />
                <Assign>
                    <Parallel />
                    <Control:VerticalControl.pitchLimit />
                    <Arg Name="ApproachPitchLimit" />
                </Assign>
                <Assign>
                    <Parallel />
                    <Control:VerticalControl.kpDepth />
                    <Arg Name="kpDepth" />
                </Assign>
                <Guidance:Mass>
                    <Parallel />
                    <Setting>
                        <Guidance:Mass.position />
                        <Arg Name="MassDefault" />
                    </Setting>
                </Guidance:Mass>
                <Syslog Severity="Info">
                    Waiting for 
                    <Arg Name="ApproachSettleTimePreDive" />
                    <Units:minute />
                    while pumping down to neutral.
                </Syslog>
                <Guidance:Wait>
                    <Sequence />
                    <Setting>
                        <Guidance:Wait.duration />
                        <Arg Name="ApproachSettleTimePreDive" />
                    </Setting>
                </Guidance:Wait>
                <Syslog>
                    Moving to 
                    <Arg Name="ApproachDepth" />
                    <Units:meter />
                </Syslog>
                <Aggregate Id="ApproachDepth">
                    <Sequence />
                    <Guidance:SetSpeed>
                        <Parallel />
                        <Setting>
                            <Guidance:SetSpeed.speed />
                            <Arg Name="ApproachSpeed" />
                        </Setting>
                    </Guidance:SetSpeed>
                    <Guidance:Pitch>
                        <Sequence />
                        <Timeout Duration="ApproachDepthTimeout">
                            <Syslog Severity="Important">
                                Timed out while trying to reach target depth at current depth of 
                                <Universal:depth />
                                <Units:meter />
                            </Syslog>
                            <Guidance:Execute>
                                <Sequence />
                                <Setting>
                                    <Guidance:Execute.command />
                                    <String>stop</String>
                                </Setting>
                            </Guidance:Execute>
                        </Timeout>
                        <Setting>
                            <Guidance:Pitch.depth />
                            <Arg Name="ApproachDepth" />
                        </Setting>
                        <Setting>
                            <Guidance:Pitch.depthRate />
                            <Arg Name="ApproachDepthRate" />
                        </Setting>
                    </Guidance:Pitch>
                </Aggregate>
                <Assign>
                    <Sequence />
                    <Arg Name="DiveMode" />
                    <Arg Name="SettleAtDepth" />
                </Assign>
            </Aggregate>
        </Aggregate>
        <Aggregate Id="SettleAtDepth">
            <While>
                <Arg Name="DiveMode" />
                <Eq>
                    <Arg Name="SettleAtDepth" />
                </Eq>
            </While>
            <Aggregate Id="dive">
                <Sequence />
                <Syslog Severity="Info">
                    Reached 
                    <Universal:depth />
                    <Units:meter />
                    , settling for 
                    <Arg Name="ApproachSettleTimePostDive" />
                    <Units:minute />
                </Syslog>
                <Guidance:Pitch>
                    <Parallel />
                    <Setting>
                        <Guidance:Pitch.depth />
                        <Arg Name="LegDepth" />
                    </Setting>
                </Guidance:Pitch>
                <Guidance:Wait>
                    <Sequence />
                    <Setting>
                        <Guidance:Wait.duration />
                        <Arg Name="ApproachSettleTimePostDive" />
                    </Setting>
                </Guidance:Wait>
                <Assign>
                    <Sequence />
                    <Arg Name="DiveMode" />
                    <Arg Name="MaintainDepth" />
                </Assign>
            </Aggregate>
        </Aggregate>
        <Aggregate Id="MaintainDepth">
            <While>
                <Arg Name="DiveMode" />
                <Eq>
                    <Arg Name="MaintainDepth" />
                </Eq>
                <And>
                    <Universal:depth />
                    <Gt>
                        <Arg Name="LegDepth" />
                        <Add>
                            <Arg Name="DepthDeviationSlow" />
                        </Add>
                    </Gt>
                </And>
                <Or>
                    <Universal:depth />
                    <Lt>
                        <Arg Name="LegDepth" />
                        <Sub>
                            <Arg Name="DepthDeviationSlow" />
                        </Sub>
                    </Lt>
                </Or>
            </While>
            <Aggregate Id="dive">
                <Parallel />
                <Aggregate Id="ThrusterDive">
                    <While>
                        <Arg Name="FastSpeed" />
                        <Gt>
                            <Units:meter_per_second />
                            <Value>0.0</Value>
                        </Gt>
                    </While>
                    <Guidance:Mass>
                        <Parallel />
                        <Setting>
                            <Guidance:Mass.position />
                            <Arg Name="MassDefault" />
                        </Setting>
                    </Guidance:Mass>
                    <Guidance:SetSpeed>
                        <Parallel />
                        <Setting>
                            <Guidance:SetSpeed.speed />
                            <Arg Name="FastSpeed" />
                        </Setting>
                    </Guidance:SetSpeed>
                </Aggregate>
                <Guidance:Pitch>
                    <Parallel />
                    <Setting>
                        <Guidance:Pitch.depth />
                        <Arg Name="LegDepth" />
                    </Setting>
                </Guidance:Pitch>
            </Aggregate>
        </Aggregate>
        <Aggregate Id="MaintainDepthSlow">
            <While>
                <Not>
                    <IsNaN>
                        <Arg Name="SlowSpeed" />
                    </IsNaN>
                </Not>
                <And>
                    <Arg Name="DiveMode" />
                    <Eq>
                        <Arg Name="MaintainDepth" />
                    </Eq>
                </And>
                <And>
                    <Universal:depth />
                    <Le>
                        <Arg Name="LegDepth" />
                        <Add>
                            <Arg Name="DepthDeviationSlow" />
                        </Add>
                    </Le>
                </And>
                <And>
                    <Universal:depth />
                    <Ge>
                        <Arg Name="LegDepth" />
                        <Sub>
                            <Arg Name="DepthDeviationSlow" />
                        </Sub>
                    </Ge>
                </And>
            </While>
            <Guidance:SetSpeed>
                <Parallel />
                <Setting>
                    <Guidance:SetSpeed.speed />
                    <Arg Name="SlowSpeed" />
                </Setting>
            </Guidance:SetSpeed>
            <Assign>
                <Parallel />
                <Control:VerticalControl.depthDeadband />
                <Arg Name="DepthDeviationSlow" />
                <Add>
                    <Units:meter />
                    <Value>3</Value>
                </Add>
            </Assign>
            <Guidance:Buoyancy>
                <Parallel />
                <Setting>
                    <Guidance:Buoyancy.position />
                    <Units:cubic_centimeter />
                    <Value>NaN</Value>
                </Setting>
            </Guidance:Buoyancy>
            <Guidance:Pitch>
                <Parallel />
                <Setting>
                    <Guidance:Pitch.depth />
                    <Arg Name="LegDepth" />
                </Setting>
            </Guidance:Pitch>
        </Aggregate>
    </Aggregate>
    <Call RefId="SurfaceComms" Id="StartingMission" />
    <Aggregate Id="Lap">
        <Sequence Repeat="Repeat" />
        <Aggregate Id="Dive">
            <While>
                <Not>
                    <Arg Name="DiveMode" />
                    <Eq>
                        <Arg Name="DoingComms" />
                    </Eq>
                </Not>
            </While>
            <Call RefId="DiveCmd" />
        </Aggregate>
        <Aggregate Id="DepthByLap">
            <Sequence />
            <Break>
                <Arg Name="DepthPerLeg" />
            </Break>
            <Assign>
                <Sequence />
                <Arg Name="LegDepth" />
                <Arg Name="Depth1" />
            </Assign>
            <Aggregate Id="Wpt1">
                <Sequence />
                <Guidance:Waypoint>
                    <Sequence />
                    <Setting>
                        <Guidance:Waypoint.latitude />
                        <Arg Name="Lat1" />
                    </Setting>
                    <Setting>
                        <Guidance:Waypoint.longitude />
                        <Arg Name="Lon1" />
                    </Setting>
                </Guidance:Waypoint>
            </Aggregate>
            <Aggregate Id="Wpt2">
                <Sequence />
                <Guidance:Waypoint>
                    <Sequence />
                    <Setting>
                        <Guidance:Waypoint.latitude />
                        <Arg Name="Lat2" />
                    </Setting>
                    <Setting>
                        <Guidance:Waypoint.longitude />
                        <Arg Name="Lon2" />
                    </Setting>
                </Guidance:Waypoint>
            </Aggregate>
            <Aggregate Id="Wpt3">
                <Sequence />
                <Guidance:Waypoint>
                    <Sequence />
                    <Setting>
                        <Guidance:Waypoint.latitude />
                        <Arg Name="Lat3" />
                    </Setting>
                    <Setting>
                        <Guidance:Waypoint.longitude />
                        <Arg Name="Lon3" />
                    </Setting>
                </Guidance:Waypoint>
            </Aggregate>
            <Aggregate Id="Wpt4">
                <Sequence />
                <Guidance:Waypoint>
                    <Sequence />
                    <Setting>
                        <Guidance:Waypoint.latitude />
                        <Arg Name="Lat4" />
                    </Setting>
                    <Setting>
                        <Guidance:Waypoint.longitude />
                        <Arg Name="Lon4" />
                    </Setting>
                </Guidance:Waypoint>
            </Aggregate>
            <Aggregate Id="Wpt5">
                <Sequence />
                <Guidance:Waypoint>
                    <Sequence />
                    <Setting>
                        <Guidance:Waypoint.latitude />
                        <Arg Name="Lat5" />
                    </Setting>
                    <Setting>
                        <Guidance:Waypoint.longitude />
                        <Arg Name="Lon5" />
                    </Setting>
                </Guidance:Waypoint>
            </Aggregate>
            <Aggregate Id="Wpt6">
                <Sequence />
                <Guidance:Waypoint>
                    <Sequence />
                    <Setting>
                        <Guidance:Waypoint.latitude />
                        <Arg Name="Lat6" />
                    </Setting>
                    <Setting>
                        <Guidance:Waypoint.longitude />
                        <Arg Name="Lon6" />
                    </Setting>
                </Guidance:Waypoint>
            </Aggregate>
            <Aggregate Id="Wpt7">
                <Sequence />
                <Guidance:Waypoint>
                    <Sequence />
                    <Setting>
                        <Guidance:Waypoint.latitude />
                        <Arg Name="Lat7" />
                    </Setting>
                    <Setting>
                        <Guidance:Waypoint.longitude />
                        <Arg Name="Lon7" />
                    </Setting>
                </Guidance:Waypoint>
            </Aggregate>
            <Aggregate Id="Wpt8">
                <Sequence />
                <Guidance:Waypoint>
                    <Sequence />
                    <Setting>
                        <Guidance:Waypoint.latitude />
                        <Arg Name="Lat8" />
                    </Setting>
                    <Setting>
                        <Guidance:Waypoint.longitude />
                        <Arg Name="Lon8" />
                    </Setting>
                </Guidance:Waypoint>
            </Aggregate>
            <Aggregate Id="Leg2">
                <Sequence />
                <Break>
                    <IsNaN>
                        <Arg Name="Depth2" />
                    </IsNaN>
                </Break>
                <Syslog Severity="Important">
                    Transiting waypoints at depth 
                    <Arg Name="Depth2" />
                    <Units:meter />
                </Syslog>
                <Assign>
                    <Sequence />
                    <Arg Name="LegDepth" />
                    <Arg Name="Depth2" />
                </Assign>
                <Aggregate Id="Wpt1">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat1" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon1" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt2">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat2" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon2" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt3">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat3" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon3" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt4">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat4" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon4" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt5">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat5" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon5" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt6">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat6" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon6" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt7">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat7" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon7" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt8">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat8" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon8" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
            </Aggregate>
            <Aggregate Id="Leg3">
                <Sequence />
                <Break>
                    <IsNaN>
                        <Arg Name="Depth3" />
                    </IsNaN>
                </Break>
                <Syslog Severity="Important">
                    Transiting waypoints at depth 
                    <Arg Name="Depth3" />
                    <Units:meter />
                </Syslog>
                <Assign>
                    <Sequence />
                    <Arg Name="LegDepth" />
                    <Arg Name="Depth3" />
                </Assign>
                <Aggregate Id="Wpt1">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat1" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon1" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt2">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat2" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon2" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt3">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat3" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon3" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt4">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat4" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon4" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt5">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat5" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon5" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt6">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat6" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon6" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt7">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat7" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon7" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt8">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat8" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon8" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
            </Aggregate>
            <Aggregate Id="Leg4">
                <Sequence />
                <Break>
                    <IsNaN>
                        <Arg Name="Depth4" />
                    </IsNaN>
                </Break>
                <Syslog Severity="Important">
                    Transiting waypoints at depth 
                    <Arg Name="Depth4" />
                    <Units:meter />
                </Syslog>
                <Assign>
                    <Sequence />
                    <Arg Name="LegDepth" />
                    <Arg Name="Depth4" />
                </Assign>
                <Aggregate Id="Wpt1">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat1" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon1" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt2">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat2" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon2" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt3">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat3" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon3" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt4">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat4" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon4" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt5">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat5" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon5" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt6">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat6" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon6" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt7">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat7" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon7" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt8">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat8" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon8" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
            </Aggregate>
            <Aggregate Id="Leg5">
                <Sequence />
                <Break>
                    <IsNaN>
                        <Arg Name="Depth5" />
                    </IsNaN>
                </Break>
                <Syslog Severity="Important">
                    Transiting waypoints at depth 
                    <Arg Name="Depth5" />
                    <Units:meter />
                </Syslog>
                <Assign>
                    <Sequence />
                    <Arg Name="LegDepth" />
                    <Arg Name="Depth5" />
                </Assign>
                <Aggregate Id="Wpt1">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat1" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon1" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt2">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat2" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon2" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt3">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat3" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon3" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt4">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat4" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon4" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt5">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat5" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon5" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt6">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat6" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon6" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt7">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat7" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon7" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt8">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat8" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon8" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
            </Aggregate>
            <Aggregate Id="Leg6">
                <Sequence />
                <Break>
                    <IsNaN>
                        <Arg Name="Depth6" />
                    </IsNaN>
                </Break>
                <Syslog Severity="Important">
                    Transiting waypoints at depth 
                    <Arg Name="Depth6" />
                    <Units:meter />
                </Syslog>
                <Assign>
                    <Sequence />
                    <Arg Name="LegDepth" />
                    <Arg Name="Depth6" />
                </Assign>
                <Aggregate Id="Wpt1">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat1" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon1" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt2">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat2" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon2" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt3">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat3" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon3" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt4">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat4" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon4" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt5">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat5" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon5" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt6">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat6" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon6" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt7">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat7" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon7" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt8">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat8" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon8" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
            </Aggregate>
            <Aggregate Id="Leg7">
                <Sequence />
                <Break>
                    <IsNaN>
                        <Arg Name="Depth7" />
                    </IsNaN>
                </Break>
                <Syslog Severity="Important">
                    Transiting waypoints at depth 
                    <Arg Name="Depth7" />
                    <Units:meter />
                </Syslog>
                <Assign>
                    <Sequence />
                    <Arg Name="LegDepth" />
                    <Arg Name="Depth7" />
                </Assign>
                <Aggregate Id="Wpt1">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat1" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon1" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt2">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat2" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon2" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt3">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat3" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon3" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt4">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat4" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon4" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt5">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat5" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon5" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt6">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat6" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon6" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt7">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat7" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon7" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt8">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat8" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon8" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
            </Aggregate>
            <Aggregate Id="Leg8">
                <Sequence />
                <Break>
                    <IsNaN>
                        <Arg Name="Depth8" />
                    </IsNaN>
                </Break>
                <Syslog Severity="Important">
                    Transiting waypoints at depth 
                    <Arg Name="Depth8" />
                    <Units:meter />
                </Syslog>
                <Assign>
                    <Sequence />
                    <Arg Name="LegDepth" />
                    <Arg Name="Depth8" />
                </Assign>
                <Aggregate Id="Wpt1">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat1" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon1" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt2">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat2" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon2" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt3">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat3" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon3" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt4">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat4" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon4" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt5">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat5" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon5" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt6">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat6" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon6" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt7">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat7" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon7" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt8">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat8" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon8" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
            </Aggregate>
        </Aggregate>
        <Aggregate Id="DepthByLeg">
            <Sequence />
            <Break>
                <Not>
                    <Arg Name="DepthPerLeg" />
                </Not>
            </Break>
            <Aggregate Id="Leg1">
                <Sequence />
                <Assign>
                    <Sequence />
                    <Arg Name="LegDepth" />
                    <Arg Name="Depth1" />
                </Assign>
                <Guidance:Waypoint>
                    <Sequence />
                    <Setting>
                        <Guidance:Waypoint.latitude />
                        <Arg Name="Lat1" />
                    </Setting>
                    <Setting>
                        <Guidance:Waypoint.longitude />
                        <Arg Name="Lon1" />
                    </Setting>
                </Guidance:Waypoint>
            </Aggregate>
            <Aggregate Id="Leg2">
                <Sequence />
                <Break>
                    <IsNaN>
                        <Arg Name="Depth2" />
                    </IsNaN>
                </Break>
                <Syslog Severity="Info">
                    Transiting to next waypoint at depth 
                    <Arg Name="Depth2" />
                    <Units:meter />
                </Syslog>
                <Assign>
                    <Sequence />
                    <Arg Name="LegDepth" />
                    <Arg Name="Depth2" />
                </Assign>
                <Aggregate Id="Wpt2">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat2" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon2" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
            </Aggregate>
            <Aggregate Id="Leg3">
                <Sequence />
                <Break>
                    <IsNaN>
                        <Arg Name="Depth3" />
                    </IsNaN>
                </Break>
                <Syslog Severity="Info">
                    Transiting to next waypoint at depth 
                    <Arg Name="Depth3" />
                    <Units:meter />
                </Syslog>
                <Assign>
                    <Sequence />
                    <Arg Name="LegDepth" />
                    <Arg Name="Depth3" />
                </Assign>
                <Aggregate Id="Wpt3">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat3" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon3" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
            </Aggregate>
            <Aggregate Id="Leg4">
                <Sequence />
                <Break>
                    <IsNaN>
                        <Arg Name="Depth4" />
                    </IsNaN>
                </Break>
                <Syslog Severity="Info">
                    Transiting to next waypoint at depth 
                    <Arg Name="Depth4" />
                    <Units:meter />
                </Syslog>
                <Assign>
                    <Sequence />
                    <Arg Name="LegDepth" />
                    <Arg Name="Depth4" />
                </Assign>
                <Aggregate Id="Wpt4">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat4" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon4" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
            </Aggregate>
            <Aggregate Id="Leg5">
                <Sequence />
                <Break>
                    <IsNaN>
                        <Arg Name="Depth5" />
                    </IsNaN>
                </Break>
                <Syslog Severity="Info">
                    Transiting to next waypoint at depth 
                    <Arg Name="Depth5" />
                    <Units:meter />
                </Syslog>
                <Assign>
                    <Sequence />
                    <Arg Name="LegDepth" />
                    <Arg Name="Depth5" />
                </Assign>
                <Aggregate Id="Wpt5">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat5" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon5" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
            </Aggregate>
            <Aggregate Id="Leg6">
                <Sequence />
                <Break>
                    <IsNaN>
                        <Arg Name="Depth6" />
                    </IsNaN>
                </Break>
                <Syslog Severity="Info">
                    Transiting to next waypoint at depth 
                    <Arg Name="Depth6" />
                    <Units:meter />
                </Syslog>
                <Assign>
                    <Sequence />
                    <Arg Name="LegDepth" />
                    <Arg Name="Depth6" />
                </Assign>
                <Aggregate Id="Wpt6">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat6" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon6" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
            </Aggregate>
            <Aggregate Id="Leg7">
                <Sequence />
                <Break>
                    <IsNaN>
                        <Arg Name="Depth7" />
                    </IsNaN>
                </Break>
                <Syslog Severity="Info">
                    Transiting to next waypoint at depth 
                    <Arg Name="Depth7" />
                    <Units:meter />
                </Syslog>
                <Assign>
                    <Sequence />
                    <Arg Name="LegDepth" />
                    <Arg Name="Depth7" />
                </Assign>
                <Aggregate Id="Wpt7">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat7" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon7" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
            </Aggregate>
            <Aggregate Id="Leg8">
                <Sequence />
                <Break>
                    <IsNaN>
                        <Arg Name="Depth8" />
                    </IsNaN>
                </Break>
                <Syslog Severity="Info">
                    Transiting to next waypoint at depth 
                    <Arg Name="Depth8" />
                    <Units:meter />
                </Syslog>
                <Assign>
                    <Sequence />
                    <Arg Name="LegDepth" />
                    <Arg Name="Depth8" />
                </Assign>
                <Aggregate Id="Wpt8">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat8" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon8" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
            </Aggregate>
        </Aggregate>
    </Aggregate>
</Mission>

2025-03-12T22:51:09.300Z,1741819869.300 [MissionManager](INFO): DefineArg sci2_noyo_optim.MissionTimeout = 2.000000 h
2025-03-12T22:51:09.302Z,1741819869.302 [MissionManager](INFO): DefineArg sci2_noyo_optim.NeedCommsTime = 60.000000 min
2025-03-12T22:51:09.309Z,1741819869.309 [MissionManager](INFO): DefineArg sci2_noyo_optim.Depth1 = 35.000000 m
2025-03-12T22:51:09.311Z,1741819869.311 [MissionManager](INFO): DefineArg sci2_noyo_optim.Depth2 = nan m
2025-03-12T22:51:09.317Z,1741819869.317 [MissionManager](INFO): DefineArg sci2_noyo_optim.Depth3 = nan m
2025-03-12T22:51:09.323Z,1741819869.323 [MissionManager](INFO): DefineArg sci2_noyo_optim.Depth4 = nan m
2025-03-12T22:51:09.325Z,1741819869.325 [MissionManager](INFO): DefineArg sci2_noyo_optim.Depth5 = nan m
2025-03-12T22:51:09.347Z,1741819869.347 [MissionManager](INFO): DefineArg sci2_noyo_optim.Depth6 = nan m
2025-03-12T22:51:09.349Z,1741819869.349 [MissionManager](INFO): DefineArg sci2_noyo_optim.Depth7 = nan m
2025-03-12T22:51:09.356Z,1741819869.356 [MissionManager](INFO): DefineArg sci2_noyo_optim.Depth8 = nan m
2025-03-12T22:51:09.358Z,1741819869.358 [MissionManager](INFO): DefineArg sci2_noyo_optim.DepthPerLeg = 0 bool
2025-03-12T22:51:09.361Z,1741819869.361 [MissionManager](INFO): DefineArg sci2_noyo_optim.Repeat = 1.000000 count
2025-03-12T22:51:09.372Z,1741819869.372 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lat1 = nan arcdeg
2025-03-12T22:51:09.374Z,1741819869.374 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lat2 = nan arcdeg
2025-03-12T22:51:09.397Z,1741819869.397 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lat3 = nan arcdeg
2025-03-12T22:51:09.408Z,1741819869.408 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lat4 = nan arcdeg
2025-03-12T22:51:09.410Z,1741819869.410 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lat5 = nan arcdeg
2025-03-12T22:51:09.413Z,1741819869.413 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lat6 = nan arcdeg
2025-03-12T22:51:09.415Z,1741819869.415 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lat7 = nan arcdeg
2025-03-12T22:51:09.431Z,1741819869.431 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lat8 = nan arcdeg
2025-03-12T22:51:09.433Z,1741819869.433 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lon1 = nan arcdeg
2025-03-12T22:51:09.436Z,1741819869.436 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lon2 = nan arcdeg
2025-03-12T22:51:09.438Z,1741819869.438 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lon3 = nan arcdeg
2025-03-12T22:51:09.444Z,1741819869.444 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lon4 = nan arcdeg
2025-03-12T22:51:09.446Z,1741819869.446 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lon5 = nan arcdeg
2025-03-12T22:51:09.451Z,1741819869.451 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lon6 = nan arcdeg
2025-03-12T22:51:09.466Z,1741819869.466 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lon7 = nan arcdeg
2025-03-12T22:51:09.472Z,1741819869.472 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lon8 = nan arcdeg
2025-03-12T22:51:09.474Z,1741819869.474 [MissionManager](INFO): DefineArg sci2_noyo_optim.FastSpeed = 1.000000 m/s
2025-03-12T22:51:09.481Z,1741819869.481 [MissionManager](INFO): DefineArg sci2_noyo_optim.ApproachDepth = 30.000000 m
2025-03-12T22:51:09.487Z,1741819869.487 [MissionManager](INFO): DefineArg sci2_noyo_optim.ApproachSpeed = 0.700000 m/s
2025-03-12T22:51:09.490Z,1741819869.490 [MissionManager](INFO): DefineArg sci2_noyo_optim.ApproachDepthRate = 0.050000 m/s
2025-03-12T22:51:09.511Z,1741819869.511 [MissionManager](INFO): DefineArg sci2_noyo_optim.ApproachPitchLimit = 20.000000 arcdeg
2025-03-12T22:51:09.513Z,1741819869.513 [MissionManager](INFO): DefineArg sci2_noyo_optim.ApproachDepthTimeout = 15.000000 min
2025-03-12T22:51:09.516Z,1741819869.516 [MissionManager](INFO): DefineArg sci2_noyo_optim.ApproachSettleTimePreDive = 1.000000 min
2025-03-12T22:51:09.518Z,1741819869.518 [MissionManager](INFO): DefineArg sci2_noyo_optim.ApproachSettleTimePostDive = 3.000000 min
2025-03-12T22:51:09.520Z,1741819869.520 [MissionManager](INFO): DefineArg sci2_noyo_optim.kpDepth = 0.070000 rad/m
2025-03-12T22:51:09.522Z,1741819869.522 [MissionManager](INFO): DefineArg sci2_noyo_optim.SlowSpeed = 0.250000 m/s
2025-03-12T22:51:09.533Z,1741819869.533 [MissionManager](INFO): DefineArg sci2_noyo_optim.DepthDeviationSlow = 3.000000 m
2025-03-12T22:51:09.536Z,1741819869.536 [MissionManager](INFO): DefineArg sci2_noyo_optim.BuoyancyNeutral = 373.087250 cc
2025-03-12T22:51:09.538Z,1741819869.538 [MissionManager](INFO): DefineArg sci2_noyo_optim.MassDefault = 0.684636 cm
2025-03-12T22:51:09.540Z,1741819869.540 [MissionManager](INFO): DefineArg sci2_noyo_optim.MinAltitude = 2.000000 m
2025-03-12T22:51:09.542Z,1741819869.542 [MissionManager](INFO): DefineArg sci2_noyo_optim.MaxDepth = 50.000000 m
2025-03-12T22:51:09.554Z,1741819869.554 [MissionManager](INFO): DefineArg sci2_noyo_optim.MinOffshore = 2.000000 km
2025-03-12T22:51:09.557Z,1741819869.557 [MissionManager](INFO): DefineOutput sci2_noyo_optim.DiveMode = 0.000000 count
2025-03-12T22:51:09.559Z,1741819869.559 [MissionManager](INFO): DefineOutput sci2_noyo_optim.DoingComms = 0.000000 count
2025-03-12T22:51:09.561Z,1741819869.561 [MissionManager](INFO): DefineOutput sci2_noyo_optim.InitialDive = 1.000000 count
2025-03-12T22:51:09.576Z,1741819869.576 [MissionManager](INFO): DefineOutput sci2_noyo_optim.SettleAtDepth = 2.000000 count
2025-03-12T22:51:09.581Z,1741819869.581 [MissionManager](INFO): DefineOutput sci2_noyo_optim.MaintainDepth = 3.000000 count
2025-03-12T22:51:09.584Z,1741819869.584 [MissionManager](INFO): DefineOutput sci2_noyo_optim.LegDepth = 35.000000 m
2025-03-12T22:51:09.585Z,1741819869.585 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/Science.tl
2025-03-12T22:51:09.585Z,1741819869.585 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/Science.tl
2025-03-12T22:51:09.588Z,1741819869.588 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/Science.tl
2025-03-12T22:51:12.388Z,1741819872.388 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/Science.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="Science">
    <DefineArg Name="PeakDetectChlActive">
        <False />
    </DefineArg>
    <DefineArg Name="EdgeDetectChlActive">
        <False />
    </DefineArg>
    <DefineArg Name="TimeWindowPeakReport">
        <Units:minute />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="HighestChlPeakReportActive">
        <False />
    </DefineArg>
    <DefineArg Name="HighestSaltPeakReportActive">
        <False />
    </DefineArg>
    <DefineArg Name="HighestOilPeakReportActive">
        <False />
    </DefineArg>
    <DefineArg Name="PatchTracking">
        <False />
    </DefineArg>
    <DefineArg Name="FilterWidthHorizontal">
        <Units:count />
        <Value>3</Value>
    </DefineArg>
    <DefineArg Name="NumProfilesSlidingwindow">
        <Units:count />
        <Value>100</Value>
    </DefineArg>
    <DefineArg Name="OffPeakFractionHorizontal">
        <Units:percent />
        <Value>80</Value>
    </DefineArg>
    <DefineArg Name="PeakDetectNO3Active">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectOilActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectFDOMActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectSalinityActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreLMavgROIActive">
        <False />
    </DefineArg>
    <DefineArg Name="EdgeDetectPlanktivoreLMavgROIActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreHMavgROIActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreDiatomsActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreDinoflagellatesActive">
        <False />
    </DefineArg>
    <DefineArg Name="UpwardDerivativeOfTemperatureActive">
        <False />
    </DefineArg>
    <DefineArg Name="EnabledAanderaaO2">
        <Science:Aanderaa_O2.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledNeilBrown">
        <Science:CTD_NeilBrown.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledSeabird">
        <Science:CTD_Seabird.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledWetLabsBB2FL">
        <Science:WetLabsBB2FL.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledWetLabsSeaOWL_UV_A">
        <Science:WetLabsSeaOWL_UV_A.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledWetLabsUBAT">
        <Science:WetLabsUBAT.loadAtStartup />
    </DefineArg>
    <DefineArg Name="LowPassWindowLength">
        <Units:count />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="MedianFilterLen">
        <Units:count />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="ShallowBound">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="DeepBound">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="DepChangeThreshForAttitudeFlip">
        <Units:meter />
        <Value>2.0</Value>
    </DefineArg>
    <DefineArg Name="OffPeakFractionVertical">
        <Units:percent />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="ChlPeakThresh">
        <Units:microgram_per_liter />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="ChlThreshTriggerActive">
        <False />
    </DefineArg>
    <DefineArg Name="ChlLowerThresh">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="ChlUpperThresh">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="NumProfilesThresh">
        <Units:count />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="PlanktivoreLMavgROIPeakThresh">
        <Units:count_per_second />
        <Value>0</Value>
    </DefineArg>
    <DefineOutput Name="GoDown">
        <True />
    </DefineOutput>
    <DefineOutput Name="PeakChl">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChl">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChlDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChlTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChlLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChlLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3">
        <Units:micromole_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3Depth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3Latitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3Longitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOil">
        <Units:kilogram_per_cubic_meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOilDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOilLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOilLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOM">
        <Units:part_per_billion />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSalt">
        <Units:practical_salinity_unit />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROI">
        <Units:count_per_second />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROIDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROITemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROILatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROILongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROI">
        <Units:count_per_second />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROIDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROITemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROILatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROILongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROI">
        <Units:count_per_second />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROIDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROITemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROILatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROILongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatoms">
        <Units:count_per_milliliter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellates">
        <Units:count_per_milliliter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChl">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlDistance">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSalt">
        <Units:practical_salinity_unit />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltDistance">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOil">
        <Units:practical_salinity_unit />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilDistance">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="TriggeredOnChl">
        <False />
    </DefineOutput>
    <DefineOutput Name="ChlTriggering">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <Parallel />
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledAanderaaO2" />
        </While>
        <Universal:mass_concentration_of_oxygen_in_sea_water />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledNeilBrown" />
            <Or>
                <Arg Name="EnabledSeabird" />
            </Or>
        </While>
        <Universal:sea_water_temperature />
        <Universal:sea_water_salinity />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledSeabird" />
        </While>
        <Science:CTD_Seabird.sea_water_temperature />
        <Science:CTD_Seabird.sea_water_salinity />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledNeilBrown" />
            <Or>
                <Arg Name="EnabledSeabird" />
            </Or>
            <And>
                <Arg Name="UpwardDerivativeOfTemperatureActive" />
            </And>
        </While>
        <Universal:upward_derivative_of_sea_water_temperature />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledWetLabsBB2FL" />
            <Or>
                <Arg Name="PeakDetectChlActive" />
            </Or>
        </While>
        <Universal:mass_concentration_of_chlorophyll_in_sea_water />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledWetLabsUBAT" />
        </While>
        <Science:WetLabsUBAT.average_bioluminescence />
    </ReadData>
    <ReadData Id="Read_Oil" Strategy="MinError">
        <While>
            <Arg Name="EnabledWetLabsSeaOWL_UV_A" />
            <Or>
                <Arg Name="PeakDetectOilActive" />
            </Or>
        </While>
        <Universal:mass_concentration_of_petroleum_hydrocarbons_in_sea_water />
    </ReadData>
    <Aggregate Id="OceanCurrent">
        <Sequence />
        <Estimation:CurrentEstimator>
            <Parallel />
        </Estimation:CurrentEstimator>
    </Aggregate>
    <Aggregate Id="PeakDetectChl">
        <While>
            <Arg Name="PeakDetectChlActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:mass_concentration_of_chlorophyll_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakChl">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakChlDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakChlTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakChlLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakChlLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakChl" />
            <Arg Name="PeakChlDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="EdgeDetectChl">
        <While>
            <Arg Name="EdgeDetectChlActive" />
        </While>
        <Syslog Severity="Debug">EdgeDetectVsDepth</Syslog>
        <Trigger:EdgeDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:EdgeDetectVsDepth.detect />
                <Universal:mass_concentration_of_chlorophyll_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFraction />
                <Arg Name="OffPeakFractionVertical" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.peakThresh />
                <Arg Name="ChlPeakThresh" />
            </Setting>
            <OutputArg Name="GoDown">
                <Trigger:EdgeDetectVsDepth.goDown />
            </OutputArg>
            <OutputArg Name="PeakChl">
                <Trigger:EdgeDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakChlDepth">
                <Trigger:EdgeDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakChlTemperature">
                <Trigger:EdgeDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakChlLatitude">
                <Trigger:EdgeDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakChlLongitude">
                <Trigger:EdgeDetectVsDepth.peakLongitude />
            </OutputArg>
            <OutputArg Name="EdgeChl">
                <Trigger:EdgeDetectVsDepth.edgeDetect />
            </OutputArg>
            <OutputArg Name="EdgeChlDepth">
                <Trigger:EdgeDetectVsDepth.edgeDepth />
            </OutputArg>
            <OutputArg Name="EdgeChlTemperature">
                <Trigger:EdgeDetectVsDepth.edgeTemperature />
            </OutputArg>
            <OutputArg Name="EdgeChlLatitude">
                <Trigger:EdgeDetectVsDepth.edgeLatitude />
            </OutputArg>
            <OutputArg Name="EdgeChlLongitude">
                <Trigger:EdgeDetectVsDepth.edgeLongitude />
            </OutputArg>
        </Trigger:EdgeDetectVsDepth>
        <Syslog Severity="Info">
            GoDown, ChlPeakThresh, PeakChl, PeakChlDepth, EdgeChl, EdgeChlDepth = 
            <Arg Name="GoDown" />
            <Units:bool />
            , 
            <Arg Name="ChlPeakThresh" />
            <Units:microgram_per_liter />
            , 
            <Arg Name="PeakChl" />
            <Units:microgram_per_liter />
            , 
            <Arg Name="PeakChlDepth" />
            <Units:meter />
            , 
            <Arg Name="EdgeChl" />
            <Units:microgram_per_liter />
            , 
            <Arg Name="EdgeChlDepth" />
            <Units:meter />
        </Syslog>
        <SendData Service="Express">
            <Arg Name="PeakChl" />
            <Arg Name="PeakChlDepth" />
            <Arg Name="EdgeChl" />
            <Arg Name="EdgeChlDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="HighestChlPeakReport">
        <While>
            <Arg Name="HighestChlPeakReportActive" />
        </While>
        <Trigger:PeakDetectHorizontal>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectHorizontal.detectFrom />
                <Arg Name="PeakChl" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.depthFrom />
                <Arg Name="PeakChlDepth" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.latitudeFrom />
                <Arg Name="PeakChlLatitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.longitudeFrom />
                <Arg Name="PeakChlLongitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.patchTracking />
                <Arg Name="PatchTracking" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.filterWidth />
                <Arg Name="FilterWidthHorizontal" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.numProfilesSlidingwindow />
                <Arg Name="NumProfilesSlidingwindow" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.offPeakFraction />
                <Arg Name="OffPeakFractionHorizontal" />
            </Setting>
            <OutputArg Name="PatchChl">
                <Trigger:PeakDetectHorizontal.peakDetect />
            </OutputArg>
            <OutputArg Name="PatchChlDepth">
                <Trigger:PeakDetectHorizontal.peakDepth />
            </OutputArg>
            <OutputArg Name="PatchChlLatitude">
                <Trigger:PeakDetectHorizontal.peakLatitude />
            </OutputArg>
            <OutputArg Name="PatchChlLongitude">
                <Trigger:PeakDetectHorizontal.peakLongitude />
            </OutputArg>
            <OutputArg Name="PatchChlDistance">
                <Trigger:PeakDetectHorizontal.peakDistance />
            </OutputArg>
        </Trigger:PeakDetectHorizontal>
    </Aggregate>
    <Aggregate Id="PeakDetectNO3">
        <While>
            <Arg Name="PeakDetectNO3Active" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:mole_concentration_of_nitrate_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <OutputArg Name="PeakNO3">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakNO3Depth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakNO3Latitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakNO3Longitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakNO3" />
            <Arg Name="PeakNO3Depth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectOil">
        <While>
            <Arg Name="PeakDetectOilActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:mass_concentration_of_petroleum_hydrocarbons_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <OutputArg Name="PeakOil">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakOilDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakOilLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakOilLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakOil" />
            <Arg Name="PeakOilDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="HighestOilPeakReport">
        <While>
            <Arg Name="HighestOilPeakReportActive" />
        </While>
        <Trigger:PeakDetectHorizontal>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectHorizontal.detectFrom />
                <Arg Name="PeakOil" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.depthFrom />
                <Arg Name="PeakOilDepth" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.latitudeFrom />
                <Arg Name="PeakOilLatitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.longitudeFrom />
                <Arg Name="PeakOilLongitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.patchTracking />
                <Arg Name="PatchTracking" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.filterWidth />
                <Arg Name="FilterWidthHorizontal" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.numProfilesSlidingwindow />
                <Arg Name="NumProfilesSlidingwindow" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.offPeakFraction />
                <Arg Name="OffPeakFractionHorizontal" />
            </Setting>
            <OutputArg Name="PatchOil">
                <Trigger:PeakDetectHorizontal.peakDetect />
            </OutputArg>
            <OutputArg Name="PatchOilDepth">
                <Trigger:PeakDetectHorizontal.peakDepth />
            </OutputArg>
            <OutputArg Name="PatchOilLatitude">
                <Trigger:PeakDetectHorizontal.peakLatitude />
            </OutputArg>
            <OutputArg Name="PatchOilLongitude">
                <Trigger:PeakDetectHorizontal.peakLongitude />
            </OutputArg>
            <OutputArg Name="PatchOilDistance">
                <Trigger:PeakDetectHorizontal.peakDistance />
            </OutputArg>
        </Trigger:PeakDetectHorizontal>
    </Aggregate>
    <Aggregate Id="PeakDetectFDOM">
        <While>
            <Arg Name="PeakDetectFDOMActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:concentration_of_colored_dissolved_organic_matter_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <OutputArg Name="PeakFDOM">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakFDOMDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakFDOMTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakFDOMLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakFDOMLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakFDOM" />
            <Arg Name="PeakFDOMDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectSalinity">
        <While>
            <Arg Name="PeakDetectSalinityActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:sea_water_salinity />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakSalt">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakSaltDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakSaltTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakSaltLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakSaltLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakSalt" />
            <Arg Name="PeakSaltDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="HighestSaltPeakReport">
        <While>
            <Arg Name="HighestSaltPeakReportActive" />
        </While>
        <Trigger:PeakDetectHorizontal>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectHorizontal.detectFrom />
                <Arg Name="PeakSalt" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.depthFrom />
                <Arg Name="PeakSaltDepth" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.latitudeFrom />
                <Arg Name="PeakSaltLatitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.longitudeFrom />
                <Arg Name="PeakSaltLongitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.patchTracking />
                <Arg Name="PatchTracking" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.filterWidth />
                <Arg Name="FilterWidthHorizontal" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.numProfilesSlidingwindow />
                <Arg Name="NumProfilesSlidingwindow" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.offPeakFraction />
                <Arg Name="OffPeakFractionHorizontal" />
            </Setting>
            <OutputArg Name="PatchSalt">
                <Trigger:PeakDetectHorizontal.peakDetect />
            </OutputArg>
            <OutputArg Name="PatchSaltDepth">
                <Trigger:PeakDetectHorizontal.peakDepth />
            </OutputArg>
            <OutputArg Name="PatchSaltLatitude">
                <Trigger:PeakDetectHorizontal.peakLatitude />
            </OutputArg>
            <OutputArg Name="PatchSaltLongitude">
                <Trigger:PeakDetectHorizontal.peakLongitude />
            </OutputArg>
            <OutputArg Name="PatchSaltDistance">
                <Trigger:PeakDetectHorizontal.peakDistance />
            </OutputArg>
        </Trigger:PeakDetectHorizontal>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreLMavgROI">
        <While>
            <Arg Name="PeakDetectPlanktivoreLMavgROIActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_LM_AvgRois</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreLMavgROI">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROIDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROITemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROILatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROILongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreLMavgROI" />
            <Arg Name="PeakPlanktivoreLMavgROIDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="EdgeDetectPlanktivoreLMavgROI">
        <While>
            <Arg Name="EdgeDetectPlanktivoreLMavgROIActive" />
        </While>
        <Syslog Severity="Debug">EdgeDetectVsDepth</Syslog>
        <Trigger:EdgeDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:EdgeDetectVsDepth.detect />
                <String>_.planktivore_LM_AvgRois</String>
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFraction />
                <Arg Name="OffPeakFractionVertical" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.peakThresh />
                <Arg Name="PlanktivoreLMavgROIPeakThresh" />
            </Setting>
            <OutputArg Name="GoDown">
                <Trigger:EdgeDetectVsDepth.goDown />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROI">
                <Trigger:EdgeDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROIDepth">
                <Trigger:EdgeDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROITemperature">
                <Trigger:EdgeDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROILatitude">
                <Trigger:EdgeDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROILongitude">
                <Trigger:EdgeDetectVsDepth.peakLongitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROI">
                <Trigger:EdgeDetectVsDepth.edgeDetect />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROIDepth">
                <Trigger:EdgeDetectVsDepth.edgeDepth />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROITemperature">
                <Trigger:EdgeDetectVsDepth.edgeTemperature />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROILatitude">
                <Trigger:EdgeDetectVsDepth.edgeLatitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROILongitude">
                <Trigger:EdgeDetectVsDepth.edgeLongitude />
            </OutputArg>
        </Trigger:EdgeDetectVsDepth>
        <Syslog Severity="Important">
            GoDown, PlanktivoreLMavgROIPeakThresh, PeakPlanktivoreLMavgROI, PeakPlanktivoreLMavgROIDepth, EdgePlanktivoreLMavgROI, EdgePlanktivoreLMavgROIDepth = 
            <Arg Name="GoDown" />
            <Units:bool />
            , 
            <Arg Name="PlanktivoreLMavgROIPeakThresh" />
            <Units:microgram_per_liter />
            , 
            <Arg Name="PeakPlanktivoreLMavgROI" />
            <Units:microgram_per_liter />
            , 
            <Arg Name="PeakPlanktivoreLMavgROIDepth" />
            <Units:meter />
            , 
            <Arg Name="EdgePlanktivoreLMavgROI" />
            <Units:microgram_per_liter />
            , 
            <Arg Name="EdgePlanktivoreLMavgROIDepth" />
            <Units:meter />
        </Syslog>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreLMavgROI" />
            <Arg Name="PeakPlanktivoreLMavgROIDepth" />
            <Arg Name="EdgePlanktivoreLMavgROI" />
            <Arg Name="EdgePlanktivoreLMavgROIDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreHMavgROI">
        <While>
            <Arg Name="PeakDetectPlanktivoreHMavgROIActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_HM_AvgRois</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreHMavgROI">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROIDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROITemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROILatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROILongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreHMavgROI" />
            <Arg Name="PeakPlanktivoreHMavgROIDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreDiatoms">
        <While>
            <Arg Name="PeakDetectPlanktivoreDiatomsActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_diatoms</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreDiatoms">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreDiatoms" />
            <Arg Name="PeakPlanktivoreDiatomsDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreDinoflagellates">
        <While>
            <Arg Name="PeakDetectPlanktivoreDinoflagellatesActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_dinoflagellates</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreDinoflagellates">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreDinoflagellates" />
            <Arg Name="PeakPlanktivoreDinoflagellatesDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="ChlThreshTrigger">
        <While>
            <Arg Name="ChlThreshTriggerActive" />
        </While>
        <Trigger:ValueDetect>
            <Sequence />
            <Setting>
                <Trigger:ValueDetect.detect />
                <Arg Name="PeakChl" />
            </Setting>
            <Setting>
                <Trigger:ValueDetect.lowerThreshold />
                <Arg Name="ChlLowerThresh" />
            </Setting>
            <Setting>
                <Trigger:ValueDetect.upperThreshold />
                <Arg Name="ChlUpperThresh" />
            </Setting>
            <Setting>
                <Trigger:ValueDetect.numProfilesThreshold />
                <Arg Name="NumProfilesThresh" />
            </Setting>
            <OutputArg Name="ChlTriggering">
                <Trigger:ValueDetect.outputValue />
            </OutputArg>
        </Trigger:ValueDetect>
        <Assign>
            <Sequence />
            <Arg Name="TriggeredOnChl" />
            <True />
        </Assign>
        <Syslog Severity="Important">
            Triggered. PeakChl values on 
            <Arg Name="NumProfilesThresh" />
            <Units:count />
             consecutive yo-yo profiles fall in [
            <Arg Name="ChlLowerThresh" />
            <Units:microgram_per_liter />
            <Arg Name="ChlUpperThresh" />
            <Units:microgram_per_liter />
            ] (NaN bound is ignored).
        </Syslog>
    </Aggregate>
</Aggregate>

2025-03-12T22:51:12.408Z,1741819872.408 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.PeakDetectChlActive = 0 bool
2025-03-12T22:51:12.410Z,1741819872.410 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.EdgeDetectChlActive = 0 bool
2025-03-12T22:51:12.412Z,1741819872.412 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.TimeWindowPeakReport = nan min
2025-03-12T22:51:12.414Z,1741819872.414 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.HighestChlPeakReportActive = 0 bool
2025-03-12T22:51:12.416Z,1741819872.416 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.HighestSaltPeakReportActive = 0 bool
2025-03-12T22:51:12.418Z,1741819872.418 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.HighestOilPeakReportActive = 0 bool
2025-03-12T22:51:12.458Z,1741819872.458 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.PatchTracking = 0 bool
2025-03-12T22:51:12.461Z,1741819872.461 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.FilterWidthHorizontal = 3.000000 count
2025-03-12T22:51:12.464Z,1741819872.464 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.NumProfilesSlidingwindow = 100.000000 count
2025-03-12T22:51:12.466Z,1741819872.466 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.OffPeakFractionHorizontal = 80.000000 %
2025-03-12T22:51:12.480Z,1741819872.480 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.PeakDetectNO3Active = 0 bool
2025-03-12T22:51:12.482Z,1741819872.482 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.PeakDetectOilActive = 0 bool
2025-03-12T22:51:12.484Z,1741819872.484 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.PeakDetectFDOMActive = 0 bool
2025-03-12T22:51:12.486Z,1741819872.486 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.PeakDetectSalinityActive = 0 bool
2025-03-12T22:51:12.524Z,1741819872.524 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.PeakDetectPlanktivoreLMavgROIActive = 0 bool
2025-03-12T22:51:12.526Z,1741819872.526 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.EdgeDetectPlanktivoreLMavgROIActive = 0 bool
2025-03-12T22:51:12.535Z,1741819872.535 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.PeakDetectPlanktivoreHMavgROIActive = 0 bool
2025-03-12T22:51:12.553Z,1741819872.553 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.PeakDetectPlanktivoreDiatomsActive = 0 bool
2025-03-12T22:51:12.555Z,1741819872.555 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.PeakDetectPlanktivoreDinoflagellatesActive = 0 bool
2025-03-12T22:51:12.561Z,1741819872.561 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2025-03-12T22:51:12.580Z,1741819872.580 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.EnabledAanderaaO2 = 0 bool
2025-03-12T22:51:12.582Z,1741819872.582 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.EnabledNeilBrown = 0 bool
2025-03-12T22:51:12.589Z,1741819872.589 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.EnabledSeabird = 1 bool
2025-03-12T22:51:12.600Z,1741819872.600 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.EnabledWetLabsBB2FL = 1 bool
2025-03-12T22:51:12.602Z,1741819872.602 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.EnabledWetLabsSeaOWL_UV_A = 0 bool
2025-03-12T22:51:12.605Z,1741819872.605 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.EnabledWetLabsUBAT = 0 bool
2025-03-12T22:51:12.624Z,1741819872.624 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.LowPassWindowLength = 20.000000 count
2025-03-12T22:51:12.626Z,1741819872.626 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.MedianFilterLen = 5.000000 count
2025-03-12T22:51:12.632Z,1741819872.632 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.ShallowBound = nan m
2025-03-12T22:51:12.634Z,1741819872.634 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.DeepBound = nan m
2025-03-12T22:51:12.641Z,1741819872.641 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.DepChangeThreshForAttitudeFlip = 2.000000 m
2025-03-12T22:51:12.647Z,1741819872.647 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.OffPeakFractionVertical = nan %
2025-03-12T22:51:12.653Z,1741819872.653 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.ChlPeakThresh = 0.000000 ug/l
2025-03-12T22:51:12.655Z,1741819872.655 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.ChlThreshTriggerActive = 0 bool
2025-03-12T22:51:12.657Z,1741819872.657 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.ChlLowerThresh = nan ug/l
2025-03-12T22:51:12.667Z,1741819872.667 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.ChlUpperThresh = nan ug/l
2025-03-12T22:51:12.669Z,1741819872.669 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.NumProfilesThresh = 5.000000 count
2025-03-12T22:51:12.676Z,1741819872.676 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.PlanktivoreLMavgROIPeakThresh = 0.000000 count/s
2025-03-12T22:51:12.678Z,1741819872.678 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.GoDown = 1 bool
2025-03-12T22:51:12.684Z,1741819872.684 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakChl = nan ug/l
2025-03-12T22:51:12.687Z,1741819872.687 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakChlDepth = nan m
2025-03-12T22:51:12.693Z,1741819872.693 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakChlTemperature = nan degC
2025-03-12T22:51:12.700Z,1741819872.700 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakChlLatitude = nan arcdeg
2025-03-12T22:51:12.702Z,1741819872.702 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakChlLongitude = nan arcdeg
2025-03-12T22:51:12.709Z,1741819872.709 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.EdgeChl = nan ug/l
2025-03-12T22:51:12.716Z,1741819872.716 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.EdgeChlDepth = nan m
2025-03-12T22:51:12.718Z,1741819872.718 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.EdgeChlTemperature = nan degC
2025-03-12T22:51:12.732Z,1741819872.732 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.EdgeChlLatitude = nan arcdeg
2025-03-12T22:51:12.735Z,1741819872.735 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.EdgeChlLongitude = nan arcdeg
2025-03-12T22:51:12.741Z,1741819872.741 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakNO3 = nan umol/l
2025-03-12T22:51:12.752Z,1741819872.752 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakNO3Depth = nan m
2025-03-12T22:51:12.754Z,1741819872.754 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakNO3Latitude = nan arcdeg
2025-03-12T22:51:12.772Z,1741819872.772 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakNO3Longitude = nan arcdeg
2025-03-12T22:51:12.774Z,1741819872.774 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakOil = nan kg/m3
2025-03-12T22:51:12.781Z,1741819872.781 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakOilDepth = nan m
2025-03-12T22:51:12.791Z,1741819872.791 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakOilLatitude = nan arcdeg
2025-03-12T22:51:12.794Z,1741819872.794 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakOilLongitude = nan arcdeg
2025-03-12T22:51:12.800Z,1741819872.800 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakFDOM = nan ppb
2025-03-12T22:51:12.803Z,1741819872.803 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakFDOMDepth = nan m
2025-03-12T22:51:12.809Z,1741819872.809 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakFDOMTemperature = nan degC
2025-03-12T22:51:12.820Z,1741819872.820 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakFDOMLatitude = nan arcdeg
2025-03-12T22:51:12.822Z,1741819872.822 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakFDOMLongitude = nan arcdeg
2025-03-12T22:51:12.830Z,1741819872.830 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakSalt = nan psu
2025-03-12T22:51:12.837Z,1741819872.837 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakSaltDepth = nan m
2025-03-12T22:51:12.843Z,1741819872.843 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakSaltTemperature = nan degC
2025-03-12T22:51:12.846Z,1741819872.846 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakSaltLatitude = nan arcdeg
2025-03-12T22:51:12.852Z,1741819872.852 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakSaltLongitude = nan arcdeg
2025-03-12T22:51:12.855Z,1741819872.855 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreLMavgROI = nan count/s
2025-03-12T22:51:12.861Z,1741819872.861 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreLMavgROIDepth = nan m
2025-03-12T22:51:12.870Z,1741819872.870 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreLMavgROITemperature = nan degC
2025-03-12T22:51:12.874Z,1741819872.874 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreLMavgROILatitude = nan arcdeg
2025-03-12T22:51:12.876Z,1741819872.876 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreLMavgROILongitude = nan arcdeg
2025-03-12T22:51:12.878Z,1741819872.878 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.EdgePlanktivoreLMavgROI = nan count/s
2025-03-12T22:51:12.881Z,1741819872.881 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.EdgePlanktivoreLMavgROIDepth = nan m
2025-03-12T22:51:12.883Z,1741819872.883 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.EdgePlanktivoreLMavgROITemperature = nan degC
2025-03-12T22:51:12.945Z,1741819872.945 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.EdgePlanktivoreLMavgROILatitude = nan arcdeg
2025-03-12T22:51:12.956Z,1741819872.956 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.EdgePlanktivoreLMavgROILongitude = nan arcdeg
2025-03-12T22:51:12.958Z,1741819872.958 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreHMavgROI = nan count/s
2025-03-12T22:51:12.973Z,1741819872.973 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreHMavgROIDepth = nan m
2025-03-12T22:51:12.988Z,1741819872.988 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreHMavgROITemperature = nan degC
2025-03-12T22:51:12.990Z,1741819872.990 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreHMavgROILatitude = nan arcdeg
2025-03-12T22:51:12.993Z,1741819872.993 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreHMavgROILongitude = nan arcdeg
2025-03-12T22:51:13.008Z,1741819873.008 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreDiatoms = nan count/ml
2025-03-12T22:51:13.010Z,1741819873.010 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreDiatomsDepth = nan m
2025-03-12T22:51:13.016Z,1741819873.016 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreDiatomsTemperature = nan degC
2025-03-12T22:51:13.019Z,1741819873.019 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreDiatomsLatitude = nan arcdeg
2025-03-12T22:51:13.022Z,1741819873.022 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreDiatomsLongitude = nan arcdeg
2025-03-12T22:51:13.036Z,1741819873.036 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreDinoflagellates = nan count/ml
2025-03-12T22:51:13.039Z,1741819873.039 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreDinoflagellatesDepth = nan m
2025-03-12T22:51:13.049Z,1741819873.049 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreDinoflagellatesTemperature = nan degC
2025-03-12T22:51:13.056Z,1741819873.056 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreDinoflagellatesLatitude = nan arcdeg
2025-03-12T22:51:13.058Z,1741819873.058 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreDinoflagellatesLongitude = nan arcdeg
2025-03-12T22:51:13.072Z,1741819873.072 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchChl = nan ug/l
2025-03-12T22:51:13.075Z,1741819873.075 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchChlDepth = nan m
2025-03-12T22:51:13.085Z,1741819873.085 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchChlLatitude = nan arcdeg
2025-03-12T22:51:13.092Z,1741819873.092 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchChlLongitude = nan arcdeg
2025-03-12T22:51:13.094Z,1741819873.094 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchChlDistance = nan m
2025-03-12T22:51:13.101Z,1741819873.101 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchSalt = nan psu
2025-03-12T22:51:13.111Z,1741819873.111 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchSaltDepth = nan m
2025-03-12T22:51:13.114Z,1741819873.114 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchSaltLatitude = nan arcdeg
2025-03-12T22:51:13.120Z,1741819873.120 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchSaltLongitude = nan arcdeg
2025-03-12T22:51:13.123Z,1741819873.123 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchSaltDistance = nan m
2025-03-12T22:51:13.129Z,1741819873.129 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchOil = nan psu
2025-03-12T22:51:13.132Z,1741819873.132 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchOilDepth = nan m
2025-03-12T22:51:13.134Z,1741819873.134 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchOilLatitude = nan arcdeg
2025-03-12T22:51:13.142Z,1741819873.142 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchOilLongitude = nan arcdeg
2025-03-12T22:51:13.149Z,1741819873.149 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchOilDistance = nan m
2025-03-12T22:51:13.151Z,1741819873.151 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.TriggeredOnChl = 0 bool
2025-03-12T22:51:13.157Z,1741819873.157 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.ChlTriggering = nan ug/l
2025-03-12T22:51:13.216Z,1741819873.216 [sci2_noyo_optim:Science:PeakDetectChl:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-03-12T22:51:13.248Z,1741819873.248 [sci2_noyo_optim:Science:EdgeDetectChl:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-03-12T22:51:13.286Z,1741819873.286 [sci2_noyo_optim:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-03-12T22:51:13.371Z,1741819873.371 [sci2_noyo_optim:Science:PeakDetectNO3:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-03-12T22:51:13.421Z,1741819873.421 [sci2_noyo_optim:Science:PeakDetectOil:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-03-12T22:51:13.436Z,1741819873.436 [sci2_noyo_optim:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-03-12T22:51:13.462Z,1741819873.462 [sci2_noyo_optim:Science:PeakDetectFDOM:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-03-12T22:51:13.498Z,1741819873.498 [sci2_noyo_optim:Science:PeakDetectSalinity:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-03-12T22:51:13.533Z,1741819873.533 [sci2_noyo_optim:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-03-12T22:51:13.546Z,1741819873.546 [sci2_noyo_optim:Science:PeakDetectPlanktivoreLMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-03-12T22:51:13.592Z,1741819873.592 [sci2_noyo_optim:Science:EdgeDetectPlanktivoreLMavgROI:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-03-12T22:51:13.648Z,1741819873.648 [sci2_noyo_optim:Science:PeakDetectPlanktivoreHMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-03-12T22:51:13.681Z,1741819873.681 [sci2_noyo_optim:Science:PeakDetectPlanktivoreDiatoms:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-03-12T22:51:13.737Z,1741819873.737 [sci2_noyo_optim:Science:PeakDetectPlanktivoreDinoflagellates:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-03-12T22:51:13.777Z,1741819873.777 [sci2_noyo_optim:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Construct ValueDetect.
2025-03-12T22:51:13.794Z,1741819873.794 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-03-12T22:51:13.794Z,1741819873.794 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-03-12T22:51:13.800Z,1741819873.800 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-03-12T22:51:13.909Z,1741819873.909 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/StandardEnvelopes.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="StandardEnvelopes">
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="MaxDepthIgnore">
        <Units:meter />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>200</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:meter />
        <Value>2000</Value>
    </DefineArg>
    <Parallel />
    <Guidance:AltitudeEnvelope>
        <Parallel />
        <Setting>
            <Guidance:AltitudeEnvelope.minAltitude />
            <Arg Name="MinAltitude" />
        </Setting>
        <Setting>
            <Guidance:AltitudeEnvelope.maxDepthIgnore />
            <Arg Name="MaxDepthIgnore" />
        </Setting>
    </Guidance:AltitudeEnvelope>
    <Guidance:DepthEnvelope>
        <Parallel />
        <Setting>
            <Guidance:DepthEnvelope.maxDepth />
            <Arg Name="MaxDepth" />
        </Setting>
    </Guidance:DepthEnvelope>
    <Guidance:OffshoreEnvelope>
        <Parallel />
        <Setting>
            <Guidance:OffshoreEnvelope.minOffshore />
            <Arg Name="MinOffshore" />
        </Setting>
    </Guidance:OffshoreEnvelope>
</Aggregate>

2025-03-12T22:51:13.913Z,1741819873.913 [MissionManager](INFO): DefineArg sci2_noyo_optim:StandardEnvelopes.MinAltitude = 5.000000 m
2025-03-12T22:51:13.915Z,1741819873.915 [MissionManager](INFO): DefineArg sci2_noyo_optim:StandardEnvelopes.MaxDepthIgnore = 0.000000 m
2025-03-12T22:51:13.917Z,1741819873.917 [MissionManager](INFO): DefineArg sci2_noyo_optim:StandardEnvelopes.MaxDepth = 200.000000 m
2025-03-12T22:51:13.920Z,1741819873.920 [MissionManager](INFO): DefineArg sci2_noyo_optim:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-03-12T22:51:13.921Z,1741819873.921 [sci2_noyo_optim:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-03-12T22:51:13.926Z,1741819873.926 [sci2_noyo_optim:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-03-12T22:51:13.933Z,1741819873.933 [sci2_noyo_optim:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-03-12T22:51:13.942Z,1741819873.942 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl
2025-03-12T22:51:13.942Z,1741819873.942 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl
2025-03-12T22:51:13.967Z,1741819873.967 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl
2025-03-12T22:51:14.239Z,1741819874.239 [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>

2025-03-12T22:51:14.243Z,1741819874.243 [MissionManager](INFO): DefineArg sci2_noyo_optim:NeedComms.DiveInterval = 1.000000 h
2025-03-12T22:51:14.245Z,1741819874.246 [MissionManager](INFO): DefineArg sci2_noyo_optim:NeedComms.WaitForPitchUp = 10.000000 min
2025-03-12T22:51:14.248Z,1741819874.248 [MissionManager](INFO): DefineArg sci2_noyo_optim:NeedComms.SurfacePitch = 20.000000 arcdeg
2025-03-12T22:51:14.250Z,1741819874.250 [MissionManager](INFO): DefineArg sci2_noyo_optim:NeedComms.SurfaceDepthRate = nan m/s
2025-03-12T22:51:14.252Z,1741819874.252 [MissionManager](INFO): DefineArg sci2_noyo_optim:NeedComms.SurfaceSpeed = 1.000000 m/s
2025-03-12T22:51:14.254Z,1741819874.254 [MissionManager](INFO): DefineArg sci2_noyo_optim:NeedComms.SurfacingTimeout = 1000.000000 s
2025-03-12T22:51:14.285Z,1741819874.285 [MissionManager](INFO): DefineArg sci2_noyo_optim:NeedComms.GPSTimeout = 7.000000 min
2025-03-12T22:51:14.291Z,1741819874.291 [MissionManager](INFO): DefineArg sci2_noyo_optim:NeedComms.CommsTimeout = 30.000000 min
2025-03-12T22:51:14.313Z,1741819874.313 [sci2_noyo_optim:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2025-03-12T22:51:14.332Z,1741819874.332 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2025-03-12T22:51:14.333Z,1741819874.333 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2025-03-12T22:51:14.334Z,1741819874.334 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2025-03-12T22:51:14.353Z,1741819874.353 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/BackseatDriver.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="BackseatDriver">
    <DefineArg Name="EnableBackseat">
        <False />
    </DefineArg>
    <Parallel />
    <Guidance:BackseatDriver>
        <Sequence />
        <Setting>
            <Guidance:BackseatDriver.powerBackseat />
            <Arg Name="EnableBackseat" />
        </Setting>
    </Guidance:BackseatDriver>
</Aggregate>

2025-03-12T22:51:14.356Z,1741819874.356 [MissionManager](INFO): DefineArg sci2_noyo_optim:BackseatDriver.EnableBackseat = 0 bool
2025-03-12T22:51:14.358Z,1741819874.358 [sci2_noyo_optim:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2025-03-12T22:51:14.362Z,1741819874.362 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2025-03-12T22:51:14.362Z,1741819874.362 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2025-03-12T22:51:14.403Z,1741819874.403 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2025-03-12T22:51:14.543Z,1741819874.543 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/PowerOnly.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="PowerOnly">
    <DefineArg Name="SampleAll">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad1">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad2">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad3">
        <False />
    </DefineArg>
    <DefineArg Name="EnabledPowerOnly">
        <Sensor:PowerOnly.loadAtStartup />
    </DefineArg>
    <Parallel />
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleAll" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.samplePowerOnly />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad1" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad1 />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad2" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad2 />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad3" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad3 />
    </ReadData>
    <Guidance:Wait>
        <Sequence />
        <Setting>
            <Guidance:Wait.duration />
            <Units:hour />
            <Value>99999</Value>
        </Setting>
    </Guidance:Wait>
</Aggregate>

2025-03-12T22:51:14.547Z,1741819874.547 [MissionManager](INFO): DefineArg sci2_noyo_optim:PowerOnly.SampleAll = 0 bool
2025-03-12T22:51:14.550Z,1741819874.550 [MissionManager](INFO): DefineArg sci2_noyo_optim:PowerOnly.SampleLoad1 = 0 bool
2025-03-12T22:51:14.560Z,1741819874.560 [MissionManager](INFO): DefineArg sci2_noyo_optim:PowerOnly.SampleLoad2 = 0 bool
2025-03-12T22:51:14.562Z,1741819874.562 [MissionManager](INFO): DefineArg sci2_noyo_optim:PowerOnly.SampleLoad3 = 0 bool
2025-03-12T22:51:14.569Z,1741819874.569 [MissionManager](INFO): DefineArg sci2_noyo_optim:PowerOnly.EnabledPowerOnly = 1 bool
2025-03-12T22:51:14.599Z,1741819874.599 [sci2_noyo_optim:PowerOnly:E.Wait](DEBUG): Construct Wait.
2025-03-12T22:51:14.610Z,1741819874.610 [sci2_noyo_optim:O.Buoyancy](DEBUG): Construct Buoyancy.
2025-03-12T22:51:14.628Z,1741819874.628 [sci2_noyo_optim:DiveCmd:InitialDive:dive:C.Mass](DEBUG): Construct.
2025-03-12T22:51:14.644Z,1741819874.644 [sci2_noyo_optim:DiveCmd:InitialDive:dive:E.Wait](DEBUG): Construct Wait.
2025-03-12T22:51:14.647Z,1741819874.647 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:A.SetSpeed](DEBUG): Construct.
2025-03-12T22:51:14.655Z,1741819874.655 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:B.Pitch](DEBUG): Construct.
2025-03-12T22:51:14.673Z,1741819874.673 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:B.Pitch:A_Timeout:B.Execute](DEBUG): Construct Execute.
2025-03-12T22:51:14.689Z,1741819874.689 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:B.Pitch](DEBUG): Construct.
2025-03-12T22:51:14.694Z,1741819874.694 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:C.Wait](DEBUG): Construct Wait.
2025-03-12T22:51:14.703Z,1741819874.703 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass](DEBUG): Construct.
2025-03-12T22:51:14.705Z,1741819874.705 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed](DEBUG): Construct.
2025-03-12T22:51:14.708Z,1741819874.708 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:B.Pitch](DEBUG): Construct.
2025-03-12T22:51:14.716Z,1741819874.716 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:A.SetSpeed](DEBUG): Construct.
2025-03-12T22:51:14.720Z,1741819874.720 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:C.Buoyancy](DEBUG): Construct Buoyancy.
2025-03-12T22:51:14.723Z,1741819874.723 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:D.Pitch](DEBUG): Construct.
2025-03-12T22:51:14.747Z,1741819874.747 [sci2_noyo_optim:Lap:DepthByLap:Wpt1:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T22:51:14.752Z,1741819874.752 [sci2_noyo_optim:Lap:DepthByLap:Wpt2:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T22:51:14.758Z,1741819874.758 [sci2_noyo_optim:Lap:DepthByLap:Wpt3:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T22:51:14.763Z,1741819874.763 [sci2_noyo_optim:Lap:DepthByLap:Wpt4:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T22:51:14.768Z,1741819874.768 [sci2_noyo_optim:Lap:DepthByLap:Wpt5:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T22:51:14.773Z,1741819874.773 [sci2_noyo_optim:Lap:DepthByLap:Wpt6:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T22:51:14.779Z,1741819874.779 [sci2_noyo_optim:Lap:DepthByLap:Wpt7:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T22:51:14.795Z,1741819874.795 [sci2_noyo_optim:Lap:DepthByLap:Wpt8:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T22:51:14.804Z,1741819874.804 [sci2_noyo_optim:Lap:DepthByLap:Leg2:Wpt1:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T22:51:14.809Z,1741819874.809 [sci2_noyo_optim:Lap:DepthByLap:Leg2:Wpt2:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T22:51:14.814Z,1741819874.814 [sci2_noyo_optim:Lap:DepthByLap:Leg2:Wpt3:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T22:51:14.825Z,1741819874.825 [sci2_noyo_optim:Lap:DepthByLap:Leg2:Wpt4:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T22:51:14.830Z,1741819874.830 [sci2_noyo_optim:Lap:DepthByLap:Leg2:Wpt5:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T22:51:14.845Z,1741819874.845 [sci2_noyo_optim:Lap:DepthByLap:Leg2:Wpt6:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T22:51:14.850Z,1741819874.850 [sci2_noyo_optim:Lap:DepthByLap:Leg2:Wpt7:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T22:51:14.855Z,1741819874.855 [sci2_noyo_optim:Lap:DepthByLap:Leg2:Wpt8:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T22:51:14.864Z,1741819874.864 [sci2_noyo_optim:Lap:DepthByLap:Leg3:Wpt1:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T22:51:14.869Z,1741819874.869 [sci2_noyo_optim:Lap:DepthByLap:Leg3:Wpt2:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T22:51:14.874Z,1741819874.874 [sci2_noyo_optim:Lap:DepthByLap:Leg3:Wpt3:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T22:51:14.880Z,1741819874.880 [sci2_noyo_optim:Lap:DepthByLap:Leg3:Wpt4:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T22:51:14.895Z,1741819874.895 [sci2_noyo_optim:Lap:DepthByLap:Leg3:Wpt5:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T22:51:14.900Z,1741819874.900 [sci2_noyo_optim:Lap:DepthByLap:Leg3:Wpt6:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T22:51:14.906Z,1741819874.906 [sci2_noyo_optim:Lap:DepthByLap:Leg3:Wpt7:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T22:51:14.949Z,1741819874.949 [sci2_noyo_optim:Lap:DepthByLap:Leg3:Wpt8:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T22:51:14.966Z,1741819874.966 [sci2_noyo_optim:Lap:DepthByLap:Leg4:Wpt1:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T22:51:14.976Z,1741819874.976 [sci2_noyo_optim:Lap:DepthByLap:Leg4:Wpt2:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T22:51:14.985Z,1741819874.985 [sci2_noyo_optim:Lap:DepthByLap:Leg4:Wpt3:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T22:51:15.015Z,1741819875.015 [sci2_noyo_optim:Lap:DepthByLap:Leg4:Wpt4:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T22:51:15.024Z,1741819875.024 [sci2_noyo_optim:Lap:DepthByLap:Leg4:Wpt5:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T22:51:15.030Z,1741819875.030 [sci2_noyo_optim:Lap:DepthByLap:Leg4:Wpt6:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T22:51:15.035Z,1741819875.035 [sci2_noyo_optim:Lap:DepthByLap:Leg4:Wpt7:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T22:51:15.045Z,1741819875.045 [sci2_noyo_optim:Lap:DepthByLap:Leg4:Wpt8:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T22:51:15.054Z,1741819875.054 [sci2_noyo_optim:Lap:DepthByLap:Leg5:Wpt1:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T22:51:15.060Z,1741819875.060 [sci2_noyo_optim:Lap:DepthByLap:Leg5:Wpt2:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T22:51:15.065Z,1741819875.065 [sci2_noyo_optim:Lap:DepthByLap:Leg5:Wpt3:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T22:51:15.070Z,1741819875.070 [sci2_noyo_optim:Lap:DepthByLap:Leg5:Wpt4:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T22:51:15.076Z,1741819875.076 [sci2_noyo_optim:Lap:DepthByLap:Leg5:Wpt5:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T22:51:15.081Z,1741819875.081 [sci2_noyo_optim:Lap:DepthByLap:Leg5:Wpt6:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T22:51:15.089Z,1741819875.089 [sci2_noyo_optim:Lap:DepthByLap:Leg5:Wpt7:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T22:51:15.107Z,1741819875.107 [sci2_noyo_optim:Lap:DepthByLap:Leg5:Wpt8:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T22:51:15.116Z,1741819875.116 [sci2_noyo_optim:Lap:DepthByLap:Leg6:Wpt1:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T22:51:15.121Z,1741819875.121 [sci2_noyo_optim:Lap:DepthByLap:Leg6:Wpt2:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T22:51:15.127Z,1741819875.127 [sci2_noyo_optim:Lap:DepthByLap:Leg6:Wpt3:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T22:51:15.132Z,1741819875.132 [sci2_noyo_optim:Lap:DepthByLap:Leg6:Wpt4:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T22:51:15.138Z,1741819875.138 [sci2_noyo_optim:Lap:DepthByLap:Leg6:Wpt5:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T22:51:15.153Z,1741819875.153 [sci2_noyo_optim:Lap:DepthByLap:Leg6:Wpt6:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T22:51:15.160Z,1741819875.160 [sci2_noyo_optim:Lap:DepthByLap:Leg6:Wpt7:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T22:51:15.165Z,1741819875.165 [sci2_noyo_optim:Lap:DepthByLap:Leg6:Wpt8:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T22:51:15.174Z,1741819875.174 [sci2_noyo_optim:Lap:DepthByLap:Leg7:Wpt1:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T22:51:15.179Z,1741819875.179 [sci2_noyo_optim:Lap:DepthByLap:Leg7:Wpt2:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T22:51:15.185Z,1741819875.185 [sci2_noyo_optim:Lap:DepthByLap:Leg7:Wpt3:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T22:51:15.190Z,1741819875.190 [sci2_noyo_optim:Lap:DepthByLap:Leg7:Wpt4:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T22:51:15.206Z,1741819875.206 [sci2_noyo_optim:Lap:DepthByLap:Leg7:Wpt5:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T22:51:15.212Z,1741819875.212 [sci2_noyo_optim:Lap:DepthByLap:Leg7:Wpt6:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T22:51:15.222Z,1741819875.222 [sci2_noyo_optim:Lap:DepthByLap:Leg7:Wpt7:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T22:51:15.228Z,1741819875.228 [sci2_noyo_optim:Lap:DepthByLap:Leg7:Wpt8:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T22:51:15.237Z,1741819875.237 [sci2_noyo_optim:Lap:DepthByLap:Leg8:Wpt1:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T22:51:15.242Z,1741819875.242 [sci2_noyo_optim:Lap:DepthByLap:Leg8:Wpt2:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T22:51:15.257Z,1741819875.257 [sci2_noyo_optim:Lap:DepthByLap:Leg8:Wpt3:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T22:51:15.262Z,1741819875.262 [sci2_noyo_optim:Lap:DepthByLap:Leg8:Wpt4:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T22:51:15.268Z,1741819875.268 [sci2_noyo_optim:Lap:DepthByLap:Leg8:Wpt5:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T22:51:15.273Z,1741819875.273 [sci2_noyo_optim:Lap:DepthByLap:Leg8:Wpt6:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T22:51:15.279Z,1741819875.279 [sci2_noyo_optim:Lap:DepthByLap:Leg8:Wpt7:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T22:51:15.284Z,1741819875.284 [sci2_noyo_optim:Lap:DepthByLap:Leg8:Wpt8:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T22:51:15.292Z,1741819875.292 [sci2_noyo_optim:Lap:DepthByLeg:Leg1:B.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T22:51:15.311Z,1741819875.311 [sci2_noyo_optim:Lap:DepthByLeg:Leg2:Wpt2:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T22:51:15.367Z,1741819875.367 [sci2_noyo_optim:Lap:DepthByLeg:Leg3:Wpt3:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T22:51:15.387Z,1741819875.387 [sci2_noyo_optim:Lap:DepthByLeg:Leg4:Wpt4:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T22:51:15.412Z,1741819875.412 [sci2_noyo_optim:Lap:DepthByLeg:Leg5:Wpt5:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T22:51:15.428Z,1741819875.428 [sci2_noyo_optim:Lap:DepthByLeg:Leg6:Wpt6:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T22:51:15.445Z,1741819875.445 [sci2_noyo_optim:Lap:DepthByLeg:Leg7:Wpt7:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T22:51:15.470Z,1741819875.470 [sci2_noyo_optim:Lap:DepthByLeg:Leg8:Wpt8:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T22:51:15.577Z,1741819875.577 [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 sci2_noyo_optim {
  """
  Vehicle transits to the specified waypoints at the commanded depth
  (flat-and-level, no yoyos) with science, Optim camera, and multiray
  lights on.
  """

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

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

    Depth1 = 35 meter
      """
      Depth of flat and level flight during the mission for the first transit leg or lap.
      """

    Depth[2..8] = NaN meter
      """
      Depth of flat and level flight during the mission for subsequent transit legs or laps.
      Skipped if NaN.
      """

    DepthPerLeg = false
      """
      Indicates whether additional depths correspond to laps (cycle through all waypoints at
      each depth, default) or legs (use depth for transit leg ending at corresponding waypoint,
      each lap repeats all depths and waypoints).
      """

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

    Lat[1..8] = NaN degree
      """
      Latitude of waypoint {$}. If nan, waypoint is skipped.
      """

    Lon[1..8] = NaN degree
      """
      Longitude of waypoint {$}. If nan, waypoint is skipped.
      """

    FastSpeed = 1 meter_per_second
      """
      Speed while transiting to waypoint.
      """

    ApproachDepth = 30 meter
      """
      Depth for initial descent form the surface.
      """

    ApproachSpeed = 0.7 meter_per_second
      """
      Speed while descending to target depth.
      """

    ApproachDepthRate = 0.05 meter_per_second
      """
      Descent depth rate (Positive depth rate means going down).
      """

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

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

    ApproachSettleTimePreDive = 1 minute
      """
      Time duration for the vehicle to pump down the VBS *BEFORE* leaving the
      surface.
      """

    ApproachSettleTimePostDive = 3 minute
      """
      Time duration for the vehicle to settle *AFTER* reaching the target
      depth.
      """

    kpDepth = 0.07 radian_per_meter
      """
      Dive loop proportional gain (applied only while the vehicle is
      descending to target depth).
      """

    SlowSpeed = 0.25 meter_per_second
      """
      Set this to something other than Nan if slow speed filming with a
      wide depth deadband is desired.
      """

    DepthDeviationSlow = 3 meter
      """
      Allowable +/- deviation from depth during slow flight. Needs a SlowSpeed
      to be set.
      """

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

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

    MinAltitude = 2 meter
      """
      Minimum height above the sea floor for the entire mission.
      """

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

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

  output {
    DiveMode = 0 count
      """
      Mission variable (don't change). The mission sets this variable to
      switch between dive modes. Initialized to DoingComms.
      """

    DoingComms = 0 count
      """
      Mission variable (don't change). The mission will run in this to mode
      when doing surface comms.
      """

    InitialDive = 1 count
      """
      Mission variable (don't change). The mission will run in this mode after
      surface comms are done to dive the vehicle to the approach depth.
      """

    SettleAtDepth = 2 count
      """
      Mission variable (don't change). The mission will run in this mode to
      settle the vehicle at the target depth.
      """

    MaintainDepth = 3 count
      """
      Mission variable (don't change). The mission will run in this mode to
      maintain the vehicle at the target depth.
      """

    LegDepth = Depth1
      """
      Mission variable to track the current depth for the current leg.
      """
  }

  # Mission timeout

  timeout duration=MissionTimeout

  # Science!

  insert Insert/Science.tl {
    """
    Run the science sensors.
    """
  }

  # 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 = MissionTimeout

  assign in sequence NeedComms:WaitForPitchUp = 0 minute

  insert Insert/BackseatDriver.tl
  assign in parallel BackseatDriver:EnableBackseat = true

  insert Insert/PowerOnly.tl
  assign in parallel PowerOnly:SampleLoad1 = true

  assign in sequence Sensor:MultiRay.lightModeCommand = 2 count
  readData strategy="MinError" {
    while ( Sensor:MultiRay.loadAtStartup )

    Sensor:MultiRay.lightModeLog
  }

  behavior Guidance:Buoyancy {
    run in parallel

    set position = BuoyancyNeutral
  }

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

    assign in sequence DiveMode = DoingComms

    call refId="NeedComms"

    assign in sequence DiveMode = InitialDive
  }

  aggregate DiveCmd {
    """
    Called when the vehicle should be underwater. Arbitrates between 4
    dive modes: 1) descend from the surface to initial depth. 2) settle
    at target depth using the VB. 3) cruise at target depth and go slow
    while within depth deviation bounds if a slow speed is set.
    """

    run when ( called )

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

      run while ( DiveMode == InitialDive )

      aggregate dive {
        run in sequence

        assign in parallel Control:VerticalControl.pitchLimit = ApproachPitchLimit

        assign in parallel Control:VerticalControl.kpDepth = kpDepth

        behavior Guidance:Mass {
          run in parallel

          set position = MassDefault
        }

        # behavior Guidance:Buoyancy {
        #   run in parallel

        #   set position = BuoyancyNeutral
        # }

        syslog info "Waiting for "
             + ApproachSettleTimePreDive~minute + "while pumping down to neutral."

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

          run in sequence

          set duration = ApproachSettleTimePreDive
        }

        syslog "Moving to " + ApproachDepth~meter

        aggregate ApproachDepth {
          run in sequence

          behavior Guidance:SetSpeed {
            run in parallel

            set speed = ApproachSpeed
          }

          behavior Guidance:Pitch {
            run in sequence

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

              behavior Guidance:Execute {
                run in sequence

                set command = "stop"
              }
            }

            set depth = ApproachDepth
            set depthRate = ApproachDepthRate
          }
        }

        assign in sequence DiveMode = SettleAtDepth
      }
    }

    aggregate SettleAtDepth {
      """
      Take a few more moments here to make sure the vehicle is settled
      at the target depth.
      """

      run while ( DiveMode == SettleAtDepth )

      aggregate dive {
        run in sequence

        syslog info "Reached " + Universal:depth~meter + ", settling for "
             + ApproachSettleTimePostDive~minute

        behavior Guidance:Pitch {
          run in parallel

          set depth = LegDepth
        }

        behavior Guidance:Wait {
          run in sequence

          set duration = ApproachSettleTimePostDive
        }

        assign in sequence DiveMode = MaintainDepth
      }
    }

    aggregate MaintainDepth {
      """
      Cruise at the target depth.
      """

      run while (
        DiveMode == MaintainDepth
        and ( Universal:depth > ( LegDepth + DepthDeviationSlow ) )
        or ( Universal:depth < ( LegDepth - DepthDeviationSlow ) )
      )

      aggregate dive {
        run in parallel

        aggregate ThrusterDive {
          run while ( FastSpeed > 0.0 meter_per_second )

          behavior Guidance:Mass {
            run in parallel

            set position = MassDefault
          }

          # behavior Guidance:Buoyancy {
          #   run in parallel

          #   set position = BuoyancyNeutral
          # }

          behavior Guidance:SetSpeed {
            run in parallel

            set speed = FastSpeed
          }
        }

        behavior Guidance:Pitch {
          run in parallel

          set depth = LegDepth
        }
      }
    }

    aggregate MaintainDepthSlow {
      """
      Cruise slow at the target depth.
      """

      run while (
        ( not isNaN ( SlowSpeed ) )
        and ( DiveMode == MaintainDepth )
        and ( Universal:depth <= ( LegDepth + DepthDeviationSlow ) )
        and ( Universal:depth >= ( LegDepth - DepthDeviationSlow ) )
      )

      behavior Guidance:SetSpeed {
        run in parallel

        set speed = SlowSpeed
      }

      # Let's make sure the vertical control depth deadband doesn't interfere with our mission
      # level version of the deadband. And we'll add an extra 3m so we don't trigger any
      # faults inside vertical control when attempting to regain the commanded depth.
      assign in parallel Control:VerticalControl.depthDeadband = ( DepthDeviationSlow + 3 m )

      behavior Guidance:Buoyancy {
        run in parallel

        set position = NaN cc
      }

      behavior Guidance:Pitch {
        run in parallel

        set depth = LegDepth
      }
    }
  }

  # Start mission sequence

  call id="StartingMission" refId="SurfaceComms"

  aggregate Lap {
    run in sequence repeat=Repeat

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

      call refId="DiveCmd"
    }

    # Default behavior: Depths correspond to laps
    # Run through all waypoints at each depth
    aggregate DepthByLap {
      run in sequence

      break if ( DepthPerLeg )

      assign in sequence LegDepth = Depth1

      aggregate Wpt1 {
        run in sequence

        behavior Guidance:Waypoint {
          run in sequence

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

      macro $i = 2..8 {
        aggregate Wpt$i {
          run in sequence

          behavior Guidance:Waypoint {
            run in sequence

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

      macro $j = 2..8 {
        aggregate Leg$j {
          run in sequence

          break if ( isNaN ( Depth[$j] ) )

          syslog important "Transiting waypoints at depth " + Depth[$j]~meter
          assign in sequence LegDepth = Depth[$j]

          macro $i = 1..8 {
            aggregate Wpt$i {
              run in sequence

              behavior Guidance:Waypoint {
                run in sequence

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

    # Non-default behavior: depth by leg
    # Transit to waypoint at corresponding depth, repeat per lap
    # (e.g. Transit to waypoint 1 at depth 1, waypoint 2 at depth 2, and so on)
    aggregate DepthByLeg {
      run in sequence

      break if ( not DepthPerLeg )

      aggregate Leg1 {
        run in sequence

        assign in sequence LegDepth = Depth1

        behavior Guidance:Waypoint {
          run in sequence

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

      macro $i = 2..8 {
        aggregate Leg$i {
          run in sequence

          break if ( isNaN ( Depth[$i] ) )

          syslog info "Transiting to next waypoint at depth " + Depth[$i]~meter
          assign in sequence LegDepth = Depth[$i]

          aggregate Wpt$i {
            run in sequence

            behavior Guidance:Waypoint {
              run in sequence

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


2025-03-12T22:51:15.577Z,1741819875.577 [CommandExec](IMPORTANT): Loaded ./Missions/Science/sci2_noyo_optim.tl id=sci2_noyo_optim
2025-03-12T22:51:15.786Z,1741819875.786 [MissionManager](IMPORTANT): Started mission Default
2025-03-12T22:51:15.786Z,1741819875.786 [Default] Running Loop=1
2025-03-12T22:51:15.786Z,1741819875.786 [Default](DEBUG): Aggregate::initialize Default
2025-03-12T22:51:15.786Z,1741819875.786 [Default:B.GoToSurface] Running Loop=1
2025-03-12T22:51:15.787Z,1741819875.787 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-03-12T22:51:15.787Z,1741819875.787 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-03-12T22:51:15.795Z,1741819875.795 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-03-12T22:51:15.796Z,1741819875.796 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-03-12T22:51:15.796Z,1741819875.796 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-03-12T22:51:15.796Z,1741819875.796 [Default:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-03-12T22:51:15.797Z,1741819875.797 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-03-12T22:51:15.797Z,1741819875.797 [Default:A.Wait] Running Loop=1
2025-03-12T22:51:15.797Z,1741819875.797 [Default:A.Wait](DEBUG): Initialize Wait Component.
2025-03-12T22:51:21.960Z,1741819881.960 [BackseatComponent](INFO): Powering down and starting shutdown timer (18.00 sec).
2025-03-12T22:51:21.961Z,1741819881.961 [BackseatComponent](INFO): Unsubscribing from LCM channels.
2025-03-12T22:51:21.961Z,1741819881.961 [LcmUniversalReporter](INFO): Deactivating messaging.
2025-03-12T22:51:28.845Z,1741819888.845 [Default:A.Wait](INFO): Done Waiting.
2025-03-12T22:51:28.845Z,1741819888.845 [Default:A.Wait] Stopped
2025-03-12T22:51:28.845Z,1741819888.845 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2025-03-12T22:51:29.159Z,1741819889.159 [Default:CheckIn] Running Loop=1
2025-03-12T22:51:29.159Z,1741819889.159 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-03-12T22:51:29.159Z,1741819889.159 [Default:CheckIn:Read_GPS] Running Loop=1
2025-03-12T22:51:31.110Z,1741819891.110 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,225130.00,A,3648.07112,N,12151.33153,W,0.855,79.07,120325,,,A*40
2025-03-12T22:51:31.121Z,1741819891.121 [NAL9602](INFO): GPS fix at 20250312T225130: (36.801185, -121.855525)
2025-03-12T22:51:31.152Z,1741819891.152 [Default:CheckIn:Read_GPS] Stopped
2025-03-12T22:51:31.152Z,1741819891.152 [Default:CheckIn:Read_Iridium] Running Loop=1
2025-03-12T22:51:36.703Z,1741819896.703 [DataOverHttps](INFO): Sending 73 bytes from file Logs/20250311T232940/Courier0195.lzma
2025-03-12T22:51:37.705Z,1741819897.705 [DataOverHttps](INFO): Moved sent file to Logs/20250311T232940/Courier0195.lzma.bak
2025-03-12T22:51:37.706Z,1741819897.706 [DataOverHttps](INFO): SBD MOMSN=24215553
2025-03-12T22:52:03.228Z,1741819923.228 [NAL9602](INFO): Not Powering down - fast GPS
2025-03-12T22:52:07.194Z,1741819927.194 [CommandExec](IMPORTANT): got command set sci2_noyo_optim.MissionTimeout 3 hour
2025-03-12T22:52:07.202Z,1741819927.202 [CommandExec](IMPORTANT): got command set sci2_noyo_optim.NeedCommsTime 60 minute
2025-03-12T22:52:07.202Z,1741819927.202 [CommandExec](IMPORTANT): got command set sci2_noyo_optim.Depth1 90 meter
2025-03-12T22:52:07.215Z,1741819927.215 [CommandExec](IMPORTANT): got command set sci2_noyo_optim.Repeat 2 count
2025-03-12T22:52:07.216Z,1741819927.216 [CommandExec](IMPORTANT): got command set sci2_noyo_optim.Lat1 36.79702 degree
2025-03-12T22:52:12.263Z,1741819932.263 [DataOverHttps](INFO): Sending 53 bytes from file Logs/20250311T232940/Express0193.lzma
2025-03-12T22:52:13.265Z,1741819933.265 [DataOverHttps](INFO): Moved sent file to Logs/20250311T232940/Express0193.lzma.bak
2025-03-12T22:52:13.266Z,1741819933.266 [DataOverHttps](INFO): SBD MOMSN=24215559
2025-03-12T22:52:34.333Z,1741819954.333 [PowerOnly](INFO): Powering down loadControl
2025-03-12T22:52:36.077Z,1741819956.077 [BPC1](INFO): Calculating totals. Valid battery stick count: 51. Valid reserve battery stick count: 5.
2025-03-12T22:52:36.084Z,1741819956.084 [BPC1](FAULT): Failed to receive data from 2 sticks prior to timeout. Will not retry this scan cycle. Missing stick IDs are: 21, 24.
2025-03-12T22:52:36.580Z,1741819956.580 [DataOverHttps](INFO): Sending 624 bytes from file Logs/20250311T232940/Express0196.lzma
2025-03-12T22:52:37.581Z,1741819957.581 [DataOverHttps](INFO): Moved sent file to Logs/20250311T232940/Express0196.lzma.bak
2025-03-12T22:52:37.582Z,1741819957.582 [DataOverHttps](INFO): SBD MOMSN=24216034
2025-03-12T22:52:38.811Z,1741819958.811 [Default:CheckIn:Read_Iridium] Stopped
2025-03-12T22:52:38.811Z,1741819958.811 [Default:CheckIn:C.Wait] Running Loop=1
2025-03-12T22:52:38.811Z,1741819958.811 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2025-03-12T22:52:48.526Z,1741819968.526 [CommandExec](IMPORTANT): got command set sci2_noyo_optim.Lon1 -121.8667 degree
2025-03-12T22:52:48.531Z,1741819968.531 [CommandExec](IMPORTANT): got command set sci2_noyo_optim.Lat2 36.79688 degree
2025-03-12T22:52:48.532Z,1741819968.532 [CommandExec](IMPORTANT): got command set sci2_noyo_optim.Lon2 -121.88005 degree
2025-03-12T22:52:48.533Z,1741819968.533 [CommandExec](IMPORTANT): got command set sci2_noyo_optim.ApproachDepth 10 meter
2025-03-12T22:52:48.534Z,1741819968.534 [CommandExec](IMPORTANT): got command set sci2_noyo_optim.SlowSpeed 0.4 meter_per_second
2025-03-12T22:53:08.209Z,1741819988.209 [CommandExec](IMPORTANT): got command set sci2_noyo_optim.MinAltitude 10 meter
2025-03-12T22:53:08.210Z,1741819988.210 [CommandExec](IMPORTANT): got command set sci2_noyo_optim.MaxDepth 100 meter
2025-03-12T22:53:08.211Z,1741819988.211 [CommandExec](IMPORTANT): got command set sci2_noyo_optim:PowerOnly.SampleLoad1 1 bool
2025-03-12T22:53:08.212Z,1741819988.212 [CommandExec](IMPORTANT): got command run
2025-03-12T22:53:08.214Z,1741819988.214 [CommandExec](IMPORTANT): Running 
2025-03-12T22:53:08.334Z,1741819988.334 [Default] Stopped
2025-03-12T22:53:08.334Z,1741819988.334 [Default](DEBUG): Aggregate::uninitialize Default
2025-03-12T22:53:08.334Z,1741819988.334 [Default:B.GoToSurface] Stopped
2025-03-12T22:53:08.334Z,1741819988.334 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-03-12T22:53:08.334Z,1741819988.334 [Default:CheckIn] Stopped
2025-03-12T22:53:08.334Z,1741819988.334 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-03-12T22:53:08.334Z,1741819988.334 [Default:CheckIn:C.Wait] Stopped
2025-03-12T22:53:08.334Z,1741819988.334 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2025-03-12T22:53:08.335Z,1741819988.335 [MissionManager](IMPORTANT): Started mission sci2_noyo_optim
2025-03-12T22:53:08.335Z,1741819988.335 [sci2_noyo_optim] Running Loop=1
2025-03-12T22:53:08.339Z,1741819988.339 [sci2_noyo_optim](DEBUG): Aggregate::initialize sci2_noyo_optim
2025-03-12T22:53:08.339Z,1741819988.339 [sci2_noyo_optim:Science] Running Loop=1
2025-03-12T22:53:08.339Z,1741819988.339 [sci2_noyo_optim:Science](DEBUG): Aggregate::initialize sci2_noyo_optim:Science
2025-03-12T22:53:08.339Z,1741819988.339 [sci2_noyo_optim:Science:A] Running Loop=1
2025-03-12T22:53:08.340Z,1741819988.340 [sci2_noyo_optim:Science:B] Running Loop=1
2025-03-12T22:53:08.340Z,1741819988.340 [sci2_noyo_optim:Science:C] Running Loop=1
2025-03-12T22:53:08.340Z,1741819988.340 [sci2_noyo_optim:Science:D] Running Loop=1
2025-03-12T22:53:08.340Z,1741819988.340 [sci2_noyo_optim:Science:E] Running Loop=1
2025-03-12T22:53:08.340Z,1741819988.340 [sci2_noyo_optim:Science:F] Running Loop=1
2025-03-12T22:53:08.340Z,1741819988.340 [sci2_noyo_optim:Science:Read_Oil] Running Loop=1
2025-03-12T22:53:08.340Z,1741819988.340 [sci2_noyo_optim:Science:PeakDetectChl] Running Loop=1
2025-03-12T22:53:08.340Z,1741819988.340 [sci2_noyo_optim:Science:PeakDetectChl](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:PeakDetectChl
2025-03-12T22:53:08.340Z,1741819988.340 [sci2_noyo_optim:Science:PeakDetectChl:A] Running Loop=1
2025-03-12T22:53:08.340Z,1741819988.340 [sci2_noyo_optim:Science:EdgeDetectChl] Running Loop=1
2025-03-12T22:53:08.340Z,1741819988.340 [sci2_noyo_optim:Science:EdgeDetectChl](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:EdgeDetectChl
2025-03-12T22:53:08.340Z,1741819988.341 [sci2_noyo_optim:Science:EdgeDetectChl:A] Running Loop=1
2025-03-12T22:53:08.341Z,1741819988.341 [sci2_noyo_optim:Science:HighestChlPeakReport] Running Loop=1
2025-03-12T22:53:08.341Z,1741819988.341 [sci2_noyo_optim:Science:HighestChlPeakReport](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:HighestChlPeakReport
2025-03-12T22:53:08.341Z,1741819988.341 [sci2_noyo_optim:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-03-12T22:53:08.341Z,1741819988.341 [sci2_noyo_optim:Science:HighestChlPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-03-12T22:53:08.341Z,1741819988.341 [sci2_noyo_optim:Science:PeakDetectNO3] Running Loop=1
2025-03-12T22:53:08.341Z,1741819988.341 [sci2_noyo_optim:Science:PeakDetectNO3](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:PeakDetectNO3
2025-03-12T22:53:08.342Z,1741819988.342 [sci2_noyo_optim:Science:PeakDetectNO3:A] Running Loop=1
2025-03-12T22:53:08.342Z,1741819988.342 [sci2_noyo_optim:Science:PeakDetectOil] Running Loop=1
2025-03-12T22:53:08.342Z,1741819988.342 [sci2_noyo_optim:Science:PeakDetectOil](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:PeakDetectOil
2025-03-12T22:53:08.342Z,1741819988.342 [sci2_noyo_optim:Science:PeakDetectOil:A] Running Loop=1
2025-03-12T22:53:08.342Z,1741819988.342 [sci2_noyo_optim:Science:HighestOilPeakReport] Running Loop=1
2025-03-12T22:53:08.342Z,1741819988.342 [sci2_noyo_optim:Science:HighestOilPeakReport](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:HighestOilPeakReport
2025-03-12T22:53:08.342Z,1741819988.342 [sci2_noyo_optim:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-03-12T22:53:08.342Z,1741819988.342 [sci2_noyo_optim:Science:HighestOilPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-03-12T22:53:08.343Z,1741819988.343 [sci2_noyo_optim:Science:PeakDetectFDOM] Running Loop=1
2025-03-12T22:53:08.343Z,1741819988.343 [sci2_noyo_optim:Science:PeakDetectFDOM](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:PeakDetectFDOM
2025-03-12T22:53:08.343Z,1741819988.343 [sci2_noyo_optim:Science:PeakDetectFDOM:A] Running Loop=1
2025-03-12T22:53:08.348Z,1741819988.348 [sci2_noyo_optim:Science:PeakDetectSalinity] Running Loop=1
2025-03-12T22:53:08.348Z,1741819988.348 [sci2_noyo_optim:Science:PeakDetectSalinity](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:PeakDetectSalinity
2025-03-12T22:53:08.348Z,1741819988.348 [sci2_noyo_optim:Science:PeakDetectSalinity:A] Running Loop=1
2025-03-12T22:53:08.348Z,1741819988.348 [sci2_noyo_optim:Science:HighestSaltPeakReport] Running Loop=1
2025-03-12T22:53:08.349Z,1741819988.349 [sci2_noyo_optim:Science:HighestSaltPeakReport](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:HighestSaltPeakReport
2025-03-12T22:53:08.349Z,1741819988.349 [sci2_noyo_optim:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-03-12T22:53:08.349Z,1741819988.349 [sci2_noyo_optim:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-03-12T22:53:08.349Z,1741819988.349 [sci2_noyo_optim:Science:PeakDetectPlanktivoreLMavgROI] Running Loop=1
2025-03-12T22:53:08.349Z,1741819988.349 [sci2_noyo_optim:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:PeakDetectPlanktivoreLMavgROI
2025-03-12T22:53:08.349Z,1741819988.349 [sci2_noyo_optim:Science:PeakDetectPlanktivoreLMavgROI:A] Running Loop=1
2025-03-12T22:53:08.350Z,1741819988.350 [sci2_noyo_optim:Science:EdgeDetectPlanktivoreLMavgROI] Running Loop=1
2025-03-12T22:53:08.350Z,1741819988.350 [sci2_noyo_optim:Science:EdgeDetectPlanktivoreLMavgROI](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:EdgeDetectPlanktivoreLMavgROI
2025-03-12T22:53:08.350Z,1741819988.350 [sci2_noyo_optim:Science:EdgeDetectPlanktivoreLMavgROI:A] Running Loop=1
2025-03-12T22:53:08.350Z,1741819988.350 [sci2_noyo_optim:Science:PeakDetectPlanktivoreHMavgROI] Running Loop=1
2025-03-12T22:53:08.350Z,1741819988.350 [sci2_noyo_optim:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:PeakDetectPlanktivoreHMavgROI
2025-03-12T22:53:08.350Z,1741819988.350 [sci2_noyo_optim:Science:PeakDetectPlanktivoreHMavgROI:A] Running Loop=1
2025-03-12T22:53:08.350Z,1741819988.350 [sci2_noyo_optim:Science:PeakDetectPlanktivoreDiatoms] Running Loop=1
2025-03-12T22:53:08.351Z,1741819988.351 [sci2_noyo_optim:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:PeakDetectPlanktivoreDiatoms
2025-03-12T22:53:08.351Z,1741819988.351 [sci2_noyo_optim:Science:PeakDetectPlanktivoreDiatoms:A] Running Loop=1
2025-03-12T22:53:08.351Z,1741819988.351 [sci2_noyo_optim:Science:PeakDetectPlanktivoreDinoflagellates] Running Loop=1
2025-03-12T22:53:08.355Z,1741819988.355 [sci2_noyo_optim:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:PeakDetectPlanktivoreDinoflagellates
2025-03-12T22:53:08.355Z,1741819988.355 [sci2_noyo_optim:Science:PeakDetectPlanktivoreDinoflagellates:A] Running Loop=1
2025-03-12T22:53:08.355Z,1741819988.355 [sci2_noyo_optim:Science:ChlThreshTrigger] Running Loop=1
2025-03-12T22:53:08.356Z,1741819988.356 [sci2_noyo_optim:Science:ChlThreshTrigger](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:ChlThreshTrigger
2025-03-12T22:53:08.356Z,1741819988.356 [sci2_noyo_optim:Science:ChlThreshTrigger:A.ValueDetect] Running Loop=1
2025-03-12T22:53:08.356Z,1741819988.356 [sci2_noyo_optim:Science:ChlThreshTrigger:A.ValueDetect](INFO): Initialize.
2025-03-12T22:53:08.356Z,1741819988.356 [sci2_noyo_optim:Science:OceanCurrent] Running Loop=1
2025-03-12T22:53:08.356Z,1741819988.356 [sci2_noyo_optim:Science:OceanCurrent](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:OceanCurrent
2025-03-12T22:53:08.356Z,1741819988.356 [sci2_noyo_optim:Science:OceanCurrent:A.] Running Loop=1
2025-03-12T22:53:08.356Z,1741819988.356 [sci2_noyo_optim:Science:OceanCurrent:A.](INFO): Initializing CurrentEstimator.
2025-03-12T22:53:08.357Z,1741819988.357 [sci2_noyo_optim:StandardEnvelopes] Running Loop=1
2025-03-12T22:53:08.357Z,1741819988.357 [sci2_noyo_optim:StandardEnvelopes](DEBUG): Aggregate::initialize sci2_noyo_optim:StandardEnvelopes
2025-03-12T22:53:08.357Z,1741819988.357 [sci2_noyo_optim:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-03-12T22:53:08.357Z,1741819988.357 [sci2_noyo_optim:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-03-12T22:53:08.357Z,1741819988.357 [sci2_noyo_optim:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-03-12T22:53:08.357Z,1741819988.357 [sci2_noyo_optim:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-03-12T22:53:08.357Z,1741819988.357 [sci2_noyo_optim:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-03-12T22:53:08.357Z,1741819988.357 [sci2_noyo_optim:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-03-12T22:53:08.357Z,1741819988.357 [sci2_noyo_optim:BackseatDriver] Running Loop=1
2025-03-12T22:53:08.357Z,1741819988.357 [sci2_noyo_optim:BackseatDriver](DEBUG): Aggregate::initialize sci2_noyo_optim:BackseatDriver
2025-03-12T22:53:08.358Z,1741819988.358 [sci2_noyo_optim:BackseatDriver:A.BackseatDriver] Running Loop=1
2025-03-12T22:53:08.358Z,1741819988.358 [sci2_noyo_optim:J] Running Loop=1
2025-03-12T22:53:08.358Z,1741819988.358 [sci2_noyo_optim:PowerOnly] Running Loop=1
2025-03-12T22:53:08.358Z,1741819988.358 [sci2_noyo_optim:PowerOnly](DEBUG): Aggregate::initialize sci2_noyo_optim:PowerOnly
2025-03-12T22:53:08.358Z,1741819988.358 [sci2_noyo_optim:PowerOnly:A] Running Loop=1
2025-03-12T22:53:08.358Z,1741819988.358 [sci2_noyo_optim:PowerOnly:B] Running Loop=1
2025-03-12T22:53:08.358Z,1741819988.358 [sci2_noyo_optim:PowerOnly:C] Running Loop=1
2025-03-12T22:53:08.358Z,1741819988.358 [sci2_noyo_optim:PowerOnly:D] Running Loop=1
2025-03-12T22:53:08.358Z,1741819988.358 [sci2_noyo_optim:PowerOnly:E.Wait] Running Loop=1
2025-03-12T22:53:08.358Z,1741819988.358 [sci2_noyo_optim:PowerOnly:E.Wait](DEBUG): Initialize Wait Component.
2025-03-12T22:53:08.358Z,1741819988.358 [sci2_noyo_optim:L] Running Loop=1
2025-03-12T22:53:08.358Z,1741819988.358 [sci2_noyo_optim:N] Running Loop=1
2025-03-12T22:53:08.359Z,1741819988.359 [sci2_noyo_optim:O.Buoyancy] Running Loop=1
2025-03-12T22:53:08.359Z,1741819988.359 [sci2_noyo_optim:O.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-03-12T22:53:08.359Z,1741819988.359 [sci2_noyo_optim:C] Running Loop=1
2025-03-12T22:53:08.364Z,1741819988.364 [sci2_noyo_optim:O.Buoyancy] Running Loop=1
2025-03-12T22:53:08.364Z,1741819988.364 [sci2_noyo_optim:N] Running Loop=1
2025-03-12T22:53:08.365Z,1741819988.365 [sci2_noyo_optim:N](DEBUG): Initialize ReadDataComponent to sense MultiRay.lightModeLog
2025-03-12T22:53:08.365Z,1741819988.365 [sci2_noyo_optim:L] Running Loop=1
2025-03-12T22:53:08.365Z,1741819988.365 [sci2_noyo_optim:PowerOnly] Running Loop=1
2025-03-12T22:53:08.366Z,1741819988.366 [sci2_noyo_optim:PowerOnly:D] Stopped
2025-03-12T22:53:08.366Z,1741819988.366 [sci2_noyo_optim:PowerOnly:C] Stopped
2025-03-12T22:53:08.366Z,1741819988.366 [sci2_noyo_optim:PowerOnly:B] Running Loop=1
2025-03-12T22:53:08.366Z,1741819988.366 [sci2_noyo_optim:PowerOnly:B](DEBUG): Initialize ReadDataComponent to sense PowerOnly.sampleLoad1
2025-03-12T22:53:08.367Z,1741819988.367 [sci2_noyo_optim:PowerOnly:A] Stopped
2025-03-12T22:53:08.367Z,1741819988.367 [sci2_noyo_optim:J] Running Loop=1
2025-03-12T22:53:08.367Z,1741819988.367 [sci2_noyo_optim:BackseatDriver] Running Loop=1
2025-03-12T22:53:08.372Z,1741819988.372 [sci2_noyo_optim:BackseatDriver:A.BackseatDriver](INFO): Initializing backseat
2025-03-12T22:53:08.414Z,1741819988.414 [sci2_noyo_optim:C] Stopped
2025-03-12T22:53:08.414Z,1741819988.414 [sci2_noyo_optim:D] Running Loop=1
2025-03-12T22:53:08.414Z,1741819988.414 [sci2_noyo_optim:StandardEnvelopes] Running Loop=1
2025-03-12T22:53:08.414Z,1741819988.414 [sci2_noyo_optim:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-03-12T22:53:08.414Z,1741819988.414 [sci2_noyo_optim:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-03-12T22:53:08.414Z,1741819988.414 [sci2_noyo_optim:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-03-12T22:53:08.415Z,1741819988.415 [sci2_noyo_optim:Science] Running Loop=1
2025-03-12T22:53:08.416Z,1741819988.416 [sci2_noyo_optim:Science:ChlThreshTrigger] Stopped
2025-03-12T22:53:08.416Z,1741819988.416 [sci2_noyo_optim:Science:ChlThreshTrigger](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:ChlThreshTrigger
2025-03-12T22:53:08.417Z,1741819988.417 [sci2_noyo_optim:Science:ChlThreshTrigger:A.ValueDetect] Stopped
2025-03-12T22:53:08.417Z,1741819988.417 [sci2_noyo_optim:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Uninitialize.
2025-03-12T22:53:08.417Z,1741819988.417 [sci2_noyo_optim:Science:PeakDetectPlanktivoreDinoflagellates] Stopped
2025-03-12T22:53:08.418Z,1741819988.418 [sci2_noyo_optim:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:PeakDetectPlanktivoreDinoflagellates
2025-03-12T22:53:08.418Z,1741819988.418 [sci2_noyo_optim:Science:PeakDetectPlanktivoreDinoflagellates:A] Stopped
2025-03-12T22:53:08.419Z,1741819988.419 [sci2_noyo_optim:Science:PeakDetectPlanktivoreDiatoms] Stopped
2025-03-12T22:53:08.423Z,1741819988.423 [sci2_noyo_optim:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:PeakDetectPlanktivoreDiatoms
2025-03-12T22:53:08.423Z,1741819988.423 [sci2_noyo_optim:Science:PeakDetectPlanktivoreDiatoms:A] Stopped
2025-03-12T22:53:08.423Z,1741819988.423 [sci2_noyo_optim:Science:PeakDetectPlanktivoreHMavgROI] Stopped
2025-03-12T22:53:08.423Z,1741819988.423 [sci2_noyo_optim:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:PeakDetectPlanktivoreHMavgROI
2025-03-12T22:53:08.424Z,1741819988.424 [sci2_noyo_optim:Science:PeakDetectPlanktivoreHMavgROI:A] Stopped
2025-03-12T22:53:08.424Z,1741819988.424 [sci2_noyo_optim:Science:EdgeDetectPlanktivoreLMavgROI] Stopped
2025-03-12T22:53:08.424Z,1741819988.424 [sci2_noyo_optim:Science:EdgeDetectPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:EdgeDetectPlanktivoreLMavgROI
2025-03-12T22:53:08.424Z,1741819988.424 [sci2_noyo_optim:Science:EdgeDetectPlanktivoreLMavgROI:A] Stopped
2025-03-12T22:53:08.424Z,1741819988.424 [sci2_noyo_optim:Science:PeakDetectPlanktivoreLMavgROI] Stopped
2025-03-12T22:53:08.424Z,1741819988.424 [sci2_noyo_optim:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:PeakDetectPlanktivoreLMavgROI
2025-03-12T22:53:08.424Z,1741819988.424 [sci2_noyo_optim:Science:PeakDetectPlanktivoreLMavgROI:A] Stopped
2025-03-12T22:53:08.424Z,1741819988.424 [sci2_noyo_optim:Science:HighestSaltPeakReport] Stopped
2025-03-12T22:53:08.424Z,1741819988.424 [sci2_noyo_optim:Science:HighestSaltPeakReport](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:HighestSaltPeakReport
2025-03-12T22:53:08.424Z,1741819988.424 [sci2_noyo_optim:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Stopped
2025-03-12T22:53:08.424Z,1741819988.424 [sci2_noyo_optim:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-03-12T22:53:08.424Z,1741819988.424 [sci2_noyo_optim:Science:PeakDetectSalinity] Stopped
2025-03-12T22:53:08.424Z,1741819988.424 [sci2_noyo_optim:Science:PeakDetectSalinity](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:PeakDetectSalinity
2025-03-12T22:53:08.425Z,1741819988.425 [sci2_noyo_optim:Science:PeakDetectSalinity:A] Stopped
2025-03-12T22:53:08.425Z,1741819988.425 [sci2_noyo_optim:Science:PeakDetectFDOM] Stopped
2025-03-12T22:53:08.425Z,1741819988.425 [sci2_noyo_optim:Science:PeakDetectFDOM](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:PeakDetectFDOM
2025-03-12T22:53:08.425Z,1741819988.425 [sci2_noyo_optim:Science:PeakDetectFDOM:A] Stopped
2025-03-12T22:53:08.425Z,1741819988.425 [sci2_noyo_optim:Science:HighestOilPeakReport] Stopped
2025-03-12T22:53:08.425Z,1741819988.425 [sci2_noyo_optim:Science:HighestOilPeakReport](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:HighestOilPeakReport
2025-03-12T22:53:08.425Z,1741819988.425 [sci2_noyo_optim:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Stopped
2025-03-12T22:53:08.425Z,1741819988.425 [sci2_noyo_optim:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-03-12T22:53:08.425Z,1741819988.425 [sci2_noyo_optim:Science:PeakDetectOil] Stopped
2025-03-12T22:53:08.425Z,1741819988.425 [sci2_noyo_optim:Science:PeakDetectOil](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:PeakDetectOil
2025-03-12T22:53:08.425Z,1741819988.425 [sci2_noyo_optim:Science:PeakDetectOil:A] Stopped
2025-03-12T22:53:08.425Z,1741819988.425 [sci2_noyo_optim:Science:PeakDetectNO3] Stopped
2025-03-12T22:53:08.425Z,1741819988.425 [sci2_noyo_optim:Science:PeakDetectNO3](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:PeakDetectNO3
2025-03-12T22:53:08.426Z,1741819988.426 [sci2_noyo_optim:Science:PeakDetectNO3:A] Stopped
2025-03-12T22:53:08.426Z,1741819988.426 [sci2_noyo_optim:Science:HighestChlPeakReport] Stopped
2025-03-12T22:53:08.426Z,1741819988.426 [sci2_noyo_optim:Science:HighestChlPeakReport](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:HighestChlPeakReport
2025-03-12T22:53:08.426Z,1741819988.426 [sci2_noyo_optim:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Stopped
2025-03-12T22:53:08.426Z,1741819988.426 [sci2_noyo_optim:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-03-12T22:53:08.426Z,1741819988.426 [sci2_noyo_optim:Science:EdgeDetectChl] Stopped
2025-03-12T22:53:08.426Z,1741819988.426 [sci2_noyo_optim:Science:EdgeDetectChl](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:EdgeDetectChl
2025-03-12T22:53:08.426Z,1741819988.426 [sci2_noyo_optim:Science:EdgeDetectChl:A] Stopped
2025-03-12T22:53:08.426Z,1741819988.426 [sci2_noyo_optim:Science:PeakDetectChl] Stopped
2025-03-12T22:53:08.426Z,1741819988.426 [sci2_noyo_optim:Science:PeakDetectChl](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:PeakDetectChl
2025-03-12T22:53:08.426Z,1741819988.426 [sci2_noyo_optim:Science:PeakDetectChl:A] Stopped
2025-03-12T22:53:08.426Z,1741819988.426 [sci2_noyo_optim:Science:OceanCurrent:A.] Running Loop=1
2025-03-12T22:53:08.427Z,1741819988.427 [sci2_noyo_optim:Science:Read_Oil] Stopped
2025-03-12T22:53:08.427Z,1741819988.427 [sci2_noyo_optim:Science:F] Stopped
2025-03-12T22:53:08.427Z,1741819988.427 [sci2_noyo_optim:Science:E] Running Loop=1
2025-03-12T22:53:08.428Z,1741819988.428 [sci2_noyo_optim:Science:E](DEBUG): Initialize ReadDataComponent to sense mass_concentration_of_chlorophyll_in_sea_water
2025-03-12T22:53:08.428Z,1741819988.428 [sci2_noyo_optim:Science:D] Stopped
2025-03-12T22:53:08.428Z,1741819988.428 [sci2_noyo_optim:Science:C] Running Loop=1
2025-03-12T22:53:08.428Z,1741819988.428 [sci2_noyo_optim:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_temperature
2025-03-12T22:53:08.429Z,1741819988.429 [sci2_noyo_optim:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_salinity
2025-03-12T22:53:08.429Z,1741819988.429 [sci2_noyo_optim:Science:B] Running Loop=1
2025-03-12T22:53:08.429Z,1741819988.429 [sci2_noyo_optim:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_temperature
2025-03-12T22:53:08.430Z,1741819988.430 [sci2_noyo_optim:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_salinity
2025-03-12T22:53:08.430Z,1741819988.430 [sci2_noyo_optim:Science:A] Stopped
2025-03-12T22:53:08.457Z,1741819988.457 [WetLabsBB2FL](INFO): Powering up
2025-03-12T22:53:08.499Z,1741819988.499 [BackseatComponent](INFO): Powering up
2025-03-12T22:53:08.500Z,1741819988.500 [BackseatComponent](INFO): Subscribing to LCM channels.
2025-03-12T22:53:08.673Z,1741819988.673 [PowerOnly](INFO): Powering up loadControl
2025-03-12T22:53:08.724Z,1741819988.724 [sci2_noyo_optim:D] Stopped
2025-03-12T22:53:08.724Z,1741819988.724 [sci2_noyo_optim:E] Running Loop=1
2025-03-12T22:53:09.115Z,1741819989.115 [sci2_noyo_optim:E] Stopped
2025-03-12T22:53:09.116Z,1741819989.116 [sci2_noyo_optim:G] Running Loop=1
2025-03-12T22:53:09.531Z,1741819989.531 [sci2_noyo_optim:G] Stopped
2025-03-12T22:53:09.532Z,1741819989.532 [sci2_noyo_optim:H] Running Loop=1
2025-03-12T22:53:09.903Z,1741819989.903 [sci2_noyo_optim:H] Stopped
2025-03-12T22:53:09.904Z,1741819989.904 [sci2_noyo_optim:M] Running Loop=1
2025-03-12T22:53:10.309Z,1741819990.309 [sci2_noyo_optim:M] Stopped
2025-03-12T22:53:10.309Z,1741819990.309 [sci2_noyo_optim:StartingMission] Running Loop=1
2025-03-12T22:53:10.309Z,1741819990.309 [sci2_noyo_optim:StartingMission](DEBUG): Aggregate::initialize sci2_noyo_optim:StartingMission
2025-03-12T22:53:10.693Z,1741819990.693 [CTD_Seabird](ERROR): Pressure reading out of range: -10.100000 decibar
2025-03-12T22:53:10.694Z,1741819990.694 [CTD_Seabird](INFO): some bad data, not updating bins
2025-03-12T22:53:10.735Z,1741819990.735 [sci2_noyo_optim:SurfaceComms] Running Loop=1
2025-03-12T22:53:10.736Z,1741819990.736 [sci2_noyo_optim:SurfaceComms](DEBUG): Aggregate::initialize sci2_noyo_optim:SurfaceComms
2025-03-12T22:53:10.736Z,1741819990.736 [sci2_noyo_optim:SurfaceComms:A] Running Loop=1
2025-03-12T22:53:10.736Z,1741819990.736 [sci2_noyo_optim:SurfaceComms:A] Stopped
2025-03-12T22:53:10.736Z,1741819990.736 [sci2_noyo_optim:SurfaceComms:B] Running Loop=1
2025-03-12T22:53:10.736Z,1741819990.736 [sci2_noyo_optim:SurfaceComms:B](DEBUG): Aggregate::initialize sci2_noyo_optim:SurfaceComms:B
2025-03-12T22:53:11.139Z,1741819991.139 [sci2_noyo_optim:NeedComms] Running Loop=1
2025-03-12T22:53:11.139Z,1741819991.139 [sci2_noyo_optim:NeedComms](DEBUG): Aggregate::initialize sci2_noyo_optim:NeedComms
2025-03-12T22:53:11.139Z,1741819991.139 [sci2_noyo_optim:NeedComms:B.GoToSurface] Running Loop=1
2025-03-12T22:53:11.139Z,1741819991.139 [sci2_noyo_optim:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-03-12T22:53:11.140Z,1741819991.140 [sci2_noyo_optim:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-03-12T22:53:11.140Z,1741819991.140 [sci2_noyo_optim:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-03-12T22:53:11.141Z,1741819991.141 [sci2_noyo_optim:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-03-12T22:53:11.141Z,1741819991.141 [sci2_noyo_optim:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-03-12T22:53:11.141Z,1741819991.141 [sci2_noyo_optim:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-03-12T22:53:11.142Z,1741819991.142 [sci2_noyo_optim:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-03-12T22:53:11.142Z,1741819991.142 [sci2_noyo_optim:NeedComms:A] Running Loop=1
2025-03-12T22:53:11.143Z,1741819991.143 [sci2_noyo_optim:NeedComms:A](INFO): last time_fix was:  1741819890.000000 second since 1970/01/01T00:00:00Z 
2025-03-12T22:53:11.143Z,1741819991.143 [sci2_noyo_optim:NeedComms:A] Stopped
2025-03-12T22:53:11.568Z,1741819991.568 [sci2_noyo_optim:NeedComms:C] Running Loop=1
2025-03-12T22:53:11.701Z,1741819991.701 [CTD_Seabird](ERROR): Salinity reading out of range: 82.036354 psu
2025-03-12T22:53:11.703Z,1741819991.703 [CTD_Seabird](INFO): some bad data, not updating bins
2025-03-12T22:53:11.928Z,1741819991.928 [sci2_noyo_optim:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-03-12T22:53:12.710Z,1741819992.710 [MultiRay](IMPORTANT): MultiRay white lights ON
2025-03-12T22:53:13.518Z,1741819993.518 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,225312.00,A,3648.07383,N,12151.30764,W,0.816,96.02,120325,,,A*4A
2025-03-12T22:53:13.521Z,1741819993.521 [NAL9602](INFO): GPS fix at 20250312T225312: (36.801231, -121.855127)
2025-03-12T22:53:13.555Z,1741819993.555 [sci2_noyo_optim:NeedComms:C] Stopped
2025-03-12T22:53:13.555Z,1741819993.555 [sci2_noyo_optim:NeedComms:D] Running Loop=1
2025-03-12T22:53:13.976Z,1741819993.976 [sci2_noyo_optim:NeedComms:D](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-03-12T22:53:21.216Z,1741820001.216 [DataOverHttps](INFO): Sending 82 bytes from file Logs/20250311T232940/Courier0198.lzma
2025-03-12T22:53:22.217Z,1741820002.217 [DataOverHttps](INFO): Moved sent file to Logs/20250311T232940/Courier0198.lzma.bak
2025-03-12T22:53:22.218Z,1741820002.218 [DataOverHttps](INFO): SBD MOMSN=24216075
2025-03-12T22:53:38.460Z,1741820018.460 [DataOverHttps](INFO): Sending 561 bytes from file Logs/20250311T232940/Express0199.lzma
2025-03-12T22:53:39.461Z,1741820019.461 [DataOverHttps](INFO): Moved sent file to Logs/20250311T232940/Express0199.lzma.bak
2025-03-12T22:53:39.462Z,1741820019.462 [DataOverHttps](INFO): SBD MOMSN=24216078
2025-03-12T22:53:40.611Z,1741820020.611 [sci2_noyo_optim:NeedComms:D] Stopped
2025-03-12T22:53:40.612Z,1741820020.612 [sci2_noyo_optim:NeedComms:E] Running Loop=1
2025-03-12T22:53:41.008Z,1741820021.008 [sci2_noyo_optim:NeedComms:E](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-03-12T22:53:44.222Z,1741820024.222 [NAL9602](IMPORTANT): SBD MO Status=0, MOMSN=18520, MT Status=1, MTMSN=1049
2025-03-12T22:53:44.222Z,1741820024.222 [NAL9602](INFO): Data available in MT queue
2025-03-12T22:53:44.732Z,1741820024.732 [NAL9602](INFO): Received command: sched 20250312T2015 "gfscan"
2025-03-12T22:53:44.846Z,1741820024.846 [CommandExec](IMPORTANT): got command schedule 20250312T201500 "gfscan"
2025-03-12T22:53:44.847Z,1741820024.847 [CommandExec](IMPORTANT): Scheduled #31: "gfscan", AT TIME: 2025-03-12T20:15:00Z
2025-03-12T22:53:44.847Z,1741820024.847 [CommandExec](FAULT): Scheduling was paused by an error at 2025-03-12T22:25:36Z
2025-03-12T22:53:44.943Z,1741820024.943 [CommandExec](FAULT): Schedule is paused. Ignoring time-scheduled command: gfscan
2025-03-12T22:53:45.864Z,1741820025.864 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,225345.00,A,3648.07519,N,12151.29939,W,1.108,73.45,120325,,,A*4C
2025-03-12T22:53:45.867Z,1741820025.867 [NAL9602](INFO): GPS fix at 20250312T225345: (36.801253, -121.854990)
2025-03-12T22:53:45.979Z,1741820025.979 [sci2_noyo_optim:NeedComms:E] Stopped
2025-03-12T22:53:45.980Z,1741820025.980 [sci2_noyo_optim:NeedComms](INFO): Completed sci2_noyo_optim:NeedComms
2025-03-12T22:53:45.980Z,1741820025.980 [sci2_noyo_optim:NeedComms] Stopped
2025-03-12T22:53:45.981Z,1741820025.981 [sci2_noyo_optim:NeedComms](DEBUG): Aggregate::uninitialize sci2_noyo_optim:NeedComms
2025-03-12T22:53:45.981Z,1741820025.981 [sci2_noyo_optim:NeedComms:B.GoToSurface] Stopped
2025-03-12T22:53:45.981Z,1741820025.981 [sci2_noyo_optim:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-03-12T22:53:46.356Z,1741820026.356 [sci2_noyo_optim:SurfaceComms:B](INFO): Completed sci2_noyo_optim:SurfaceComms:B
2025-03-12T22:53:46.356Z,1741820026.356 [sci2_noyo_optim:SurfaceComms:B] Stopped
2025-03-12T22:53:46.356Z,1741820026.356 [sci2_noyo_optim:SurfaceComms:B](DEBUG): Aggregate::uninitialize sci2_noyo_optim:SurfaceComms:B
2025-03-12T22:53:46.356Z,1741820026.356 [sci2_noyo_optim:SurfaceComms:C] Running Loop=1
2025-03-12T22:53:46.740Z,1741820026.740 [sci2_noyo_optim:SurfaceComms:C] Stopped
2025-03-12T22:53:46.740Z,1741820026.740 [sci2_noyo_optim:SurfaceComms](INFO): Completed sci2_noyo_optim:SurfaceComms
2025-03-12T22:53:46.741Z,1741820026.741 [sci2_noyo_optim:SurfaceComms] Stopped
2025-03-12T22:53:46.741Z,1741820026.741 [sci2_noyo_optim:SurfaceComms](DEBUG): Aggregate::uninitialize sci2_noyo_optim:SurfaceComms
2025-03-12T22:53:47.130Z,1741820027.130 [sci2_noyo_optim:StartingMission](INFO): Completed sci2_noyo_optim:StartingMission
2025-03-12T22:53:47.130Z,1741820027.130 [sci2_noyo_optim:StartingMission] Stopped
2025-03-12T22:53:47.130Z,1741820027.130 [sci2_noyo_optim:StartingMission](DEBUG): Aggregate::uninitialize sci2_noyo_optim:StartingMission
2025-03-12T22:53:47.130Z,1741820027.130 [sci2_noyo_optim:Lap] Running Loop=1
2025-03-12T22:53:47.130Z,1741820027.130 [sci2_noyo_optim:Lap](DEBUG): Aggregate::initialize sci2_noyo_optim:Lap
2025-03-12T22:53:47.130Z,1741820027.130 [sci2_noyo_optim:Lap:Dive] Running Loop=1
2025-03-12T22:53:47.131Z,1741820027.131 [sci2_noyo_optim:Lap:Dive](DEBUG): Aggregate::initialize sci2_noyo_optim:Lap:Dive
2025-03-12T22:53:47.131Z,1741820027.131 [sci2_noyo_optim:Lap:Dive:A] Running Loop=1
2025-03-12T22:53:47.131Z,1741820027.131 [sci2_noyo_optim:Lap:Dive:A](DEBUG): Aggregate::initialize sci2_noyo_optim:Lap:Dive:A
2025-03-12T22:53:47.143Z,1741820027.143 [sci2_noyo_optim:Lap:DepthByLap] Running Loop=1
2025-03-12T22:53:47.143Z,1741820027.143 [sci2_noyo_optim:Lap:DepthByLap](DEBUG): Aggregate::initialize sci2_noyo_optim:Lap:DepthByLap
2025-03-12T22:53:47.144Z,1741820027.144 [sci2_noyo_optim:Lap:DepthByLap:A] Running Loop=1
2025-03-12T22:53:47.561Z,1741820027.561 [sci2_noyo_optim:Lap:DepthByLap:A] Stopped
2025-03-12T22:53:47.562Z,1741820027.562 [sci2_noyo_optim:Lap:DepthByLap:Wpt1] Running Loop=1
2025-03-12T22:53:47.562Z,1741820027.562 [sci2_noyo_optim:Lap:DepthByLap:Wpt1](DEBUG): Aggregate::initialize sci2_noyo_optim:Lap:DepthByLap:Wpt1
2025-03-12T22:53:47.562Z,1741820027.562 [sci2_noyo_optim:Lap:DepthByLap:Wpt1:A.Waypoint] Running Loop=1
2025-03-12T22:53:47.562Z,1741820027.562 [sci2_noyo_optim:Lap:DepthByLap:Wpt1:A.Waypoint](DEBUG): Initialize WaypointComponent.
2025-03-12T22:53:47.563Z,1741820027.563 [sci2_noyo_optim:Lap:DepthByLap:Wpt1:A.Waypoint](IMPORTANT): Navigating to waypoint: 36.797020,-121.866699
2025-03-12T22:53:47.563Z,1741820027.563 [sci2_noyo_optim:Lap:Dive] Running Loop=1
2025-03-12T22:53:47.576Z,1741820027.576 [sci2_noyo_optim:DiveCmd] Running Loop=1
2025-03-12T22:53:47.576Z,1741820027.576 [sci2_noyo_optim:DiveCmd](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd
2025-03-12T22:53:47.576Z,1741820027.576 [sci2_noyo_optim:DiveCmd:InitialDive] Running Loop=1
2025-03-12T22:53:47.576Z,1741820027.576 [sci2_noyo_optim:DiveCmd:InitialDive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:InitialDive
2025-03-12T22:53:47.576Z,1741820027.576 [sci2_noyo_optim:DiveCmd:InitialDive:dive] Running Loop=1
2025-03-12T22:53:47.576Z,1741820027.576 [sci2_noyo_optim:DiveCmd:InitialDive:dive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:InitialDive:dive
2025-03-12T22:53:47.577Z,1741820027.577 [sci2_noyo_optim:DiveCmd:InitialDive:dive:A] Running Loop=1
2025-03-12T22:53:47.577Z,1741820027.577 [sci2_noyo_optim:DiveCmd:InitialDive:dive:B] Running Loop=1
2025-03-12T22:53:47.577Z,1741820027.577 [sci2_noyo_optim:DiveCmd:InitialDive:dive:C.Mass] Running Loop=1
2025-03-12T22:53:47.577Z,1741820027.577 [sci2_noyo_optim:DiveCmd:InitialDive:dive:C.Mass](DEBUG): Initialize.
2025-03-12T22:53:47.577Z,1741820027.577 [sci2_noyo_optim:DiveCmd:InitialDive:dive:D] Running Loop=1
2025-03-12T22:53:47.577Z,1741820027.577 [sci2_noyo_optim:DiveCmd:SettleAtDepth] Running Loop=1
2025-03-12T22:53:47.577Z,1741820027.577 [sci2_noyo_optim:DiveCmd:SettleAtDepth](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:SettleAtDepth
2025-03-12T22:53:47.577Z,1741820027.577 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive] Running Loop=1
2025-03-12T22:53:47.577Z,1741820027.577 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:SettleAtDepth:dive
2025-03-12T22:53:47.577Z,1741820027.577 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:B.Pitch] Running Loop=1
2025-03-12T22:53:47.577Z,1741820027.577 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:B.Pitch](DEBUG): Initialize.
2025-03-12T22:53:47.578Z,1741820027.578 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:A] Running Loop=1
2025-03-12T22:53:47.578Z,1741820027.578 [sci2_noyo_optim:DiveCmd:MaintainDepth] Running Loop=1
2025-03-12T22:53:47.578Z,1741820027.578 [sci2_noyo_optim:DiveCmd:MaintainDepth](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepth
2025-03-12T22:53:47.578Z,1741820027.578 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive] Running Loop=1
2025-03-12T22:53:47.578Z,1741820027.578 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive
2025-03-12T22:53:47.578Z,1741820027.578 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive] Running Loop=1
2025-03-12T22:53:47.578Z,1741820027.578 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive
2025-03-12T22:53:47.578Z,1741820027.578 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass] Running Loop=1
2025-03-12T22:53:47.578Z,1741820027.578 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass](DEBUG): Initialize.
2025-03-12T22:53:47.579Z,1741820027.579 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed] Running Loop=1
2025-03-12T22:53:47.579Z,1741820027.579 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed](DEBUG): Initialize.
2025-03-12T22:53:47.579Z,1741820027.579 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:B.Pitch] Running Loop=1
2025-03-12T22:53:47.579Z,1741820027.579 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:B.Pitch](DEBUG): Initialize.
2025-03-12T22:53:47.607Z,1741820027.607 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow] Running Loop=1
2025-03-12T22:53:47.607Z,1741820027.607 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepthSlow
2025-03-12T22:53:47.608Z,1741820027.608 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:A.SetSpeed] Running Loop=1
2025-03-12T22:53:47.608Z,1741820027.608 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:A.SetSpeed](DEBUG): Initialize.
2025-03-12T22:53:47.608Z,1741820027.608 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:B] Running Loop=1
2025-03-12T22:53:47.608Z,1741820027.608 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:C.Buoyancy] Running Loop=1
2025-03-12T22:53:47.608Z,1741820027.608 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:C.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-03-12T22:53:47.608Z,1741820027.608 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:D.Pitch] Running Loop=1
2025-03-12T22:53:47.608Z,1741820027.608 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:D.Pitch](DEBUG): Initialize.
2025-03-12T22:53:47.609Z,1741820027.609 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow] Stopped
2025-03-12T22:53:47.609Z,1741820027.609 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepthSlow
2025-03-12T22:53:47.609Z,1741820027.609 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:A.SetSpeed] Stopped
2025-03-12T22:53:47.609Z,1741820027.609 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:A.SetSpeed](DEBUG): Uninitialize.
2025-03-12T22:53:47.609Z,1741820027.609 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:B] Stopped
2025-03-12T22:53:47.609Z,1741820027.609 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:C.Buoyancy] Stopped
2025-03-12T22:53:47.609Z,1741820027.609 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-03-12T22:53:47.609Z,1741820027.609 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:D.Pitch] Stopped
2025-03-12T22:53:47.610Z,1741820027.610 [sci2_noyo_optim:DiveCmd:MaintainDepth] Running Loop=1
2025-03-12T22:53:47.610Z,1741820027.610 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive] Running Loop=1
2025-03-12T22:53:47.610Z,1741820027.610 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:B.Pitch] Running Loop=1
2025-03-12T22:53:47.610Z,1741820027.610 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive] Running Loop=1
2025-03-12T22:53:47.610Z,1741820027.610 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed] Running Loop=1
2025-03-12T22:53:47.610Z,1741820027.610 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass] Running Loop=1
2025-03-12T22:53:47.611Z,1741820027.611 [sci2_noyo_optim:DiveCmd:SettleAtDepth] Stopped
2025-03-12T22:53:47.627Z,1741820027.627 [sci2_noyo_optim:DiveCmd:SettleAtDepth](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:SettleAtDepth
2025-03-12T22:53:47.627Z,1741820027.627 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive] Stopped
2025-03-12T22:53:47.627Z,1741820027.627 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:SettleAtDepth:dive
2025-03-12T22:53:47.627Z,1741820027.627 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:A] Stopped
2025-03-12T22:53:47.627Z,1741820027.627 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:B.Pitch] Stopped
2025-03-12T22:53:47.628Z,1741820027.628 [sci2_noyo_optim:DiveCmd:InitialDive] Running Loop=1
2025-03-12T22:53:47.628Z,1741820027.628 [sci2_noyo_optim:DiveCmd:InitialDive:dive:D](INFO): Waiting for  1.000000 min while pumping down to neutral.
2025-03-12T22:53:47.628Z,1741820027.628 [sci2_noyo_optim:DiveCmd:InitialDive:dive:D] Stopped
2025-03-12T22:53:47.629Z,1741820027.629 [sci2_noyo_optim:DiveCmd:InitialDive:dive:E.Wait] Running Loop=1
2025-03-12T22:53:47.629Z,1741820027.629 [sci2_noyo_optim:DiveCmd:InitialDive:dive:E.Wait](DEBUG): Initialize Wait Component.
2025-03-12T22:53:47.629Z,1741820027.629 [sci2_noyo_optim:DiveCmd:InitialDive:dive:C.Mass] Running Loop=1
2025-03-12T22:53:47.629Z,1741820027.629 [sci2_noyo_optim:DiveCmd:InitialDive:dive:B] Running Loop=1
2025-03-12T22:53:47.630Z,1741820027.630 [sci2_noyo_optim:DiveCmd:InitialDive:dive:A] Running Loop=1
2025-03-12T22:53:48.114Z,1741820028.114 [sci2_noyo_optim:Lap:DepthByLap:Wpt1:A.Waypoint](INFO): Navigating to waypoint: 36.797020,-121.866699
2025-03-12T22:54:06.558Z,1741820046.558 [BackseatComponent](IMPORTANT): ikshana: running backseat application.
2025-03-12T22:54:18.468Z,1741820058.468 [NAL9602](INFO): Not Powering down - fast GPS
2025-03-12T22:54:46.656Z,1741820086.656 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T22:54:48.236Z,1741820088.236 [sci2_noyo_optim:DiveCmd:InitialDive:dive:E.Wait](INFO): Done Waiting.
2025-03-12T22:54:48.236Z,1741820088.236 [sci2_noyo_optim:DiveCmd:InitialDive:dive:E.Wait] Stopped
2025-03-12T22:54:48.236Z,1741820088.236 [sci2_noyo_optim:DiveCmd:InitialDive:dive:E.Wait](DEBUG): Uninitialize Wait Component.
2025-03-12T22:54:48.236Z,1741820088.236 [sci2_noyo_optim:DiveCmd:InitialDive:dive:F] Running Loop=1
2025-03-12T22:54:48.653Z,1741820088.653 [sci2_noyo_optim:DiveCmd:InitialDive:dive:F](INFO): Moving to  10.000000 m 
2025-03-12T22:54:48.653Z,1741820088.653 [sci2_noyo_optim:DiveCmd:InitialDive:dive:F] Stopped
2025-03-12T22:54:48.653Z,1741820088.653 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth] Running Loop=1
2025-03-12T22:54:48.653Z,1741820088.653 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth
2025-03-12T22:54:48.653Z,1741820088.653 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:A.SetSpeed] Running Loop=1
2025-03-12T22:54:48.653Z,1741820088.653 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:A.SetSpeed](DEBUG): Initialize.
2025-03-12T22:54:48.654Z,1741820088.654 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:B.Pitch] Running Loop=1
2025-03-12T22:54:48.654Z,1741820088.654 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:B.Pitch](DEBUG): Initialize.
2025-03-12T22:54:49.037Z,1741820089.037 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:A.SetSpeed] Running Loop=1
2025-03-12T22:54:51.676Z,1741820091.676 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.259602
2025-03-12T22:55:17.650Z,1741820117.650 [sci2_noyo_optim:StandardEnvelopes:A.AltitudeEnvelope](IMPORTANT): Altitude envelope ACTIVE
2025-03-12T22:55:48.923Z,1741820148.923 [Radio_Surface](INFO): Powering down
2025-03-12T22:55:56.940Z,1741820156.940 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T22:55:57.945Z,1741820157.945 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-03-12T22:58:20.753Z,1741820300.753 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:B.Pitch] Stopped
2025-03-12T22:58:20.754Z,1741820300.754 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth](INFO): Completed sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth
2025-03-12T22:58:20.754Z,1741820300.754 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth] Stopped
2025-03-12T22:58:20.754Z,1741820300.754 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth
2025-03-12T22:58:20.754Z,1741820300.754 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:A.SetSpeed] Stopped
2025-03-12T22:58:20.754Z,1741820300.754 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:A.SetSpeed](DEBUG): Uninitialize.
2025-03-12T22:58:20.754Z,1741820300.754 [sci2_noyo_optim:DiveCmd:InitialDive:dive:H] Running Loop=1
2025-03-12T22:58:21.177Z,1741820301.177 [sci2_noyo_optim:DiveCmd:InitialDive:dive:H] Stopped
2025-03-12T22:58:21.178Z,1741820301.178 [sci2_noyo_optim:DiveCmd:InitialDive:dive](INFO): Completed sci2_noyo_optim:DiveCmd:InitialDive:dive
2025-03-12T22:58:21.178Z,1741820301.178 [sci2_noyo_optim:DiveCmd:InitialDive:dive] Stopped
2025-03-12T22:58:21.178Z,1741820301.178 [sci2_noyo_optim:DiveCmd:InitialDive:dive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:InitialDive:dive
2025-03-12T22:58:21.178Z,1741820301.178 [sci2_noyo_optim:DiveCmd:InitialDive:dive:A] Stopped
2025-03-12T22:58:21.178Z,1741820301.178 [sci2_noyo_optim:DiveCmd:InitialDive:dive:B] Stopped
2025-03-12T22:58:21.178Z,1741820301.178 [sci2_noyo_optim:DiveCmd:InitialDive:dive:C.Mass] Stopped
2025-03-12T22:58:21.178Z,1741820301.178 [sci2_noyo_optim:DiveCmd:InitialDive:dive:C.Mass](DEBUG): Uninitialize.
2025-03-12T22:58:21.178Z,1741820301.178 [sci2_noyo_optim:DiveCmd:InitialDive](INFO): Completed sci2_noyo_optim:DiveCmd:InitialDive
2025-03-12T22:58:21.702Z,1741820301.702 [sci2_noyo_optim:DiveCmd:SettleAtDepth] Running Loop=1
2025-03-12T22:58:21.702Z,1741820301.702 [sci2_noyo_optim:DiveCmd:SettleAtDepth](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:SettleAtDepth
2025-03-12T22:58:21.703Z,1741820301.703 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive] Running Loop=1
2025-03-12T22:58:21.708Z,1741820301.708 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:SettleAtDepth:dive
2025-03-12T22:58:21.708Z,1741820301.708 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:B.Pitch] Running Loop=1
2025-03-12T22:58:21.708Z,1741820301.708 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:B.Pitch](DEBUG): Initialize.
2025-03-12T22:58:21.709Z,1741820301.709 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:A] Running Loop=1
2025-03-12T22:58:21.709Z,1741820301.709 [sci2_noyo_optim:DiveCmd:SettleAtDepth] Running Loop=1
2025-03-12T22:58:21.709Z,1741820301.709 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:B.Pitch] Running Loop=1
2025-03-12T22:58:21.727Z,1741820301.727 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:A](INFO): Reached  10.041363 m , settling for  3.000000 min 
2025-03-12T22:58:21.728Z,1741820301.728 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:A] Stopped
2025-03-12T22:58:21.728Z,1741820301.728 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:C.Wait] Running Loop=1
2025-03-12T22:58:21.728Z,1741820301.728 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:C.Wait](DEBUG): Initialize Wait Component.
2025-03-12T23:01:22.320Z,1741820482.320 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:C.Wait](INFO): Done Waiting.
2025-03-12T23:01:22.320Z,1741820482.320 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:C.Wait] Stopped
2025-03-12T23:01:22.320Z,1741820482.320 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:C.Wait](DEBUG): Uninitialize Wait Component.
2025-03-12T23:01:22.321Z,1741820482.321 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:D] Running Loop=1
2025-03-12T23:01:22.645Z,1741820482.645 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:D] Stopped
2025-03-12T23:01:22.645Z,1741820482.645 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive](INFO): Completed sci2_noyo_optim:DiveCmd:SettleAtDepth:dive
2025-03-12T23:01:22.645Z,1741820482.645 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive] Stopped
2025-03-12T23:01:22.646Z,1741820482.646 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:SettleAtDepth:dive
2025-03-12T23:01:22.646Z,1741820482.646 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:B.Pitch] Stopped
2025-03-12T23:01:22.646Z,1741820482.646 [sci2_noyo_optim:DiveCmd:SettleAtDepth](INFO): Completed sci2_noyo_optim:DiveCmd:SettleAtDepth
2025-03-12T23:03:05.765Z,1741820585.765 [Waterlinked](ERROR): No DVL communication! Re-initializing
2025-03-12T23:03:05.765Z,1741820585.765 [Waterlinked] Communications Fault, FailCount= 1
2025-03-12T23:03:05.766Z,1741820585.766 [Waterlinked](ERROR): Communications Fault
2025-03-12T23:03:06.044Z,1741820586.044 [CBIT](ERROR): Communications Fault in component: Waterlinked
2025-03-12T23:03:06.279Z,1741820586.279 [Waterlinked](INFO): Powering down
2025-03-12T23:03:06.934Z,1741820586.934 [CBIT](INFO): Clearing failed state for component Waterlinked
2025-03-12T23:03:06.935Z,1741820586.935 [Waterlinked] No Fault, FailCount= 1
2025-03-12T23:04:06.683Z,1741820646.683 [sci2_noyo_optim:BackseatDriver:A.BackseatDriver](INFO): Created data writer for _.data_dir_logging_rate with code: 2169
2025-03-12T23:06:45.133Z,1741820805.133 [Waterlinked](ERROR): only read 0 of 1 data item for BIT error. Device response::TS,24052713053508, 0.0, +0.0,   0.0,14+0,    +0,    +0,    +0,V
2025-03-12T23:10:01.128Z,1741821001.128 [DAT](INFO): DAT read: Rx Time:23:10:00.3520

2025-03-12T23:10:01.129Z,1741821001.129 [DAT](INFO): Rx dataTimestamp_ set to:1741821001.128474
2025-03-12T23:10:01.638Z,1741821001.638 [DAT](INFO): DAT read: 23:10:00.3520 LVL= 32752, 32753, 32754, 32755, AGC= 80, IDX=  15, 0.25, 1.016, 0.529, 0.384,-0.610, PHS= 1.595, 1.112, 0.990, RAW=  79.0, -67.0, CAL=  81.7, -68.2, ROT=  68.3,  68.2

2025-03-12T23:10:01.639Z,1741821001.639 [DAT](INFO): got valid direction response:
 23:10:00.3520 LVL= 32752, 32753, 32754, 32755, AGC= 80, IDX=  15, 0.25, 1.016, 0.529, 0.384,-0.610, PHS= 1.595, 1.112, 0.990, RAW=  79.0, -67.0, CAL=  81.7, -68.2, ROT=  68.3,  68.2

2025-03-12T23:10:01.640Z,1741821001.640 [DAT](INFO): DAT read: $Error in header

2025-03-12T23:10:01.640Z,1741821001.640 [DAT](INFO): Received a bad header
2025-03-12T23:10:01.651Z,1741821001.651 [DAT](INFO): #Rx 73: Read direction message, but no range.
2025-03-12T23:10:01.652Z,1741821001.652 [DAT](INFO): direction in FSK: [0.137312,0.345050,-0.928486]
2025-03-12T23:14:00.966Z,1741821240.966 [Waterlinked](ERROR): only read 0 of 1 data item for BIT error. Device response::TS,24052713125059, 0.0, +0.0,   0.0,1475.0,,    +0,    +0,    +0,    +0,V
2025-03-12T23:14:34.581Z,1741821274.581 [DAT](INFO): DAT read: 23:14:33.7772 LVL= 12912, 13041, 12930, 14899, AGC= 82, IDX= 122, 0.42, 1.301, 1.227,-0.259, 0.686, PHS= 0.584, 0.514,-0.948, RAW=  32.3,  -2.0, CAL=  37.1, -13.6, ROT= 112.9,  13.6

2025-03-12T23:14:34.583Z,1741821274.583 [DAT](INFO): got valid direction response:
 23:14:33.7772 LVL= 12912, 13041, 12930, 14899, AGC= 82, IDX= 122, 0.42, 1.301, 1.227,-0.259, 0.686, PHS= 0.584, 0.514,-0.948, RAW=  32.3,  -2.0, CAL=  37.1, -13.6, ROT= 112.9,  13.6

2025-03-12T23:14:34.583Z,1741821274.583 [DAT](INFO): DAT read: Rx Time:23:14:33.7772

2025-03-12T23:14:34.584Z,1741821274.584 [DAT](INFO): Rx dataTimestamp_ set to:1741821274.583543
2025-03-12T23:14:34.584Z,1741821274.584 [DAT](INFO): DAT read: $Low SNR acquisition

2025-03-12T23:14:34.585Z,1741821274.585 [DAT](INFO): Received low SNR in chirp
2025-03-12T23:14:34.599Z,1741821274.599 [DAT](INFO): #Rx 74: Read direction message, but no range.
2025-03-12T23:14:34.600Z,1741821274.600 [DAT](INFO): direction in FSK: [-0.378213,0.895356,-0.235142]
2025-03-12T23:15:11.882Z,1741821311.882 [DAT](INFO): DAT read: 23:15:11.0730 LVL= 15792, 16529, 16338, 21731, AGC= 84, IDX= 419, 0.39, 1.044, 0.798,-0.877, 0.239, PHS= 0.773, 0.532,-1.120, RAW=  36.7,  -2.1, CAL=  42.5, -13.5, ROT= 107.5,  13.5

2025-03-12T23:15:11.883Z,1741821311.883 [DAT](INFO): got valid direction response:
 23:15:11.0730 LVL= 15792, 16529, 16338, 21731, AGC= 84, IDX= 419, 0.39, 1.044, 0.798,-0.877, 0.239, PHS= 0.773, 0.532,-1.120, RAW=  36.7,  -2.1, CAL=  42.5, -13.5, ROT= 107.5,  13.5

2025-03-12T23:15:11.884Z,1741821311.884 [DAT](INFO): DAT read: Rx Time:23:15:11.0730

2025-03-12T23:15:11.884Z,1741821311.884 [DAT](INFO): Rx dataTimestamp_ set to:1741821311.883887
2025-03-12T23:15:11.885Z,1741821311.885 [DAT](INFO): DAT read: $Low SNR acquisition

2025-03-12T23:15:11.885Z,1741821311.885 [DAT](INFO): Received low SNR in chirp
2025-03-12T23:15:11.899Z,1741821311.899 [DAT](INFO): #Rx 75: Read direction message, but no range.
2025-03-12T23:15:11.901Z,1741821311.901 [DAT](INFO): direction in FSK: [-0.292397,0.927366,-0.233445]
2025-03-12T23:16:00.542Z,1741821360.542 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow] Running Loop=1
2025-03-12T23:16:00.542Z,1741821360.542 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepthSlow
2025-03-12T23:16:00.542Z,1741821360.542 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:A.SetSpeed] Running Loop=1
2025-03-12T23:16:00.542Z,1741821360.542 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:A.SetSpeed](DEBUG): Initialize.
2025-03-12T23:16:00.542Z,1741821360.542 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:B] Running Loop=1
2025-03-12T23:16:00.543Z,1741821360.543 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:C.Buoyancy] Running Loop=1
2025-03-12T23:16:00.543Z,1741821360.543 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:C.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-03-12T23:16:00.543Z,1741821360.543 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:D.Pitch] Running Loop=1
2025-03-12T23:16:00.543Z,1741821360.543 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:D.Pitch](DEBUG): Initialize.
2025-03-12T23:16:00.559Z,1741821360.559 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow] Running Loop=1
2025-03-12T23:16:00.559Z,1741821360.559 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:D.Pitch] Running Loop=1
2025-03-12T23:16:00.560Z,1741821360.560 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:C.Buoyancy] Running Loop=1
2025-03-12T23:16:00.560Z,1741821360.560 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:B] Running Loop=1
2025-03-12T23:16:00.560Z,1741821360.560 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:A.SetSpeed] Running Loop=1
2025-03-12T23:16:00.560Z,1741821360.560 [sci2_noyo_optim:DiveCmd:MaintainDepth] Stopped
2025-03-12T23:16:00.561Z,1741821360.561 [sci2_noyo_optim:DiveCmd:MaintainDepth](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepth
2025-03-12T23:16:00.561Z,1741821360.561 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive] Stopped
2025-03-12T23:16:00.561Z,1741821360.561 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive
2025-03-12T23:16:00.561Z,1741821360.561 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive] Stopped
2025-03-12T23:16:00.561Z,1741821360.561 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive
2025-03-12T23:16:00.561Z,1741821360.561 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass] Stopped
2025-03-12T23:16:00.561Z,1741821360.561 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass](DEBUG): Uninitialize.
2025-03-12T23:16:00.561Z,1741821360.561 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed] Stopped
2025-03-12T23:16:00.561Z,1741821360.561 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed](DEBUG): Uninitialize.
2025-03-12T23:16:00.561Z,1741821360.561 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:B.Pitch] Stopped
2025-03-12T23:18:43.168Z,1741821523.168 [DAT](INFO): DAT read: Rx Time:23:18:42.4741

2025-03-12T23:18:43.169Z,1741821523.169 [DAT](INFO): Rx dataTimestamp_ set to:1741821523.168477
2025-03-12T23:18:43.678Z,1741821523.678 [DAT](INFO): DAT read: 23:18:42.4741 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 394, 0.15, 3.102,-3.114, 1.354, 2.911, PHS= 0.159, 0.231,-1.561, RAW=  28.0,  13.3, CAL=  31.5,  10.2, ROT= 118.5, -10.2

2025-03-12T23:18:43.679Z,1741821523.679 [DAT](INFO): got valid direction response:
 23:18:42.4741 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 394, 0.15, 3.102,-3.114, 1.354, 2.911, PHS= 0.159, 0.231,-1.561, RAW=  28.0,  13.3, CAL=  31.5,  10.2, ROT= 118.5, -10.2

2025-03-12T23:18:43.680Z,1741821523.680 [DAT](INFO): DAT read: $Error in header

2025-03-12T23:18:43.680Z,1741821523.680 [DAT](INFO): Received a bad header
2025-03-12T23:18:43.691Z,1741821523.691 [DAT](INFO): #Rx 76: Read direction message, but no range.
2025-03-12T23:18:43.693Z,1741821523.693 [DAT](INFO): direction in FSK: [-0.469618,0.864928,0.177085]
2025-03-12T23:19:08.127Z,1741821548.127 [DAT](INFO): DAT read: Rx Time:23:19:07.3519

2025-03-12T23:19:08.128Z,1741821548.128 [DAT](INFO): Rx dataTimestamp_ set to:1741821548.127556
2025-03-12T23:19:08.634Z,1741821548.634 [DAT](INFO): DAT read: 23:19:07.3519 LVL= 14240, 22113, 23458, 32755, AGC= 76, IDX= 258,-0.23, 2.734, 2.448, 0.693, 2.174, PHS= 0.528, 0.247,-1.485, RAW=  37.4,   7.6, CAL=  42.2,   1.7, ROT= 107.8,  -1.7

2025-03-12T23:19:08.636Z,1741821548.636 [DAT](INFO): got valid direction response:
 23:19:07.3519 LVL= 14240, 22113, 23458, 32755, AGC= 76, IDX= 258,-0.23, 2.734, 2.448, 0.693, 2.174, PHS= 0.528, 0.247,-1.485, RAW=  37.4,   7.6, CAL=  42.2,   1.7, ROT= 107.8,  -1.7

2025-03-12T23:19:08.636Z,1741821548.636 [DAT](INFO): DAT read: $Error in header

2025-03-12T23:19:08.637Z,1741821548.637 [DAT](INFO): Received a bad header
2025-03-12T23:19:08.651Z,1741821548.651 [DAT](INFO): #Rx 77: Read direction message, but no range.
2025-03-12T23:19:08.653Z,1741821548.653 [DAT](INFO): direction in FSK: [-0.305561,0.951710,0.029666]
2025-03-12T23:19:20.472Z,1741821560.472 [DAT](INFO): DAT read: Rx Time:23:19:19.7923

2025-03-12T23:19:20.473Z,1741821560.473 [DAT](INFO): Rx dataTimestamp_ set to:1741821560.472381
2025-03-12T23:19:20.982Z,1741821560.982 [DAT](INFO): DAT read: 23:19:19.7923 LVL= 32208, 32753, 32754, 32755, AGC= 81, IDX= 396,-0.19, 2.573, 2.606, 0.697, 2.254, PHS= 0.288, 0.325,-1.561, RAW=  29.0,  10.2, CAL=  33.4,   5.9, ROT= 116.6,  -5.9

2025-03-12T23:19:20.987Z,1741821560.987 [DAT](INFO): got valid direction response:
 23:19:19.7923 LVL= 32208, 32753, 32754, 32755, AGC= 81, IDX= 396,-0.19, 2.573, 2.606, 0.697, 2.254, PHS= 0.288, 0.325,-1.561, RAW=  29.0,  10.2, CAL=  33.4,   5.9, ROT= 116.6,  -5.9

2025-03-12T23:19:20.988Z,1741821560.988 [DAT](INFO): DAT read: $Error in header

2025-03-12T23:19:20.988Z,1741821560.988 [DAT](INFO): Received a bad header
2025-03-12T23:19:21.000Z,1741821561.000 [DAT](INFO): #Rx 78: Read direction message, but no range.
2025-03-12T23:19:21.001Z,1741821561.001 [DAT](INFO): direction in FSK: [-0.445387,0.889418,0.102793]
2025-03-12T23:19:22.767Z,1741821562.767 [Waterlinked](ERROR): only read 2 of 5 data items. Device response::BI,  +0,    +0,V
2025-03-12T23:19:32.839Z,1741821572.839 [DAT](INFO): DAT read: Rx Time:23:19:32.2344

2025-03-12T23:19:32.840Z,1741821572.840 [DAT](INFO): Rx dataTimestamp_ set to:1741821572.839522
2025-03-12T23:19:33.598Z,1741821573.598 [DAT](INFO): DAT read: 23:19:32.2344 LVL= 15904, 11825, 12066, 20243, AGC= 71, IDX= 407,-0.11, 1.567, 1.497,-0.428, 1.143, PHS= 0.394, 0.327,-1.574, RAW=  31.7,   8.9, CAL=  36.3,   3.9, ROT= 113.7,  -3.9

2025-03-12T23:19:33.600Z,1741821573.600 [DAT](INFO): got valid direction response:
 23:19:32.2344 LVL= 15904, 11825, 12066, 20243, AGC= 71, IDX= 407,-0.11, 1.567, 1.497,-0.428, 1.143, PHS= 0.394, 0.327,-1.574, RAW=  31.7,   8.9, CAL=  36.3,   3.9, ROT= 113.7,  -3.9

2025-03-12T23:19:33.600Z,1741821573.600 [DAT](INFO): DAT read: $Error in header

2025-03-12T23:19:33.601Z,1741821573.601 [DAT](INFO): Received a bad header
2025-03-12T23:19:33.611Z,1741821573.611 [DAT](INFO): #Rx 79: Read direction message, but no range.
2025-03-12T23:19:33.612Z,1741821573.612 [DAT](INFO): direction in FSK: [-0.401017,0.913542,0.068015]
2025-03-12T23:19:57.796Z,1741821597.796 [DAT](INFO): DAT read: Rx Time:23:19:57.1154

2025-03-12T23:19:57.797Z,1741821597.797 [DAT](INFO): Rx dataTimestamp_ set to:1741821597.796523
2025-03-12T23:19:58.321Z,1741821598.321 [DAT](INFO): DAT read: 23:19:57.1154 LVL= 22512, 25905, 30402, 32755, AGC= 79, IDX= 287,-0.04,-2.543,-2.774, 1.693, 3.090, PHS= 0.620, 0.392,-1.401, RAW=  35.9,   4.1, CAL=  41.3,  -3.5, ROT= 108.7,   3.5

2025-03-12T23:19:58.324Z,1741821598.324 [DAT](INFO): got valid direction response:
 23:19:57.1154 LVL= 22512, 25905, 30402, 32755, AGC= 79, IDX= 287,-0.04,-2.543,-2.774, 1.693, 3.090, PHS= 0.620, 0.392,-1.401, RAW=  35.9,   4.1, CAL=  41.3,  -3.5, ROT= 108.7,   3.5

2025-03-12T23:19:58.326Z,1741821598.326 [DAT](INFO): DAT read: $Error in header

2025-03-12T23:19:58.327Z,1741821598.327 [DAT](INFO): Received a bad header
2025-03-12T23:19:58.375Z,1741821598.375 [DAT](INFO): #Rx 80: Read direction message, but no range.
2025-03-12T23:19:58.389Z,1741821598.389 [DAT](INFO): direction in FSK: [-0.320015,0.945444,-0.061049]
2025-03-12T23:20:35.105Z,1741821635.105 [DAT](INFO): DAT read: Rx Time:23:20:34.4336

2025-03-12T23:20:35.106Z,1741821635.106 [DAT](INFO): Rx dataTimestamp_ set to:1741821635.105510
2025-03-12T23:20:35.628Z,1741821635.628 [DAT](INFO): DAT read: 23:20:34.4336 LVL= 29168, 32753, 32754, 32755, AGC= 81, IDX= 156,-0.32,-0.058,-0.282,-2.026,-0.461, PHS= 0.372, 0.152,-1.569, RAW=  35.9,  11.4, CAL=  39.5,   7.1, ROT= 110.5,  -7.1

2025-03-12T23:20:35.640Z,1741821635.640 [DAT](INFO): got valid direction response:
 23:20:34.4336 LVL= 29168, 32753, 32754, 32755, AGC= 81, IDX= 156,-0.32,-0.058,-0.282,-2.026,-0.461, PHS= 0.372, 0.152,-1.569, RAW=  35.9,  11.4, CAL=  39.5,   7.1, ROT= 110.5,  -7.1

2025-03-12T23:20:35.642Z,1741821635.642 [DAT](INFO): DAT read: $Error in header

2025-03-12T23:20:35.642Z,1741821635.642 [DAT](INFO): Received a bad header
2025-03-12T23:20:35.656Z,1741821635.656 [DAT](INFO): #Rx 81: Read direction message, but no range.
2025-03-12T23:20:35.659Z,1741821635.659 [DAT](INFO): direction in FSK: [-0.347522,0.929490,0.123601]
2025-03-12T23:20:47.453Z,1741821647.453 [DAT](INFO): DAT read: Rx Time:23:20:46.8731

2025-03-12T23:20:47.453Z,1741821647.453 [DAT](INFO): Rx dataTimestamp_ set to:1741821647.453082
2025-03-12T23:20:48.214Z,1741821648.214 [DAT](INFO): DAT read: 23:20:46.8731 LVL= 32752, 32753, 32754, 32755, AGC= 77, IDX= 379,-0.13,-0.063,-0.317,-1.930,-0.831, PHS= 0.737, 0.487,-1.103, RAW=  37.2,  -1.4, CAL=  43.0, -12.3, ROT= 107.0,  12.3

2025-03-12T23:20:48.215Z,1741821648.215 [DAT](INFO): got valid direction response:
 23:20:46.8731 LVL= 32752, 32753, 32754, 32755, AGC= 77, IDX= 379,-0.13,-0.063,-0.317,-1.930,-0.831, PHS= 0.737, 0.487,-1.103, RAW=  37.2,  -1.4, CAL=  43.0, -12.3, ROT= 107.0,  12.3

2025-03-12T23:20:48.216Z,1741821648.216 [DAT](INFO): DAT read: $Error in header

2025-03-12T23:20:48.216Z,1741821648.216 [DAT](INFO): Received a bad header
2025-03-12T23:20:48.227Z,1741821648.227 [DAT](INFO): #Rx 82: Read direction message, but no range.
2025-03-12T23:20:48.228Z,1741821648.228 [DAT](INFO): direction in FSK: [-0.285661,0.934353,-0.213030]
2025-03-12T23:21:12.426Z,1741821672.426 [DAT](INFO): DAT read: Rx Time:23:21:11.7524

2025-03-12T23:21:12.427Z,1741821672.427 [DAT](INFO): Rx dataTimestamp_ set to:1741821672.426482
2025-03-12T23:21:12.934Z,1741821672.934 [DAT](INFO): DAT read: 23:21:11.7524 LVL= 27344, 32753, 32754, 32755, AGC= 80, IDX= 272,-0.11, 2.205, 2.104, 0.290, 1.978, PHS= 0.196, 0.099,-1.692, RAW=  32.6,  15.0, CAL=  35.3,  12.3, ROT= 114.7, -12.3

2025-03-12T23:21:12.935Z,1741821672.935 [DAT](INFO): got valid direction response:
 23:21:11.7524 LVL= 27344, 32753, 32754, 32755, AGC= 80, IDX= 272,-0.11, 2.205, 2.104, 0.290, 1.978, PHS= 0.196, 0.099,-1.692, RAW=  32.6,  15.0, CAL=  35.3,  12.3, ROT= 114.7, -12.3

2025-03-12T23:21:12.936Z,1741821672.936 [DAT](INFO): DAT read: $Error in header

2025-03-12T23:21:12.936Z,1741821672.936 [DAT](INFO): Received a bad header
2025-03-12T23:21:12.948Z,1741821672.948 [DAT](INFO): #Rx 83: Read direction message, but no range.
2025-03-12T23:21:12.949Z,1741821672.949 [DAT](INFO): direction in FSK: [-0.408275,0.887654,0.213030]
2025-03-12T23:21:24.772Z,1741821684.772 [DAT](INFO): DAT read: Rx Time:23:21:24.1919

2025-03-12T23:21:24.773Z,1741821684.773 [DAT](INFO): Rx dataTimestamp_ set to:1741821684.772443
2025-03-12T23:21:25.543Z,1741821685.543 [DAT](INFO): DAT read: 23:21:24.1919 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 416,-0.11,-2.349,-2.496, 2.302,-2.845, PHS= 0.465, 0.322,-1.140, RAW=  34.6,   4.6, CAL=  40.0,  -2.6, ROT= 110.0,   2.6

2025-03-12T23:21:25.546Z,1741821685.546 [DAT](INFO): got valid direction response:
 23:21:24.1919 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 416,-0.11,-2.349,-2.496, 2.302,-2.845, PHS= 0.465, 0.322,-1.140, RAW=  34.6,   4.6, CAL=  40.0,  -2.6, ROT= 110.0,   2.6

2025-03-12T23:21:25.547Z,1741821685.547 [DAT](INFO): DAT read: $Error in header

2025-03-12T23:21:25.548Z,1741821685.548 [DAT](INFO): Received a bad header
2025-03-12T23:21:25.560Z,1741821685.560 [DAT](INFO): #Rx 84: Read direction message, but no range.
2025-03-12T23:21:25.562Z,1741821685.562 [DAT](INFO): direction in FSK: [-0.341668,0.938725,-0.045363]
2025-03-12T23:21:49.748Z,1741821709.748 [DAT](INFO): DAT read: Rx Time:23:21:49.0699

2025-03-12T23:21:49.750Z,1741821709.750 [DAT](INFO): Rx dataTimestamp_ set to:1741821709.748905
2025-03-12T23:21:50.257Z,1741821710.257 [DAT](INFO): DAT read: 23:21:49.0699 LVL= 14640, 17217, 18130, 30483, AGC= 70, IDX= 264,-0.41,-2.606,-2.580, 1.955,-3.115, PHS= 0.478, 0.508,-1.217, RAW=  29.1,   2.7, CAL=  34.3,  -5.3, ROT= 115.7,   5.3

2025-03-12T23:21:50.258Z,1741821710.258 [DAT](INFO): got valid direction response:
 23:21:49.0699 LVL= 14640, 17217, 18130, 30483, AGC= 70, IDX= 264,-0.41,-2.606,-2.580, 1.955,-3.115, PHS= 0.478, 0.508,-1.217, RAW=  29.1,   2.7, CAL=  34.3,  -5.3, ROT= 115.7,   5.3

2025-03-12T23:21:50.259Z,1741821710.259 [DAT](INFO): DAT read: $Error in header

2025-03-12T23:21:50.259Z,1741821710.259 [DAT](INFO): Received a bad header
2025-03-12T23:21:50.271Z,1741821710.271 [DAT](INFO): #Rx 85: Read direction message, but no range.
2025-03-12T23:21:50.272Z,1741821710.272 [DAT](INFO): direction in FSK: [-0.431805,0.897225,-0.092371]
2025-03-12T23:22:02.093Z,1741821722.093 [DAT](INFO): DAT read: Rx Time:23:22:01.5095

2025-03-12T23:22:02.093Z,1741821722.093 [DAT](INFO): Rx dataTimestamp_ set to:1741821722.093164
2025-03-12T23:22:02.863Z,1741821722.863 [DAT](INFO): DAT read: 23:22:01.5095 LVL= 32752, 32753, 32754, 32755, AGC= 81, IDX= 346,-0.33, 1.989, 2.175, 0.202, 1.758, PHS= 0.199, 0.390,-1.561, RAW=  24.9,  10.5, CAL=  29.3,   6.6, ROT= 120.7,  -6.6

2025-03-12T23:22:02.888Z,1741821722.888 [DAT](INFO): got valid direction response:
 23:22:01.5095 LVL= 32752, 32753, 32754, 32755, AGC= 81, IDX= 346,-0.33, 1.989, 2.175, 0.202, 1.758, PHS= 0.199, 0.390,-1.561, RAW=  24.9,  10.5, CAL=  29.3,   6.6, ROT= 120.7,  -6.6

2025-03-12T23:22:02.889Z,1741821722.889 [DAT](INFO): DAT read: $Error in header

2025-03-12T23:22:02.890Z,1741821722.890 [DAT](INFO): Received a bad header
2025-03-12T23:22:02.904Z,1741821722.904 [DAT](INFO): #Rx 86: Read direction message, but no range.
2025-03-12T23:22:02.908Z,1741821722.908 [DAT](INFO): direction in FSK: [-0.507159,0.854154,0.114937]
2025-03-12T23:22:14.710Z,1741821734.710 [DAT](INFO): DAT read: Rx Time:23:22:13.9492

2025-03-12T23:22:14.710Z,1741821734.710 [DAT](INFO): Rx dataTimestamp_ set to:1741821734.709871
2025-03-12T23:22:15.218Z,1741821735.218 [DAT](INFO): DAT read: 23:22:13.9492 LVL= 22512, 20257, 22610, 32755, AGC= 74, IDX= 380,-0.26,-1.461,-1.581, 2.863,-2.082, PHS= 0.589, 0.474,-1.342, RAW=  33.1,   3.0, CAL=  38.4,  -5.2, ROT= 111.6,   5.2

2025-03-12T23:22:15.219Z,1741821735.219 [DAT](INFO): got valid direction response:
 23:22:13.9492 LVL= 22512, 20257, 22610, 32755, AGC= 74, IDX= 380,-0.26,-1.461,-1.581, 2.863,-2.082, PHS= 0.589, 0.474,-1.342, RAW=  33.1,   3.0, CAL=  38.4,  -5.2, ROT= 111.6,   5.2

2025-03-12T23:22:15.220Z,1741821735.220 [DAT](INFO): DAT read: $Error in header

2025-03-12T23:22:15.220Z,1741821735.220 [DAT](INFO): Received a bad header
2025-03-12T23:22:15.231Z,1741821735.231 [DAT](INFO): #Rx 87: Read direction message, but no range.
2025-03-12T23:22:15.232Z,1741821735.232 [DAT](INFO): direction in FSK: [-0.366609,0.925950,-0.090633]
2025-03-12T23:22:52.012Z,1741821772.012 [DAT](INFO): DAT read: Rx Time:23:22:51.3180

2025-03-12T23:22:52.013Z,1741821772.013 [DAT](INFO): Rx dataTimestamp_ set to:1741821772.012439
2025-03-12T23:22:52.522Z,1741821772.522 [DAT](INFO): DAT read: 23:22:51.3181 LVL= 27600, 23921, 29810, 32755, AGC= 75, IDX= 176, 0.30, 0.845, 0.746,-1.022, 0.154, PHS= 0.660, 0.565,-1.180, RAW=  32.6,  -0.5, CAL=  37.7, -11.1, ROT= 112.3,  11.1

2025-03-12T23:22:52.523Z,1741821772.523 [DAT](INFO): got valid direction response:
 23:22:51.3181 LVL= 27600, 23921, 29810, 32755, AGC= 75, IDX= 176, 0.30, 0.845, 0.746,-1.022, 0.154, PHS= 0.660, 0.565,-1.180, RAW=  32.6,  -0.5, CAL=  37.7, -11.1, ROT= 112.3,  11.1

2025-03-12T23:22:52.524Z,1741821772.524 [DAT](INFO): DAT read: $Error in header

2025-03-12T23:22:52.524Z,1741821772.524 [DAT](INFO): Received a bad header
2025-03-12T23:22:52.535Z,1741821772.535 [DAT](INFO): #Rx 88: Read direction message, but no range.
2025-03-12T23:22:52.536Z,1741821772.536 [DAT](INFO): direction in FSK: [-0.372358,0.907901,-0.192522]
2025-03-12T23:23:16.979Z,1741821796.979 [DAT](INFO): DAT read: Rx Time:23:23:16.1973

2025-03-12T23:23:16.980Z,1741821796.980 [DAT](INFO): Rx dataTimestamp_ set to:1741821796.979721
2025-03-12T23:23:17.488Z,1741821797.488 [DAT](INFO): DAT read: 23:23:16.1973 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 277,-0.42,-2.025,-1.981, 2.396,-2.275, PHS= 0.219, 0.267,-1.616, RAW=  28.7,  12.1, CAL=  32.5,   8.6, ROT= 117.5,  -8.6

2025-03-12T23:23:17.490Z,1741821797.490 [DAT](INFO): got valid direction response:
 23:23:16.1973 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 277,-0.42,-2.025,-1.981, 2.396,-2.275, PHS= 0.219, 0.267,-1.616, RAW=  28.7,  12.1, CAL=  32.5,   8.6, ROT= 117.5,  -8.6

2025-03-12T23:23:17.491Z,1741821797.491 [DAT](INFO): DAT read: $Error in header

2025-03-12T23:23:17.491Z,1741821797.491 [DAT](INFO): Received a bad header
2025-03-12T23:23:17.508Z,1741821797.508 [DAT](INFO): #Rx 89: Read direction message, but no range.
2025-03-12T23:23:17.509Z,1741821797.509 [DAT](INFO): direction in FSK: [-0.456557,0.877038,0.149535]
2025-03-12T23:23:29.340Z,1741821809.340 [DAT](INFO): DAT read: Rx Time:23:23:28.6369

2025-03-12T23:23:29.341Z,1741821809.341 [DAT](INFO): Rx dataTimestamp_ set to:1741821809.340570
2025-03-12T23:23:29.851Z,1741821809.851 [DAT](INFO): DAT read: 23:23:28.6369 LVL= 26304, 30865, 32754, 32755, AGC= 77, IDX= 373, 0.32,-1.776,-1.758, 2.694,-2.283, PHS= 0.476, 0.498,-1.311, RAW=  29.4,   3.8, CAL=  34.7,  -3.5, ROT= 115.3,   3.5

2025-03-12T23:23:29.853Z,1741821809.853 [DAT](INFO): got valid direction response:
 23:23:28.6369 LVL= 26304, 30865, 32754, 32755, AGC= 77, IDX= 373, 0.32,-1.776,-1.758, 2.694,-2.283, PHS= 0.476, 0.498,-1.311, RAW=  29.4,   3.8, CAL=  34.7,  -3.5, ROT= 115.3,   3.5

2025-03-12T23:23:29.854Z,1741821809.854 [DAT](INFO): DAT read: $Error in header

2025-03-12T23:23:29.854Z,1741821809.854 [DAT](INFO): Received a bad header
2025-03-12T23:23:29.868Z,1741821809.868 [DAT](INFO): #Rx 90: Read direction message, but no range.
2025-03-12T23:23:29.870Z,1741821809.870 [DAT](INFO): direction in FSK: [-0.426561,0.902396,-0.061049]
2025-03-12T23:23:33.866Z,1741821813.866 [sci2_noyo_optim:Lap:DepthByLap:Wpt1:A.Waypoint](IMPORTANT): Reached waypoint: 36.797020,-121.866699
2025-03-12T23:23:33.866Z,1741821813.866 [sci2_noyo_optim:Lap:DepthByLap:Wpt1:A.Waypoint] Stopped
2025-03-12T23:23:33.866Z,1741821813.866 [sci2_noyo_optim:Lap:DepthByLap:Wpt1:A.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-03-12T23:23:33.866Z,1741821813.866 [sci2_noyo_optim:Lap:DepthByLap:Wpt1](INFO): Completed sci2_noyo_optim:Lap:DepthByLap:Wpt1
2025-03-12T23:23:33.866Z,1741821813.866 [sci2_noyo_optim:Lap:DepthByLap:Wpt1] Stopped
2025-03-12T23:23:33.867Z,1741821813.867 [sci2_noyo_optim:Lap:DepthByLap:Wpt1](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Lap:DepthByLap:Wpt1
2025-03-12T23:23:33.867Z,1741821813.867 [sci2_noyo_optim:Lap:DepthByLap:Wpt2] Running Loop=1
2025-03-12T23:23:33.867Z,1741821813.867 [sci2_noyo_optim:Lap:DepthByLap:Wpt2](DEBUG): Aggregate::initialize sci2_noyo_optim:Lap:DepthByLap:Wpt2
2025-03-12T23:23:33.867Z,1741821813.867 [sci2_noyo_optim:Lap:DepthByLap:Wpt2:A.Waypoint] Running Loop=1
2025-03-12T23:23:33.867Z,1741821813.867 [sci2_noyo_optim:Lap:DepthByLap:Wpt2:A.Waypoint](DEBUG): Initialize WaypointComponent.
2025-03-12T23:23:33.868Z,1741821813.868 [sci2_noyo_optim:Lap:DepthByLap:Wpt2:A.Waypoint](IMPORTANT): Navigating to waypoint: 36.796879,-121.880051
2025-03-12T23:23:34.216Z,1741821814.216 [sci2_noyo_optim:Lap:DepthByLap:Wpt2:A.Waypoint](INFO): Navigating to waypoint: 36.796879,-121.880051
2025-03-12T23:23:54.290Z,1741821834.290 [DAT](INFO): DAT read: Rx Time:23:23:53.5160

2025-03-12T23:23:54.292Z,1741821834.292 [DAT](INFO): Rx dataTimestamp_ set to:1741821834.290789
2025-03-12T23:23:54.798Z,1741821834.798 [DAT](INFO): DAT read: 23:23:53.5160 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 263, 0.14,-2.283,-2.822, 2.129,-2.953, PHS= 0.639, 0.104,-1.205, RAW=  46.4,   5.7, CAL=  51.1,  -1.7, ROT=  98.9,   1.7

2025-03-12T23:23:54.799Z,1741821834.799 [DAT](INFO): got valid direction response:
 23:23:53.5160 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 263, 0.14,-2.283,-2.822, 2.129,-2.953, PHS= 0.639, 0.104,-1.205, RAW=  46.4,   5.7, CAL=  51.1,  -1.7, ROT=  98.9,   1.7

2025-03-12T23:23:54.800Z,1741821834.800 [DAT](INFO): DAT read: $Error in header

2025-03-12T23:23:54.800Z,1741821834.800 [DAT](INFO): Received a bad header
2025-03-12T23:23:54.812Z,1741821834.812 [DAT](INFO): #Rx 91: Read direction message, but no range.
2025-03-12T23:23:54.813Z,1741821834.813 [DAT](INFO): direction in FSK: [-0.154642,0.987525,-0.029666]
2025-03-12T23:24:06.640Z,1741821846.640 [DAT](INFO): DAT read: Rx Time:23:24:05.9553

2025-03-12T23:24:06.641Z,1741821846.641 [DAT](INFO): Rx dataTimestamp_ set to:1741821846.640556
2025-03-12T23:24:07.154Z,1741821847.154 [DAT](INFO): DAT read: 23:24:05.9553 LVL= 20144, 25201, 26610, 32755, AGC= 78, IDX= 374,-0.04, 2.195, 1.450, 0.330, 1.265, PHS= 0.899, 0.158,-0.939, RAW=  53.6,  -1.5, CAL=  60.5, -11.2, ROT=  89.5,  11.2

2025-03-12T23:24:07.185Z,1741821847.185 [DAT](INFO): got valid direction response:
 23:24:05.9553 LVL= 20144, 25201, 26610, 32755, AGC= 78, IDX= 374,-0.04, 2.195, 1.450, 0.330, 1.265, PHS= 0.899, 0.158,-0.939, RAW=  53.6,  -1.5, CAL=  60.5, -11.2, ROT=  89.5,  11.2

2025-03-12T23:24:07.186Z,1741821847.186 [DAT](INFO): DAT read: $Error in header

2025-03-12T23:24:07.197Z,1741821847.197 [DAT](INFO): Received a bad header
2025-03-12T23:24:07.214Z,1741821847.214 [DAT](INFO): #Rx 92: Read direction message, but no range.
2025-03-12T23:24:07.217Z,1741821847.217 [DAT](INFO): direction in FSK: [0.008560,0.980918,-0.194234]
2025-03-12T23:24:43.944Z,1741821883.944 [DAT](INFO): DAT read: Rx Time:23:24:43.2737

2025-03-12T23:24:43.945Z,1741821883.945 [DAT](INFO): Rx dataTimestamp_ set to:1741821883.944429
2025-03-12T23:24:44.477Z,1741821884.477 [DAT](INFO): DAT read: 23:24:43.2737 LVL= 32752, 32753, 32754, 32755, AGC= 83, IDX= 151,-0.43, 2.530, 1.736, 0.980, 2.801, PHS=-0.302,-1.092,-1.825, RAW=  61.2,  40.8, CAL=  65.6,  51.5, ROT=  84.4, -51.5

2025-03-12T23:24:44.484Z,1741821884.484 [DAT](INFO): got valid direction response:
 23:24:43.2737 LVL= 32752, 32753, 32754, 32755, AGC= 83, IDX= 151,-0.43, 2.530, 1.736, 0.980, 2.801, PHS=-0.302,-1.092,-1.825, RAW=  61.2,  40.8, CAL=  65.6,  51.5, ROT=  84.4, -51.5

2025-03-12T23:24:44.486Z,1741821884.486 [DAT](INFO): DAT read: $Error in header

2025-03-12T23:24:44.486Z,1741821884.486 [DAT](INFO): Received a bad header
2025-03-12T23:24:44.500Z,1741821884.500 [DAT](INFO): #Rx 93: Read direction message, but no range.
2025-03-12T23:24:44.531Z,1741821884.531 [DAT](INFO): direction in FSK: [0.060747,0.619544,0.782608]
2025-03-12T23:24:56.306Z,1741821896.306 [DAT](INFO): DAT read: Rx Time:23:24:55.7131

2025-03-12T23:24:56.306Z,1741821896.306 [DAT](INFO): Rx dataTimestamp_ set to:1741821896.305981
2025-03-12T23:24:57.066Z,1741821897.066 [DAT](INFO): DAT read: 23:24:55.7131 LVL= 22384, 32753, 31090, 32755, AGC= 74, IDX= 374, 0.35,-0.413,-1.238,-2.235,-1.054, PHS= 0.609,-0.212,-1.185, RAW=  57.2,  10.1, CAL=  60.0,   3.8, ROT=  90.0,  -3.8

2025-03-12T23:24:57.067Z,1741821897.067 [DAT](INFO): got valid direction response:
 23:24:55.7131 LVL= 22384, 32753, 31090, 32755, AGC= 74, IDX= 374, 0.35,-0.413,-1.238,-2.235,-1.054, PHS= 0.609,-0.212,-1.185, RAW=  57.2,  10.1, CAL=  60.0,   3.8, ROT=  90.0,  -3.8

2025-03-12T23:24:57.068Z,1741821897.068 [DAT](INFO): DAT read: $Error in header

2025-03-12T23:24:57.068Z,1741821897.068 [DAT](INFO): Received a bad header
2025-03-12T23:24:57.079Z,1741821897.079 [DAT](INFO): #Rx 94: Read direction message, but no range.
2025-03-12T23:24:57.080Z,1741821897.080 [DAT](INFO): direction in FSK: [-0.000000,0.997801,0.066274]
2025-03-12T23:25:28.980Z,1741821928.980 [Waterlinked](ERROR): only read 0 of 1 data item for altitude. Device response::BD,   00
2025-03-12T23:25:33.648Z,1741821933.648 [DAT](INFO): DAT read: Rx Time:23:25:33.0316

2025-03-12T23:25:33.649Z,1741821933.649 [DAT](INFO): Rx dataTimestamp_ set to:1741821933.648493
2025-03-12T23:25:34.177Z,1741821934.177 [DAT](INFO): DAT read: 23:25:33.0316 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 151,-0.48,-0.973,-1.447,-2.588,-1.681, PHS= 0.676, 0.207,-0.911, RAW=  46.7,   0.4, CAL=  53.0,  -9.0, ROT=  97.0,   9.0

2025-03-12T23:25:34.178Z,1741821934.178 [DAT](INFO): got valid direction response:
 23:25:33.0316 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 151,-0.48,-0.973,-1.447,-2.588,-1.681, PHS= 0.676, 0.207,-0.911, RAW=  46.7,   0.4, CAL=  53.0,  -9.0, ROT=  97.0,   9.0

2025-03-12T23:25:34.179Z,1741821934.179 [DAT](INFO): DAT read: $Error in header

2025-03-12T23:25:34.187Z,1741821934.187 [DAT](INFO): Received a bad header
2025-03-12T23:25:34.199Z,1741821934.199 [DAT](INFO): #Rx 95: Read direction message, but no range.
2025-03-12T23:25:34.201Z,1741821934.201 [DAT](INFO): direction in FSK: [-0.120369,0.980326,-0.156434]
2025-03-12T23:25:58.614Z,1741821958.614 [DAT](INFO): DAT read: Rx Time:23:25:57.9108

2025-03-12T23:25:58.616Z,1741821958.616 [DAT](INFO): Rx dataTimestamp_ set to:1741821958.614843
2025-03-12T23:25:59.133Z,1741821959.133 [DAT](INFO): DAT read: 23:25:57.9108 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 266,-0.15, 1.176, 0.539,-0.739, 0.405, PHS= 0.740, 0.107,-1.148, RAW=  49.2,   3.7, CAL=  54.4,  -4.7, ROT=  95.6,   4.7

2025-03-12T23:25:59.140Z,1741821959.140 [DAT](INFO): got valid direction response:
 23:25:57.9108 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 266,-0.15, 1.176, 0.539,-0.739, 0.405, PHS= 0.740, 0.107,-1.148, RAW=  49.2,   3.7, CAL=  54.4,  -4.7, ROT=  95.6,   4.7

2025-03-12T23:25:59.142Z,1741821959.142 [DAT](INFO): DAT read: $Error in header

2025-03-12T23:25:59.142Z,1741821959.142 [DAT](INFO): Received a bad header
2025-03-12T23:25:59.168Z,1741821959.168 [DAT](INFO): #Rx 96: Read direction message, but no range.
2025-03-12T23:25:59.176Z,1741821959.176 [DAT](INFO): direction in FSK: [-0.097255,0.991881,-0.081939]
2025-03-12T23:26:10.964Z,1741821970.964 [DAT](INFO): DAT read: Rx Time:23:26:10.3503

2025-03-12T23:26:10.965Z,1741821970.965 [DAT](INFO): Rx dataTimestamp_ set to:1741821970.964512
2025-03-12T23:26:11.491Z,1741821971.491 [DAT](INFO): DAT read: 23:26:10.3503 LVL= 23184, 25057, 28402, 32755, AGC= 75, IDX= 379, 0.27,-0.350,-0.775,-2.226,-1.107, PHS= 0.726, 0.305,-1.123, RAW=  42.5,   1.1, CAL=  48.6,  -8.1, ROT= 101.4,   8.1

2025-03-12T23:26:11.492Z,1741821971.492 [DAT](INFO): got valid direction response:
 23:26:10.3503 LVL= 23184, 25057, 28402, 32755, AGC= 75, IDX= 379, 0.27,-0.350,-0.775,-2.226,-1.107, PHS= 0.726, 0.305,-1.123, RAW=  42.5,   1.1, CAL=  48.6,  -8.1, ROT= 101.4,   8.1

2025-03-12T23:26:11.493Z,1741821971.493 [DAT](INFO): DAT read: $Error in header

2025-03-12T23:26:11.493Z,1741821971.493 [DAT](INFO): Received a bad header
2025-03-12T23:26:11.516Z,1741821971.516 [DAT](INFO): #Rx 97: Read direction message, but no range.
2025-03-12T23:26:11.517Z,1741821971.517 [DAT](INFO): direction in FSK: [-0.195686,0.970492,-0.140901]
2025-03-12T23:26:35.923Z,1741821995.923 [DAT](INFO): DAT read: Rx Time:23:26:35.2295

2025-03-12T23:26:35.924Z,1741821995.924 [DAT](INFO): Rx dataTimestamp_ set to:1741821995.923382
2025-03-12T23:26:36.445Z,1741821996.445 [DAT](INFO): DAT read: 23:26:35.2295 LVL= 32752, 32753, 32754, 32755, AGC= 79, IDX= 270,-0.02, 1.299, 0.707,-0.689, 0.549, PHS= 0.718, 0.131,-1.242, RAW=  47.0,   4.6, CAL=  52.0,  -3.3, ROT=  98.0,   3.3

2025-03-12T23:26:36.452Z,1741821996.452 [DAT](INFO): got valid direction response:
 23:26:35.2295 LVL= 32752, 32753, 32754, 32755, AGC= 79, IDX= 270,-0.02, 1.299, 0.707,-0.689, 0.549, PHS= 0.718, 0.131,-1.242, RAW=  47.0,   4.6, CAL=  52.0,  -3.3, ROT=  98.0,   3.3

2025-03-12T23:26:36.453Z,1741821996.453 [DAT](INFO): DAT read: $Error in header

2025-03-12T23:26:36.454Z,1741821996.454 [DAT](INFO): Received a bad header
2025-03-12T23:26:36.476Z,1741821996.476 [DAT](INFO): #Rx 98: Read direction message, but no range.
2025-03-12T23:26:36.477Z,1741821996.477 [DAT](INFO): direction in FSK: [-0.138942,0.988626,-0.057564]
2025-03-12T23:26:48.294Z,1741822008.294 [DAT](INFO): DAT read: Rx Time:23:26:47.6692

2025-03-12T23:26:48.296Z,1741822008.296 [DAT](INFO): Rx dataTimestamp_ set to:1741822008.294712
2025-03-12T23:26:48.810Z,1741822008.810 [DAT](INFO): DAT read: 23:26:47.6692 LVL= 24656, 29489, 32754, 32755, AGC= 79, IDX= 384, 0.03,-2.817,-3.127, 1.600, 3.142, PHS= 0.294,-0.013,-1.546, RAW=  39.0,  14.7, CAL=  41.2,  11.7, ROT= 108.8, -11.7

2025-03-12T23:26:48.818Z,1741822008.818 [DAT](INFO): got valid direction response:
 23:26:47.6692 LVL= 24656, 29489, 32754, 32755, AGC= 79, IDX= 384, 0.03,-2.817,-3.127, 1.600, 3.142, PHS= 0.294,-0.013,-1.546, RAW=  39.0,  14.7, CAL=  41.2,  11.7, ROT= 108.8, -11.7

2025-03-12T23:26:48.819Z,1741822008.819 [DAT](INFO): DAT read: $Error in header

2025-03-12T23:26:48.820Z,1741822008.820 [DAT](INFO): Received a bad header
2025-03-12T23:26:48.832Z,1741822008.832 [DAT](INFO): #Rx 99: Read direction message, but no range.
2025-03-12T23:26:48.834Z,1741822008.834 [DAT](INFO): direction in FSK: [-0.315570,0.926981,0.202787]
2025-03-12T23:27:00.892Z,1741822020.892 [DAT](INFO): DAT read: Rx Time:23:27:00.1087

2025-03-12T23:27:00.893Z,1741822020.893 [DAT](INFO): Rx dataTimestamp_ set to:1741822020.892555
2025-03-12T23:27:01.406Z,1741822021.406 [DAT](INFO): DAT read: 23:27:00.1087 LVL= 26976, 32753, 32754, 32755, AGC= 71, IDX= 385, 0.05, 0.114,-0.353,-1.878,-0.488, PHS= 0.571, 0.109,-1.393, RAW=  43.0,   8.1, CAL=  47.2,   2.1, ROT= 102.8,  -2.1

2025-03-12T23:27:01.408Z,1741822021.408 [DAT](INFO): got valid direction response:
 23:27:00.1087 LVL= 26976, 32753, 32754, 32755, AGC= 71, IDX= 385, 0.05, 0.114,-0.353,-1.878,-0.488, PHS= 0.571, 0.109,-1.393, RAW=  43.0,   8.1, CAL=  47.2,   2.1, ROT= 102.8,  -2.1

2025-03-12T23:27:01.408Z,1741822021.408 [DAT](INFO): DAT read: $Error in header

2025-03-12T23:27:01.409Z,1741822021.409 [DAT](INFO): Received a bad header
2025-03-12T23:27:01.420Z,1741822021.420 [DAT](INFO): #Rx 100: Read direction message, but no range.
2025-03-12T23:27:01.421Z,1741822021.421 [DAT](INFO): direction in FSK: [-0.221400,0.974494,0.036644]
2025-03-12T23:27:13.244Z,1741822033.244 [DAT](INFO): DAT read: Rx Time:23:27:12.5484

2025-03-12T23:27:13.245Z,1741822033.245 [DAT](INFO): Rx dataTimestamp_ set to:1741822033.244496
2025-03-12T23:27:13.784Z,1741822033.784 [DAT](INFO): DAT read: 23:27:12.5484 LVL= 15056, 17937, 19506, 24995, AGC= 66, IDX= 387,-0.08,-2.834, 2.984, 1.492, 2.727, PHS= 0.691, 0.230,-1.239, RAW=  43.2,   3.7, CAL=  48.6,  -4.4, ROT= 101.4,   4.4

2025-03-12T23:27:13.786Z,1741822033.786 [DAT](INFO): got valid direction response:
 23:27:12.5484 LVL= 15056, 17937, 19506, 24995, AGC= 66, IDX= 387,-0.08,-2.834, 2.984, 1.492, 2.727, PHS= 0.691, 0.230,-1.239, RAW=  43.2,   3.7, CAL=  48.6,  -4.4, ROT= 101.4,   4.4

2025-03-12T23:27:13.805Z,1741822033.805 [DAT](INFO): DAT read: $Error in header

2025-03-12T23:27:13.806Z,1741822033.806 [DAT](INFO): Received a bad header
2025-03-12T23:27:13.820Z,1741822033.820 [DAT](INFO): #Rx 101: Read direction message, but no range.
2025-03-12T23:27:13.823Z,1741822033.823 [DAT](INFO): direction in FSK: [-0.197075,0.977382,-0.076719]
2025-03-12T23:27:38.210Z,1741822058.210 [DAT](INFO): DAT read: Rx Time:23:27:37.4277

2025-03-12T23:27:38.210Z,1741822058.210 [DAT](INFO): Rx dataTimestamp_ set to:1741822058.209836
2025-03-12T23:27:38.718Z,1741822058.718 [DAT](INFO): DAT read: 23:27:37.4277 LVL= 19600, 15393, 18290, 24819, AGC= 73, IDX= 247, 0.37, 1.081, 0.471,-0.886, 0.227, PHS= 0.823, 0.217,-1.118, RAW=  47.8,   0.9, CAL=  53.9,  -8.3, ROT=  96.1,   8.3

2025-03-12T23:27:38.720Z,1741822058.720 [DAT](INFO): got valid direction response:
 23:27:37.4277 LVL= 19600, 15393, 18290, 24819, AGC= 73, IDX= 247, 0.37, 1.081, 0.471,-0.886, 0.227, PHS= 0.823, 0.217,-1.118, RAW=  47.8,   0.9, CAL=  53.9,  -8.3, ROT=  96.1,   8.3

2025-03-12T23:27:38.721Z,1741822058.721 [DAT](INFO): DAT read: $Error in header

2025-03-12T23:27:38.721Z,1741822058.721 [DAT](INFO): Received a bad header
2025-03-12T23:27:38.735Z,1741822058.735 [DAT](INFO): #Rx 102: Read direction message, but no range.
2025-03-12T23:27:38.736Z,1741822058.736 [DAT](INFO): direction in FSK: [-0.105151,0.983923,-0.144356]
2025-03-12T23:28:15.508Z,1741822095.508 [DAT](INFO): DAT read: Rx Time:23:28:14.7471

2025-03-12T23:28:15.509Z,1741822095.509 [DAT](INFO): Rx dataTimestamp_ set to:1741822095.508484
2025-03-12T23:28:16.021Z,1741822096.021 [DAT](INFO): DAT read: 23:28:14.7471 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 162,-0.08,-0.380,-0.733,-2.152,-1.062, PHS= 0.651, 0.302,-1.094, RAW=  40.9,   1.8, CAL=  46.6,  -7.2, ROT= 103.4,   7.2

2025-03-12T23:28:16.022Z,1741822096.022 [DAT](INFO): got valid direction response:
 23:28:14.7471 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 162,-0.08,-0.380,-0.733,-2.152,-1.062, PHS= 0.651, 0.302,-1.094, RAW=  40.9,   1.8, CAL=  46.6,  -7.2, ROT= 103.4,   7.2

2025-03-12T23:28:16.022Z,1741822096.022 [DAT](INFO): DAT read: $Error in header

2025-03-12T23:28:16.023Z,1741822096.023 [DAT](INFO): Received a bad header
2025-03-12T23:28:16.037Z,1741822096.037 [DAT](INFO): #Rx 103: Read direction message, but no range.
2025-03-12T23:28:16.039Z,1741822096.039 [DAT](INFO): direction in FSK: [-0.229921,0.965105,-0.125333]
2025-03-12T23:28:40.508Z,1741822120.508 [DAT](INFO): DAT read: 23:28:39.6269 LVL= 32752, 32753, 32754, 32755, AGC= 77, IDX= 283,-0.02,-2.733, 2.973, 1.592, 2.873, PHS= 0.646, 0.072,-1.285, RAW=  46.8,   6.7, CAL=  51.2,  -0.4, ROT=  98.8,   0.4

2025-03-12T23:28:40.544Z,1741822120.544 [DAT](INFO): got valid direction response:
 23:28:39.6269 LVL= 32752, 32753, 32754, 32755, AGC= 77, IDX= 283,-0.02,-2.733, 2.973, 1.592, 2.873, PHS= 0.646, 0.072,-1.285, RAW=  46.8,   6.7, CAL=  51.2,  -0.4, ROT=  98.8,   0.4

2025-03-12T23:28:40.545Z,1741822120.545 [DAT](INFO): DAT read: Rx Time:23:28:39.6269

2025-03-12T23:28:40.547Z,1741822120.547 [DAT](INFO): Rx dataTimestamp_ set to:1741822120.545819
2025-03-12T23:28:40.560Z,1741822120.560 [DAT](INFO): DAT read: $Low SNR acquisition

2025-03-12T23:28:40.561Z,1741822120.561 [DAT](INFO): Received low SNR in chirp
2025-03-12T23:28:40.571Z,1741822120.571 [DAT](INFO): #Rx 104: Read direction message, but no range.
2025-03-12T23:28:40.573Z,1741822120.573 [DAT](INFO): direction in FSK: [-0.152982,0.988204,-0.006981]
2025-03-12T23:28:52.840Z,1741822132.840 [DAT](INFO): DAT read: Rx Time:23:28:52.0669

2025-03-12T23:28:52.841Z,1741822132.841 [DAT](INFO): Rx dataTimestamp_ set to:1741822132.840610
2025-03-12T23:28:53.373Z,1741822133.373 [DAT](INFO): DAT read: 23:28:52.0669 LVL= 32752, 32753, 32754, 32755, AGC= 77, IDX= 368, 0.33, 2.358, 1.928, 0.410, 1.639, PHS= 0.688, 0.262,-1.233, RAW=  42.2,   3.3, CAL=  47.7,  -4.9, ROT= 102.3,   4.9

2025-03-12T23:28:53.390Z,1741822133.390 [DAT](INFO): got valid direction response:
 23:28:52.0669 LVL= 32752, 32753, 32754, 32755, AGC= 77, IDX= 368, 0.33, 2.358, 1.928, 0.410, 1.639, PHS= 0.688, 0.262,-1.233, RAW=  42.2,   3.3, CAL=  47.7,  -4.9, ROT= 102.3,   4.9

2025-03-12T23:28:53.392Z,1741822133.392 [DAT](INFO): DAT read: $Error in header

2025-03-12T23:28:53.393Z,1741822133.393 [DAT](INFO): Received a bad header
2025-03-12T23:28:53.412Z,1741822133.412 [DAT](INFO): #Rx 105: Read direction message, but no range.
2025-03-12T23:28:53.415Z,1741822133.415 [DAT](INFO): direction in FSK: [-0.212252,0.973475,-0.085417]
2025-03-12T23:29:17.572Z,1741822157.572 [DAT](INFO): DAT read: Rx Time:23:29:16.9469

2025-03-12T23:29:17.573Z,1741822157.573 [DAT](INFO): Rx dataTimestamp_ set to:1741822157.572474
2025-03-12T23:29:18.106Z,1741822158.106 [DAT](INFO): DAT read: 23:29:16.9469 LVL= 14960, 15521, 18450, 21667, AGC= 68, IDX= 283, 0.15, 1.342, 1.008,-0.526, 0.545, PHS= 0.765, 0.436,-1.075, RAW=  39.7,  -1.5, CAL=  45.9, -12.1, ROT= 104.1,  12.1

2025-03-12T23:29:18.109Z,1741822158.109 [DAT](INFO): got valid direction response:
 23:29:16.9469 LVL= 14960, 15521, 18450, 21667, AGC= 68, IDX= 283, 0.15, 1.342, 1.008,-0.526, 0.545, PHS= 0.765, 0.436,-1.075, RAW=  39.7,  -1.5, CAL=  45.9, -12.1, ROT= 104.1,  12.1

2025-03-12T23:29:18.111Z,1741822158.111 [DAT](INFO): DAT read: $Error in header

2025-03-12T23:29:18.112Z,1741822158.112 [DAT](INFO): Received a bad header
2025-03-12T23:29:18.124Z,1741822158.124 [DAT](INFO): #Rx 106: Read direction message, but no range.
2025-03-12T23:29:18.126Z,1741822158.126 [DAT](INFO): direction in FSK: [-0.238203,0.948325,-0.209619]
2025-03-12T23:29:30.192Z,1741822170.192 [DAT](INFO): DAT read: Rx Time:23:29:29.3869

2025-03-12T23:29:30.193Z,1741822170.193 [DAT](INFO): Rx dataTimestamp_ set to:1741822170.192498
2025-03-12T23:29:30.709Z,1741822170.709 [DAT](INFO): DAT read: 23:29:29.3870 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 401, 0.11, 3.032, 2.648, 1.269, 2.592, PHS= 0.409, 0.028,-1.327, RAW=  42.0,  11.3, CAL=  45.3,   6.9, ROT= 104.7,  -6.9

2025-03-12T23:29:30.724Z,1741822170.724 [DAT](INFO): got valid direction response:
 23:29:29.3870 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 401, 0.11, 3.032, 2.648, 1.269, 2.592, PHS= 0.409, 0.028,-1.327, RAW=  42.0,  11.3, CAL=  45.3,   6.9, ROT= 104.7,  -6.9

2025-03-12T23:29:30.725Z,1741822170.725 [DAT](INFO): DAT read: bearing request

2025-03-12T23:29:30.726Z,1741822170.726 [DAT](INFO): received a bearing request message
2025-03-12T23:29:30.732Z,1741822170.732 [DAT](INFO): DAT read: Tx time:23:29:30.9898

2025-03-12T23:29:30.733Z,1741822170.733 [DAT](INFO): Ping request sent.
2025-03-12T23:29:30.733Z,1741822170.733 [DAT](INFO): transmitted an acoustic signal
2025-03-12T23:29:30.734Z,1741822170.734 [DAT](INFO): #Rx 107: Read direction message, but no range.
2025-03-12T23:29:30.741Z,1741822170.741 [DAT](INFO): direction in FSK: [-0.251920,0.960262,0.120137]
2025-03-12T23:29:30.743Z,1741822170.743 [DAT](INFO): publishing transmit ping time
2025-03-12T23:29:30.752Z,1741822170.752 [DAT](INFO): publishing range request flag
2025-03-12T23:29:30.804Z,1741822170.804 [DAT](INFO): publishing transmit ping time
2025-03-12T23:29:30.804Z,1741822170.804 [DAT](INFO): publishing range request flag
2025-03-12T23:29:42.549Z,1741822182.549 [DAT](INFO): DAT read: Rx Time:23:29:41.8268

2025-03-12T23:29:42.550Z,1741822182.550 [DAT](INFO): Rx dataTimestamp_ set to:1741822182.549327
2025-03-12T23:29:43.058Z,1741822183.058 [DAT](INFO): DAT read: 23:29:41.8268 LVL= 23264, 25329, 27954, 32755, AGC= 76, IDX= 134, 0.44,-0.466,-0.881,-2.499,-1.046, PHS= 0.549, 0.138,-1.458, RAW=  41.2,   8.4, CAL=  45.4,   2.7, ROT= 104.6,  -2.7

2025-03-12T23:29:43.059Z,1741822183.059 [DAT](INFO): got valid direction response:
 23:29:41.8268 LVL= 23264, 25329, 27954, 32755, AGC= 76, IDX= 134, 0.44,-0.466,-0.881,-2.499,-1.046, PHS= 0.549, 0.138,-1.458, RAW=  41.2,   8.4, CAL=  45.4,   2.7, ROT= 104.6,  -2.7

2025-03-12T23:29:43.060Z,1741822183.060 [DAT](INFO): DAT read: $Error in header

2025-03-12T23:29:43.060Z,1741822183.060 [DAT](INFO): Received a bad header
2025-03-12T23:29:43.071Z,1741822183.071 [DAT](INFO): #Rx 108: Read direction message, but no range.
2025-03-12T23:29:43.072Z,1741822183.072 [DAT](INFO): direction in FSK: [-0.251789,0.966635,0.047106]
2025-03-12T23:29:54.902Z,1741822194.902 [DAT](INFO): DAT read: Rx Time:23:29:54.2668

2025-03-12T23:29:54.904Z,1741822194.904 [DAT](INFO): Rx dataTimestamp_ set to:1741822194.902818
2025-03-12T23:29:55.429Z,1741822195.429 [DAT](INFO): DAT read: 23:29:54.2668 LVL= 25888, 20241, 16306, 26899, AGC= 65, IDX= 380,-0.14, 1.382, 1.002,-0.498, 0.450, PHS= 0.901, 0.525,-0.952, RAW=  41.1,  -5.6, CAL=  48.8, -17.8, ROT= 101.2,  17.8

2025-03-12T23:29:55.432Z,1741822195.432 [DAT](INFO): got valid direction response:
 23:29:54.2668 LVL= 25888, 20241, 16306, 26899, AGC= 65, IDX= 380,-0.14, 1.382, 1.002,-0.498, 0.450, PHS= 0.901, 0.525,-0.952, RAW=  41.1,  -5.6, CAL=  48.8, -17.8, ROT= 101.2,  17.8

2025-03-12T23:29:55.433Z,1741822195.433 [DAT](INFO): DAT read: $Error in header

2025-03-12T23:29:55.434Z,1741822195.434 [DAT](INFO): Received a bad header
2025-03-12T23:29:55.448Z,1741822195.448 [DAT](INFO): #Rx 109: Read direction message, but no range.
2025-03-12T23:29:55.450Z,1741822195.450 [DAT](INFO): direction in FSK: [-0.184936,0.933996,-0.305695]
2025-03-12T23:30:11.508Z,1741822211.508 [Waterlinked](ERROR): only read 1 of 5 data items. Device response::BI,    +0    +0,    +0,V
2025-03-12T23:30:19.856Z,1741822219.856 [DAT](INFO): DAT read: Rx Time:23:30:19.1470

2025-03-12T23:30:19.857Z,1741822219.857 [DAT](INFO): Rx dataTimestamp_ set to:1741822219.856493
2025-03-12T23:30:20.366Z,1741822220.366 [DAT](INFO): DAT read: 23:30:19.1470 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 280, 0.20, 2.051, 1.650, 0.161, 1.448, PHS= 0.572, 0.175,-1.292, RAW=  41.7,   6.5, CAL=  46.5,  -0.2, ROT= 103.5,   0.2

2025-03-12T23:30:20.367Z,1741822220.367 [DAT](INFO): got valid direction response:
 23:30:19.1470 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 280, 0.20, 2.051, 1.650, 0.161, 1.448, PHS= 0.572, 0.175,-1.292, RAW=  41.7,   6.5, CAL=  46.5,  -0.2, ROT= 103.5,   0.2

2025-03-12T23:30:20.368Z,1741822220.368 [DAT](INFO): DAT read: $Error in header

2025-03-12T23:30:20.368Z,1741822220.368 [DAT](INFO): Received a bad header
2025-03-12T23:30:20.379Z,1741822220.379 [DAT](INFO): #Rx 110: Read direction message, but no range.
2025-03-12T23:30:20.380Z,1741822220.380 [DAT](INFO): direction in FSK: [-0.233444,0.972364,-0.003491]
2025-03-12T23:30:32.214Z,1741822232.214 [DAT](INFO): DAT read: Rx Time:23:30:31.5940

2025-03-12T23:30:32.216Z,1741822232.216 [DAT](INFO): Rx dataTimestamp_ set to:1741822232.214554
2025-03-12T23:30:32.740Z,1741822232.740 [DAT](INFO): DAT read: 23:30:31.5940 LVL= 21888, 20465, 23794, 29987, AGC= 65, IDX= 383,-0.30, 0.100,-0.384,-1.939,-0.766, PHS= 0.835, 0.355,-1.176, RAW=  43.2,  -0.2, CAL=  49.6,  -9.9, ROT= 100.4,   9.9

2025-03-12T23:30:32.741Z,1741822232.741 [DAT](INFO): got valid direction response:
 23:30:31.5940 LVL= 21888, 20465, 23794, 29987, AGC= 65, IDX= 383,-0.30, 0.100,-0.384,-1.939,-0.766, PHS= 0.835, 0.355,-1.176, RAW=  43.2,  -0.2, CAL=  49.6,  -9.9, ROT= 100.4,   9.9

2025-03-12T23:30:32.742Z,1741822232.742 [DAT](INFO): DAT read: $Error in header

2025-03-12T23:30:32.742Z,1741822232.742 [DAT](INFO): Received a bad header
2025-03-12T23:30:32.755Z,1741822232.755 [DAT](INFO): #Rx 111: Read direction message, but no range.
2025-03-12T23:30:32.757Z,1741822232.757 [DAT](INFO): direction in FSK: [-0.177831,0.968925,-0.171929]
2025-03-12T23:30:57.162Z,1741822257.162 [DAT](INFO): DAT read: Rx Time:23:30:56.4672

2025-03-12T23:30:57.163Z,1741822257.163 [DAT](INFO): Rx dataTimestamp_ set to:1741822257.162346
2025-03-12T23:30:57.671Z,1741822257.671 [DAT](INFO): DAT read: 23:30:56.4672 LVL= 31072, 28065, 30258, 32755, AGC= 72, IDX= 187,-0.01, 3.058, 2.624, 1.167, 2.190, PHS= 0.837, 0.407,-1.027, RAW=  42.7,  -2.6, CAL=  49.8, -13.3, ROT= 100.2,  13.3

2025-03-12T23:30:57.673Z,1741822257.673 [DAT](INFO): got valid direction response:
 23:30:56.4672 LVL= 31072, 28065, 30258, 32755, AGC= 72, IDX= 187,-0.01, 3.058, 2.624, 1.167, 2.190, PHS= 0.837, 0.407,-1.027, RAW=  42.7,  -2.6, CAL=  49.8, -13.3, ROT= 100.2,  13.3

2025-03-12T23:30:57.674Z,1741822257.674 [DAT](INFO): DAT read: bearing request

2025-03-12T23:30:57.674Z,1741822257.674 [DAT](INFO): received a bearing request message
2025-03-12T23:30:57.675Z,1741822257.675 [DAT](INFO): DAT read: Tx time:23:30:58.0701

2025-03-12T23:30:57.676Z,1741822257.676 [DAT](INFO): Ping request sent.
2025-03-12T23:30:57.676Z,1741822257.676 [DAT](INFO): transmitted an acoustic signal
2025-03-12T23:30:57.676Z,1741822257.676 [DAT](INFO): #Rx 112: Read direction message, but no range.
2025-03-12T23:30:57.678Z,1741822257.678 [DAT](INFO): direction in FSK: [-0.172335,0.957798,-0.230050]
2025-03-12T23:30:57.678Z,1741822257.678 [DAT](INFO): publishing transmit ping time
2025-03-12T23:30:57.679Z,1741822257.679 [DAT](INFO): publishing range request flag
2025-03-12T23:30:57.711Z,1741822257.711 [DAT](INFO): publishing transmit ping time
2025-03-12T23:30:57.712Z,1741822257.712 [DAT](INFO): publishing range request flag
2025-03-12T23:31:34.472Z,1741822294.472 [DAT](INFO): DAT read: Rx Time:23:31:33.7958

2025-03-12T23:31:34.473Z,1741822294.473 [DAT](INFO): Rx dataTimestamp_ set to:1741822294.472523
2025-03-12T23:31:35.020Z,1741822295.020 [DAT](INFO): DAT read: 23:31:33.7958 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 101,-0.11, 0.794, 0.579,-1.008, 0.152, PHS= 0.610, 0.400,-1.164, RAW=  36.2,   1.9, CAL=  41.7,  -7.2, ROT= 108.3,   7.2

2025-03-12T23:31:35.028Z,1741822295.028 [DAT](INFO): got valid direction response:
 23:31:33.7958 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 101,-0.11, 0.794, 0.579,-1.008, 0.152, PHS= 0.610, 0.400,-1.164, RAW=  36.2,   1.9, CAL=  41.7,  -7.2, ROT= 108.3,   7.2

2025-03-12T23:31:35.030Z,1741822295.030 [DAT](INFO): DAT read: $Error in header

2025-03-12T23:31:35.031Z,1741822295.031 [DAT](INFO): Received a bad header
2025-03-12T23:31:35.074Z,1741822295.074 [DAT](INFO): #Rx 113: Read direction message, but no range.
2025-03-12T23:31:35.081Z,1741822295.081 [DAT](INFO): direction in FSK: [-0.311517,0.941939,-0.125333]
2025-03-12T23:31:59.432Z,1741822319.432 [DAT](INFO): DAT read: Rx Time:23:31:58.6689

2025-03-12T23:31:59.433Z,1741822319.433 [DAT](INFO): Rx dataTimestamp_ set to:1741822319.432455
2025-03-12T23:31:59.942Z,1741822319.942 [DAT](INFO): DAT read: 23:31:58.6690 LVL= 29536, 24897, 27890, 32755, AGC= 66, IDX= 201, 0.14, 2.196, 1.927, 0.254, 1.445, PHS= 0.719, 0.455,-1.195, RAW=  37.3,   0.2, CAL=  43.0,  -9.7, ROT= 107.0,   9.7

2025-03-12T23:31:59.943Z,1741822319.943 [DAT](INFO): got valid direction response:
 23:31:58.6690 LVL= 29536, 24897, 27890, 32755, AGC= 66, IDX= 201, 0.14, 2.196, 1.927, 0.254, 1.445, PHS= 0.719, 0.455,-1.195, RAW=  37.3,   0.2, CAL=  43.0,  -9.7, ROT= 107.0,   9.7

2025-03-12T23:31:59.944Z,1741822319.944 [DAT](INFO): DAT read: $Error in header

2025-03-12T23:31:59.944Z,1741822319.944 [DAT](INFO): Received a bad header
2025-03-12T23:31:59.961Z,1741822319.961 [DAT](INFO): #Rx 114: Read direction message, but no range.
2025-03-12T23:31:59.962Z,1741822319.962 [DAT](INFO): direction in FSK: [-0.288192,0.942633,-0.168489]
2025-03-12T23:32:11.790Z,1741822331.790 [DAT](INFO): DAT read: Rx Time:23:32:11.1095

2025-03-12T23:32:11.791Z,1741822331.791 [DAT](INFO): Rx dataTimestamp_ set to:1741822331.790221
2025-03-12T23:32:12.309Z,1741822332.309 [DAT](INFO): DAT read: 23:32:11.1095 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 388, 0.10,-2.639,-2.948, 1.780, 3.079, PHS= 0.534, 0.229,-1.303, RAW=  38.9,   6.4, CAL=  43.9,  -0.1, ROT= 106.1,   0.1

2025-03-12T23:32:12.313Z,1741822332.313 [DAT](INFO): got valid direction response:
 23:32:11.1095 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 388, 0.10,-2.639,-2.948, 1.780, 3.079, PHS= 0.534, 0.229,-1.303, RAW=  38.9,   6.4, CAL=  43.9,  -0.1, ROT= 106.1,   0.1

2025-03-12T23:32:12.315Z,1741822332.315 [DAT](INFO): DAT read: $Error in header

2025-03-12T23:32:12.320Z,1741822332.320 [DAT](INFO): Received a bad header
2025-03-12T23:32:12.338Z,1741822332.338 [DAT](INFO): #Rx 115: Read direction message, but no range.
2025-03-12T23:32:12.341Z,1741822332.341 [DAT](INFO): direction in FSK: [-0.277314,0.960778,-0.001745]
2025-03-12T23:32:24.140Z,1741822344.140 [DAT](INFO): DAT read: Rx Time:23:32:23.5500

2025-03-12T23:32:24.141Z,1741822344.141 [DAT](INFO): Rx dataTimestamp_ set to:1741822344.140676
2025-03-12T23:32:24.902Z,1741822344.902 [DAT](INFO): DAT read: 23:32:23.5501 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 384, 0.03, 1.345, 1.239,-0.583, 1.047, PHS= 0.266, 0.165,-1.634, RAW=  32.7,  12.9, CAL=  36.0,   9.5, ROT= 114.0,  -9.5

2025-03-12T23:32:24.903Z,1741822344.903 [DAT](INFO): got valid direction response:
 23:32:23.5501 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 384, 0.03, 1.345, 1.239,-0.583, 1.047, PHS= 0.266, 0.165,-1.634, RAW=  32.7,  12.9, CAL=  36.0,   9.5, ROT= 114.0,  -9.5

2025-03-12T23:32:24.904Z,1741822344.904 [DAT](INFO): DAT read: $Error in header

2025-03-12T23:32:24.904Z,1741822344.904 [DAT](INFO): Received a bad header
2025-03-12T23:32:24.915Z,1741822344.915 [DAT](INFO): #Rx 116: Read direction message, but no range.
2025-03-12T23:32:24.916Z,1741822344.916 [DAT](INFO): direction in FSK: [-0.401159,0.901017,0.165048]
2025-03-12T23:32:36.748Z,1741822356.748 [DAT](INFO): DAT read: Rx Time:23:32:35.9906

2025-03-12T23:32:36.749Z,1741822356.749 [DAT](INFO): Rx dataTimestamp_ set to:1741822356.748627
2025-03-12T23:32:37.257Z,1741822357.257 [DAT](INFO): DAT read: 23:32:35.9906 LVL= 24304, 24513, 25730, 32755, AGC= 66, IDX= 395,-0.01, 1.073, 1.007,-0.810, 0.380, PHS= 0.661, 0.600,-1.194, RAW=  31.7,  -0.7, CAL=  36.5, -11.4, ROT= 113.5,  11.4

2025-03-12T23:32:37.258Z,1741822357.258 [DAT](INFO): got valid direction response:
 23:32:35.9906 LVL= 24304, 24513, 25730, 32755, AGC= 66, IDX= 395,-0.01, 1.073, 1.007,-0.810, 0.380, PHS= 0.661, 0.600,-1.194, RAW=  31.7,  -0.7, CAL=  36.5, -11.4, ROT= 113.5,  11.4

2025-03-12T23:32:37.258Z,1741822357.258 [DAT](INFO): DAT read: bearing request

2025-03-12T23:32:37.259Z,1741822357.259 [DAT](INFO): received a bearing request message
2025-03-12T23:32:37.259Z,1741822357.259 [DAT](INFO): DAT read: Tx time:23:32:37.5934

2025-03-12T23:32:37.260Z,1741822357.260 [DAT](INFO): Ping request sent.
2025-03-12T23:32:37.260Z,1741822357.260 [DAT](INFO): transmitted an acoustic signal
2025-03-12T23:32:37.260Z,1741822357.260 [DAT](INFO): #Rx 117: Read direction message, but no range.
2025-03-12T23:32:37.261Z,1741822357.261 [DAT](INFO): direction in FSK: [-0.390882,0.898968,-0.197657]
2025-03-12T23:32:37.261Z,1741822357.261 [DAT](INFO): publishing transmit ping time
2025-03-12T23:32:37.262Z,1741822357.262 [DAT](INFO): publishing range request flag
2025-03-12T23:32:37.265Z,1741822357.265 [DAT](INFO): publishing transmit ping time
2025-03-12T23:32:37.265Z,1741822357.265 [DAT](INFO): publishing range request flag
2025-03-12T23:32:41.715Z,1741822361.715 [Waterlinked](ERROR): only read 3 of 5 data items. Device response::BI,    +0,    +0,    +0, 

2025-03-12T23:33:01.450Z,1741822381.450 [DAT](INFO): DAT read: Rx Time:23:33:00.8717

2025-03-12T23:33:01.451Z,1741822381.451 [DAT](INFO): Rx dataTimestamp_ set to:1741822381.450538
2025-03-12T23:33:02.221Z,1741822382.221 [DAT](INFO): DAT read: 23:33:00.8717 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX=  34, 0.23,-2.695,-2.924, 1.754, 3.060, PHS= 0.497, 0.272,-1.310, RAW=  36.6,   6.4, CAL=  41.8,   0.1, ROT= 108.2,  -0.1

2025-03-12T23:33:02.224Z,1741822382.224 [DAT](INFO): got valid direction response:
 23:33:00.8717 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX=  34, 0.23,-2.695,-2.924, 1.754, 3.060, PHS= 0.497, 0.272,-1.310, RAW=  36.6,   6.4, CAL=  41.8,   0.1, ROT= 108.2,  -0.1

2025-03-12T23:33:02.225Z,1741822382.225 [DAT](INFO): DAT read: bearing request

2025-03-12T23:33:02.225Z,1741822382.225 [DAT](INFO): received a bearing request message
2025-03-12T23:33:02.227Z,1741822382.227 [DAT](INFO): DAT read: Tx time:23:33:02.4746

2025-03-12T23:33:02.268Z,1741822382.268 [DAT](INFO): Ping request sent.
2025-03-12T23:33:02.268Z,1741822382.268 [DAT](INFO): transmitted an acoustic signal
2025-03-12T23:33:02.269Z,1741822382.269 [DAT](INFO): #Rx 118: Read direction message, but no range.
2025-03-12T23:33:02.276Z,1741822382.276 [DAT](INFO): direction in FSK: [-0.312334,0.949971,0.001745]
2025-03-12T23:33:02.277Z,1741822382.277 [DAT](INFO): publishing transmit ping time
2025-03-12T23:33:02.278Z,1741822382.278 [DAT](INFO): publishing range request flag
2025-03-12T23:33:02.311Z,1741822382.311 [DAT](INFO): publishing transmit ping time
2025-03-12T23:33:02.321Z,1741822382.321 [DAT](INFO): publishing range request flag
2025-03-12T23:33:14.057Z,1741822394.057 [DAT](INFO): DAT read: Rx Time:23:33:13.3125

2025-03-12T23:33:14.057Z,1741822394.057 [DAT](INFO): Rx dataTimestamp_ set to:1741822394.056704
2025-03-12T23:33:14.565Z,1741822394.565 [DAT](INFO): DAT read: 23:33:13.3125 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 288,-0.07, 2.432, 2.320, 0.561, 1.913, PHS= 0.488, 0.380,-1.356, RAW=  33.0,   5.5, CAL=  38.5,  -1.0, ROT= 111.5,   1.0

2025-03-12T23:33:14.566Z,1741822394.566 [DAT](INFO): got valid direction response:
 23:33:13.3125 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 288,-0.07, 2.432, 2.320, 0.561, 1.913, PHS= 0.488, 0.380,-1.356, RAW=  33.0,   5.5, CAL=  38.5,  -1.0, ROT= 111.5,   1.0

2025-03-12T23:33:14.566Z,1741822394.566 [DAT](INFO): DAT read: bearing request

2025-03-12T23:33:14.567Z,1741822394.567 [DAT](INFO): received a bearing request message
2025-03-12T23:33:14.567Z,1741822394.567 [DAT](INFO): DAT read: Tx time:23:33:14.9154

2025-03-12T23:33:14.568Z,1741822394.568 [DAT](INFO): Ping request sent.
2025-03-12T23:33:14.568Z,1741822394.568 [DAT](INFO): transmitted an acoustic signal
2025-03-12T23:33:14.568Z,1741822394.568 [DAT](INFO): #Rx 119: Read direction message, but no range.
2025-03-12T23:33:14.569Z,1741822394.569 [DAT](INFO): direction in FSK: [-0.366445,0.930276,-0.017452]
2025-03-12T23:33:14.569Z,1741822394.569 [DAT](INFO): publishing transmit ping time
2025-03-12T23:33:14.570Z,1741822394.570 [DAT](INFO): publishing range request flag
2025-03-12T23:33:14.575Z,1741822394.575 [DAT](INFO): publishing transmit ping time
2025-03-12T23:33:14.575Z,1741822394.575 [DAT](INFO): publishing range request flag
2025-03-12T23:33:37.965Z,1741822417.965 [BPC1](INFO): Calculating totals. Valid battery stick count: 49. Valid reserve battery stick count: 5.
2025-03-12T23:33:37.984Z,1741822417.984 [BPC1](FAULT): Failed to receive data from 2 sticks prior to timeout. Will not retry this scan cycle. Missing stick IDs are: 21, 24.
2025-03-12T23:33:38.772Z,1741822418.772 [DAT](INFO): DAT read: Rx Time:23:33:38.1942

2025-03-12T23:33:38.773Z,1741822418.773 [DAT](INFO): Rx dataTimestamp_ set to:1741822418.772499
2025-03-12T23:33:39.545Z,1741822419.545 [DAT](INFO): DAT read: 23:33:38.1942 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 349,-0.35, 2.506, 2.401, 0.759, 1.960, PHS= 0.515, 0.414,-1.205, RAW=  33.0,   3.3, CAL=  38.3,  -4.6, ROT= 111.7,   4.6

2025-03-12T23:33:39.548Z,1741822419.548 [DAT](INFO): got valid direction response:
 23:33:38.1942 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 349,-0.35, 2.506, 2.401, 0.759, 1.960, PHS= 0.515, 0.414,-1.205, RAW=  33.0,   3.3, CAL=  38.3,  -4.6, ROT= 111.7,   4.6

2025-03-12T23:33:39.550Z,1741822419.550 [DAT](INFO): DAT read: $Error in header

2025-03-12T23:33:39.551Z,1741822419.551 [DAT](INFO): Received a bad header
2025-03-12T23:33:39.564Z,1741822419.564 [DAT](INFO): #Rx 120: Read direction message, but no range.
2025-03-12T23:33:39.566Z,1741822419.566 [DAT](INFO): direction in FSK: [-0.368556,0.926140,-0.080199]
2025-03-12T23:33:51.374Z,1741822431.374 [DAT](INFO): DAT read: Rx Time:23:33:50.6450

2025-03-12T23:33:51.374Z,1741822431.374 [DAT](INFO): Rx dataTimestamp_ set to:1741822431.373702
2025-03-12T23:33:51.882Z,1741822431.882 [DAT](INFO): DAT read: 23:33:50.6450 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 396,-0.11, 2.573, 2.374, 0.630, 2.174, PHS= 0.368, 0.173,-1.549, RAW=  35.3,  11.0, CAL=  39.0,   6.7, ROT= 111.0,  -6.7

2025-03-12T23:33:51.883Z,1741822431.883 [DAT](INFO): got valid direction response:
 23:33:50.6450 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 396,-0.11, 2.573, 2.374, 0.630, 2.174, PHS= 0.368, 0.173,-1.549, RAW=  35.3,  11.0, CAL=  39.0,   6.7, ROT= 111.0,  -6.7

2025-03-12T23:33:51.884Z,1741822431.884 [DAT](INFO): DAT read: $Error in header

2025-03-12T23:33:51.884Z,1741822431.884 [DAT](INFO): Received a bad header
2025-03-12T23:33:51.896Z,1741822431.896 [DAT](INFO): #Rx 121: Read direction message, but no range.
2025-03-12T23:33:51.897Z,1741822431.897 [DAT](INFO): direction in FSK: [-0.355921,0.927205,0.116671]
2025-03-12T23:34:16.084Z,1741822456.084 [DAT](INFO): DAT read: Rx Time:23:34:15.5170

2025-03-12T23:34:16.085Z,1741822456.085 [DAT](INFO): Rx dataTimestamp_ set to:1741822456.084597
2025-03-12T23:34:16.856Z,1741822456.856 [DAT](INFO): DAT read: 23:34:15.5170 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 203,-0.13, 1.738, 1.703,-0.120, 1.191, PHS= 0.516, 0.485,-1.315, RAW=  30.8,   3.5, CAL=  36.1,  -4.2, ROT= 113.9,   4.2

2025-03-12T23:34:16.857Z,1741822456.857 [DAT](INFO): got valid direction response:
 23:34:15.5170 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 203,-0.13, 1.738, 1.703,-0.120, 1.191, PHS= 0.516, 0.485,-1.315, RAW=  30.8,   3.5, CAL=  36.1,  -4.2, ROT= 113.9,   4.2

2025-03-12T23:34:16.858Z,1741822456.858 [DAT](INFO): DAT read: bearing request

2025-03-12T23:34:16.858Z,1741822456.858 [DAT](INFO): received a bearing request message
2025-03-12T23:34:16.859Z,1741822456.859 [DAT](INFO): DAT read: Tx time:23:34:17.1199

2025-03-12T23:34:16.859Z,1741822456.859 [DAT](INFO): Ping request sent.
2025-03-12T23:34:16.859Z,1741822456.859 [DAT](INFO): transmitted an acoustic signal
2025-03-12T23:34:16.860Z,1741822456.860 [DAT](INFO): #Rx 122: Read direction message, but no range.
2025-03-12T23:34:16.861Z,1741822456.861 [DAT](INFO): direction in FSK: [-0.404054,0.911799,-0.073238]
2025-03-12T23:34:16.861Z,1741822456.861 [DAT](INFO): publishing transmit ping time
2025-03-12T23:34:16.861Z,1741822456.861 [DAT](INFO): publishing range request flag
2025-03-12T23:34:16.865Z,1741822456.865 [DAT](INFO): publishing transmit ping time
2025-03-12T23:34:16.865Z,1741822456.865 [DAT](INFO): publishing range request flag
2025-03-12T23:34:28.696Z,1741822468.696 [DAT](INFO): DAT read: Rx Time:23:34:27.9583

2025-03-12T23:34:28.697Z,1741822468.697 [DAT](INFO): Rx dataTimestamp_ set to:1741822468.696412
2025-03-12T23:34:29.207Z,1741822469.207 [DAT](INFO): DAT read: 23:34:27.9583 LVL= 28112, 28801, 32754, 32755, AGC= 72, IDX= 422, 0.36,-0.297,-0.596,-2.232,-0.998, PHS= 0.670, 0.374,-1.238, RAW=  38.3,   2.2, CAL=  43.8,  -6.6, ROT= 106.2,   6.6

2025-03-12T23:34:29.209Z,1741822469.209 [DAT](INFO): got valid direction response:
 23:34:27.9583 LVL= 28112, 28801, 32754, 32755, AGC= 72, IDX= 422, 0.36,-0.297,-0.596,-2.232,-0.998, PHS= 0.670, 0.374,-1.238, RAW=  38.3,   2.2, CAL=  43.8,  -6.6, ROT= 106.2,   6.6

2025-03-12T23:34:29.210Z,1741822469.210 [DAT](INFO): DAT read: $Error in header

2025-03-12T23:34:29.210Z,1741822469.210 [DAT](INFO): Received a bad header
2025-03-12T23:34:29.223Z,1741822469.223 [DAT](INFO): #Rx 123: Read direction message, but no range.
2025-03-12T23:34:29.225Z,1741822469.225 [DAT](INFO): direction in FSK: [-0.277142,0.953930,-0.114937]
2025-03-12T23:34:41.045Z,1741822481.045 [DAT](INFO): DAT read: Rx Time:23:34:40.3998

2025-03-12T23:34:41.046Z,1741822481.046 [DAT](INFO): Rx dataTimestamp_ set to:1741822481.045542
2025-03-12T23:34:41.566Z,1741822481.566 [DAT](INFO): DAT read: 23:34:40.3998 LVL= 32752, 32097, 32754, 32755, AGC= 66, IDX= 401, 0.09,-2.489,-2.565, 1.950, 3.139, PHS= 0.625, 0.552,-1.193, RAW=  32.0,   0.2, CAL=  37.0,  -9.9, ROT= 113.0,   9.9

2025-03-12T23:34:41.578Z,1741822481.578 [DAT](INFO): got valid direction response:
 23:34:40.3998 LVL= 32752, 32097, 32754, 32755, AGC= 66, IDX= 401, 0.09,-2.489,-2.565, 1.950, 3.139, PHS= 0.625, 0.552,-1.193, RAW=  32.0,   0.2, CAL=  37.0,  -9.9, ROT= 113.0,   9.9

2025-03-12T23:34:41.578Z,1741822481.578 [DAT](INFO): DAT read: bearing request

2025-03-12T23:34:41.579Z,1741822481.579 [DAT](INFO): received a bearing request message
2025-03-12T23:34:41.598Z,1741822481.598 [DAT](INFO): DAT read: Tx time:23:34:42.0026

2025-03-12T23:34:41.598Z,1741822481.598 [DAT](INFO): Ping request sent.
2025-03-12T23:34:41.598Z,1741822481.598 [DAT](INFO): transmitted an acoustic signal
2025-03-12T23:34:41.599Z,1741822481.599 [DAT](INFO): #Rx 124: Read direction message, but no range.
2025-03-12T23:34:41.600Z,1741822481.600 [DAT](INFO): direction in FSK: [-0.384913,0.906798,-0.171929]
2025-03-12T23:34:41.600Z,1741822481.600 [DAT](INFO): publishing transmit ping time
2025-03-12T23:34:41.600Z,1741822481.600 [DAT](INFO): publishing range request flag
2025-03-12T23:34:41.612Z,1741822481.612 [DAT](INFO): publishing transmit ping time
2025-03-12T23:34:41.613Z,1741822481.613 [DAT](INFO): publishing range request flag
2025-03-12T23:34:53.654Z,1741822493.654 [DAT](INFO): DAT read: Rx Time:23:34:52.8413

2025-03-12T23:34:53.655Z,1741822493.655 [DAT](INFO): Rx dataTimestamp_ set to:1741822493.654418
2025-03-12T23:34:54.170Z,1741822494.170 [DAT](INFO): DAT read: 23:34:52.8413 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX=  39,-0.49, 2.180, 2.165, 0.282, 1.756, PHS= 0.392, 0.382,-1.478, RAW=  30.3,   7.6, CAL=  35.4,   2.3, ROT= 114.6,  -2.3

2025-03-12T23:34:54.173Z,1741822494.173 [DAT](INFO): got valid direction response:
 23:34:52.8413 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX=  39,-0.49, 2.180, 2.165, 0.282, 1.756, PHS= 0.392, 0.382,-1.478, RAW=  30.3,   7.6, CAL=  35.4,   2.3, ROT= 114.6,  -2.3

2025-03-12T23:34:54.175Z,1741822494.175 [DAT](INFO): DAT read: bearing request

2025-03-12T23:34:54.197Z,1741822494.197 [DAT](INFO): received a bearing request message
2025-03-12T23:34:54.198Z,1741822494.198 [DAT](INFO): DAT read: Tx time:23:34:54.4441

2025-03-12T23:34:54.204Z,1741822494.204 [DAT](INFO): Ping request sent.
2025-03-12T23:34:54.204Z,1741822494.204 [DAT](INFO): transmitted an acoustic signal
2025-03-12T23:34:54.205Z,1741822494.205 [DAT](INFO): #Rx 125: Read direction message, but no range.
2025-03-12T23:34:54.216Z,1741822494.216 [DAT](INFO): direction in FSK: [-0.415945,0.908504,0.040132]
2025-03-12T23:34:54.216Z,1741822494.216 [DAT](INFO): publishing transmit ping time
2025-03-12T23:34:54.217Z,1741822494.217 [DAT](INFO): publishing range request flag
2025-03-12T23:34:54.248Z,1741822494.248 [DAT](INFO): publishing transmit ping time
2025-03-12T23:34:54.249Z,1741822494.249 [DAT](INFO): publishing range request flag
2025-03-12T23:35:06.008Z,1741822506.008 [DAT](INFO): DAT read: Rx Time:23:35:05.2829

2025-03-12T23:35:06.009Z,1741822506.009 [DAT](INFO): Rx dataTimestamp_ set to:1741822506.008488
2025-03-12T23:35:06.518Z,1741822506.518 [DAT](INFO): DAT read: 23:35:05.2829 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 172, 0.01,-2.251,-2.349, 2.179,-2.658, PHS= 0.376, 0.282,-1.450, RAW=  32.6,   8.9, CAL=  37.2,   4.0, ROT= 112.8,  -4.0

2025-03-12T23:35:06.519Z,1741822506.519 [DAT](INFO): got valid direction response:
 23:35:05.2829 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 172, 0.01,-2.251,-2.349, 2.179,-2.658, PHS= 0.376, 0.282,-1.450, RAW=  32.6,   8.9, CAL=  37.2,   4.0, ROT= 112.8,  -4.0

2025-03-12T23:35:06.520Z,1741822506.520 [DAT](INFO): DAT read: $Error in header

2025-03-12T23:35:06.520Z,1741822506.520 [DAT](INFO): Received a bad header
2025-03-12T23:35:06.535Z,1741822506.535 [DAT](INFO): #Rx 126: Read direction message, but no range.
2025-03-12T23:35:06.536Z,1741822506.536 [DAT](INFO): direction in FSK: [-0.386572,0.919618,0.069756]
2025-03-12T23:35:18.363Z,1741822518.363 [DAT](INFO): DAT read: Rx Time:23:35:17.7247

2025-03-12T23:35:18.363Z,1741822518.363 [DAT](INFO): Rx dataTimestamp_ set to:1741822518.363210
2025-03-12T23:35:18.894Z,1741822518.894 [DAT](INFO): DAT read: 23:35:17.7247 LVL= 32752, 31361, 32754, 32755, AGC= 69, IDX= 404, 0.30, 0.459, 0.469,-1.315,-0.091, PHS= 0.519, 0.533,-1.228, RAW=  29.6,   2.0, CAL=  34.7,  -6.5, ROT= 115.3,   6.5

2025-03-12T23:35:18.895Z,1741822518.895 [DAT](INFO): got valid direction response:
 23:35:17.7247 LVL= 32752, 31361, 32754, 32755, AGC= 69, IDX= 404, 0.30, 0.459, 0.469,-1.315,-0.091, PHS= 0.519, 0.533,-1.228, RAW=  29.6,   2.0, CAL=  34.7,  -6.5, ROT= 115.3,   6.5

2025-03-12T23:35:18.896Z,1741822518.896 [DAT](INFO): DAT read: $Error in header

2025-03-12T23:35:18.896Z,1741822518.896 [DAT](INFO): Received a bad header
2025-03-12T23:35:18.908Z,1741822518.908 [DAT](INFO): #Rx 127: Read direction message, but no range.
2025-03-12T23:35:18.909Z,1741822518.909 [DAT](INFO): direction in FSK: [-0.424611,0.898271,-0.113203]
2025-03-12T23:35:30.734Z,1741822530.734 [DAT](INFO): DAT read: Rx Time:23:35:30.1668

2025-03-12T23:35:30.736Z,1741822530.736 [DAT](INFO): Rx dataTimestamp_ set to:1741822530.734718
2025-03-12T23:35:31.494Z,1741822531.494 [DAT](INFO): DAT read: 23:35:30.1668 LVL= 18672, 18417, 25490, 29939, AGC= 65, IDX= 400,-0.01,-1.032,-0.779,-2.782,-1.242, PHS= 0.179, 0.436,-1.544, RAW=  23.1,  10.0, CAL=  27.7,   6.1, ROT= 122.3,  -6.1

2025-03-12T23:35:31.496Z,1741822531.496 [DAT](INFO): got valid direction response:
 23:35:30.1668 LVL= 18672, 18417, 25490, 29939, AGC= 65, IDX= 400,-0.01,-1.032,-0.779,-2.782,-1.242, PHS= 0.179, 0.436,-1.544, RAW=  23.1,  10.0, CAL=  27.7,   6.1, ROT= 122.3,  -6.1

2025-03-12T23:35:31.497Z,1741822531.497 [DAT](INFO): DAT read: $Error in header

2025-03-12T23:35:31.497Z,1741822531.497 [DAT](INFO): Received a bad header
2025-03-12T23:35:31.511Z,1741822531.511 [DAT](INFO): #Rx 128: Read direction message, but no range.
2025-03-12T23:35:31.512Z,1741822531.512 [DAT](INFO): direction in FSK: [-0.531327,0.840476,0.106264]
2025-03-12T23:35:43.341Z,1741822543.341 [DAT](INFO): DAT read: Rx Time:23:35:42.6091

2025-03-12T23:35:43.341Z,1741822543.341 [DAT](INFO): Rx dataTimestamp_ set to:1741822543.340919
2025-03-12T23:35:43.863Z,1741822543.863 [DAT](INFO): DAT read: 23:35:42.6091 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 413, 0.32,-1.974,-1.819, 2.516,-2.342, PHS= 0.337, 0.496,-1.429, RAW=  25.7,   6.5, CAL=  31.3,   1.2, ROT= 118.7,  -1.2

2025-03-12T23:35:43.866Z,1741822543.866 [DAT](INFO): got valid direction response:
 23:35:42.6091 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 413, 0.32,-1.974,-1.819, 2.516,-2.342, PHS= 0.337, 0.496,-1.429, RAW=  25.7,   6.5, CAL=  31.3,   1.2, ROT= 118.7,  -1.2

2025-03-12T23:35:43.882Z,1741822543.882 [DAT](INFO): DAT read: $Error in header

2025-03-12T23:35:43.883Z,1741822543.883 [DAT](INFO): Received a bad header
2025-03-12T23:35:43.896Z,1741822543.896 [DAT](INFO): #Rx 129: Read direction message, but no range.
2025-03-12T23:35:43.898Z,1741822543.898 [DAT](INFO): direction in FSK: [-0.480118,0.876954,0.020942]
2025-03-12T23:35:55.694Z,1741822555.694 [DAT](INFO): DAT read: Rx Time:23:35:55.0515

2025-03-12T23:35:55.696Z,1741822555.696 [DAT](INFO): Rx dataTimestamp_ set to:1741822555.694703
2025-03-12T23:35:56.203Z,1741822556.203 [DAT](INFO): DAT read: 23:35:55.0515 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 412,-0.12, 3.046,-2.911, 1.325, 2.861, PHS= 0.154, 0.484,-1.540, RAW=  21.2,   9.6, CAL=  25.8,   5.7, ROT= 124.2,  -5.7

2025-03-12T23:35:56.204Z,1741822556.204 [DAT](INFO): got valid direction response:
 23:35:55.0515 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 412,-0.12, 3.046,-2.911, 1.325, 2.861, PHS= 0.154, 0.484,-1.540, RAW=  21.2,   9.6, CAL=  25.8,   5.7, ROT= 124.2,  -5.7

2025-03-12T23:35:56.205Z,1741822556.205 [DAT](INFO): DAT read: $Error in header

2025-03-12T23:35:56.205Z,1741822556.205 [DAT](INFO): Received a bad header
2025-03-12T23:35:56.219Z,1741822556.219 [DAT](INFO): #Rx 130: Read direction message, but no range.
2025-03-12T23:35:56.220Z,1741822556.220 [DAT](INFO): direction in FSK: [-0.559304,0.822991,0.099320]
2025-03-12T23:36:08.297Z,1741822568.297 [DAT](INFO): DAT read: Rx Time:23:36:07.4942

2025-03-12T23:36:08.298Z,1741822568.298 [DAT](INFO): Rx dataTimestamp_ set to:1741822568.297050
2025-03-12T23:36:08.806Z,1741822568.806 [DAT](INFO): DAT read: 23:36:07.4943 LVL= 32752, 28657, 32754, 32755, AGC= 64, IDX= 413, 0.15,-2.315,-1.944, 2.252,-2.453, PHS= 0.108, 0.482,-1.582, RAW=  20.2,  10.4, CAL=  24.5,   6.9, ROT= 125.5,  -6.9

2025-03-12T23:36:08.807Z,1741822568.807 [DAT](INFO): got valid direction response:
 23:36:07.4943 LVL= 32752, 28657, 32754, 32755, AGC= 64, IDX= 413, 0.15,-2.315,-1.944, 2.252,-2.453, PHS= 0.108, 0.482,-1.582, RAW=  20.2,  10.4, CAL=  24.5,   6.9, ROT= 125.5,  -6.9

2025-03-12T23:36:08.808Z,1741822568.808 [DAT](INFO): DAT read: $Error in header

2025-03-12T23:36:08.808Z,1741822568.808 [DAT](INFO): Received a bad header
2025-03-12T23:36:08.819Z,1741822568.819 [DAT](INFO): #Rx 131: Read direction message, but no range.
2025-03-12T23:36:08.821Z,1741822568.821 [DAT](INFO): direction in FSK: [-0.576497,0.808219,0.120137]
2025-03-12T23:36:20.657Z,1741822580.657 [DAT](INFO): DAT read: Rx Time:23:36:19.9372

2025-03-12T23:36:20.657Z,1741822580.657 [DAT](INFO): Rx dataTimestamp_ set to:1741822580.656809
2025-03-12T23:36:21.172Z,1741822581.172 [DAT](INFO): DAT read: 23:36:19.9372 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 417, 0.08, 1.565, 1.816,-0.053, 1.282, PHS= 0.252, 0.507,-1.339, RAW=  22.7,   6.8, CAL=  28.1,   1.8, ROT= 121.9,  -1.8

2025-03-12T23:36:21.179Z,1741822581.179 [DAT](INFO): got valid direction response:
 23:36:19.9372 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 417, 0.08, 1.565, 1.816,-0.053, 1.282, PHS= 0.252, 0.507,-1.339, RAW=  22.7,   6.8, CAL=  28.1,   1.8, ROT= 121.9,  -1.8

2025-03-12T23:36:21.181Z,1741822581.181 [DAT](INFO): DAT read: bearing request

2025-03-12T23:36:21.181Z,1741822581.181 [DAT](INFO): received a bearing request message
2025-03-12T23:36:21.183Z,1741822581.183 [DAT](INFO): DAT read: Tx time:23:36:21.5400

2025-03-12T23:36:21.188Z,1741822581.188 [DAT](INFO): Ping request sent.
2025-03-12T23:36:21.189Z,1741822581.189 [DAT](INFO): transmitted an acoustic signal
2025-03-12T23:36:21.190Z,1741822581.190 [DAT](INFO): #Rx 132: Read direction message, but no range.
2025-03-12T23:36:21.197Z,1741822581.197 [DAT](INFO): direction in FSK: [-0.528178,0.848553,0.031411]
2025-03-12T23:36:21.197Z,1741822581.197 [DAT](INFO): publishing transmit ping time
2025-03-12T23:36:21.199Z,1741822581.199 [DAT](INFO): publishing range request flag
2025-03-12T23:36:21.230Z,1741822581.230 [DAT](INFO): publishing transmit ping time
2025-03-12T23:36:21.230Z,1741822581.230 [DAT](INFO): publishing range request flag
2025-03-12T23:36:33.024Z,1741822593.024 [DAT](INFO): DAT read: Rx Time:23:36:32.3802

2025-03-12T23:36:33.025Z,1741822593.025 [DAT](INFO): Rx dataTimestamp_ set to:1741822593.024559
2025-03-12T23:36:33.542Z,1741822593.542 [DAT](INFO): DAT read: 23:36:32.3802 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 199,-0.04, 0.471, 1.039,-1.101, 0.564, PHS=-0.124, 0.448,-1.670, RAW=  14.9,  14.1, CAL=  18.3,  12.3, ROT= 131.7, -12.3

2025-03-12T23:36:33.549Z,1741822593.549 [DAT](INFO): got valid direction response:
 23:36:32.3802 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 199,-0.04, 0.471, 1.039,-1.101, 0.564, PHS=-0.124, 0.448,-1.670, RAW=  14.9,  14.1, CAL=  18.3,  12.3, ROT= 131.7, -12.3

2025-03-12T23:36:33.549Z,1741822593.549 [DAT](INFO): DAT read: $Error in header

2025-03-12T23:36:33.550Z,1741822593.550 [DAT](INFO): Received a bad header
2025-03-12T23:36:33.576Z,1741822593.576 [DAT](INFO): #Rx 133: Read direction message, but no range.
2025-03-12T23:36:33.577Z,1741822593.577 [DAT](INFO): direction in FSK: [-0.649960,0.729500,0.213030]
2025-03-12T23:36:45.382Z,1741822605.382 [DAT](INFO): DAT read: Rx Time:23:36:44.8237

2025-03-12T23:36:45.384Z,1741822605.384 [DAT](INFO): Rx dataTimestamp_ set to:1741822605.382869
2025-03-12T23:36:46.142Z,1741822606.142 [DAT](INFO): DAT read: 23:36:44.8237 LVL= 32752, 29297, 32754, 32755, AGC= 66, IDX= 415, 0.35, 0.439, 0.846,-1.216, 0.255, PHS= 0.153, 0.564,-1.475, RAW=  19.0,   8.2, CAL=  23.8,   3.8, ROT= 126.2,  -3.8

2025-03-12T23:36:46.143Z,1741822606.143 [DAT](INFO): got valid direction response:
 23:36:44.8237 LVL= 32752, 29297, 32754, 32755, AGC= 66, IDX= 415, 0.35, 0.439, 0.846,-1.216, 0.255, PHS= 0.153, 0.564,-1.475, RAW=  19.0,   8.2, CAL=  23.8,   3.8, ROT= 126.2,  -3.8

2025-03-12T23:36:46.144Z,1741822606.144 [DAT](INFO): DAT read: $Error in header

2025-03-12T23:36:46.144Z,1741822606.144 [DAT](INFO): Received a bad header
2025-03-12T23:36:46.156Z,1741822606.156 [DAT](INFO): #Rx 134: Read direction message, but no range.
2025-03-12T23:36:46.157Z,1741822606.157 [DAT](INFO): direction in FSK: [-0.589307,0.805186,0.066274]
2025-03-12T23:36:57.982Z,1741822617.982 [DAT](INFO): DAT read: Rx Time:23:36:57.2674

2025-03-12T23:36:57.983Z,1741822617.983 [DAT](INFO): Rx dataTimestamp_ set to:1741822617.982623
2025-03-12T23:36:58.494Z,1741822618.494 [DAT](INFO): DAT read: 23:36:57.2674 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 427, 0.22,-0.017, 0.414,-1.505,-0.148, PHS= 0.100, 0.535,-1.361, RAW=  17.4,   8.5, CAL=  22.0,   4.3, ROT= 128.0,  -4.3

2025-03-12T23:36:58.495Z,1741822618.495 [DAT](INFO): got valid direction response:
 23:36:57.2674 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 427, 0.22,-0.017, 0.414,-1.505,-0.148, PHS= 0.100, 0.535,-1.361, RAW=  17.4,   8.5, CAL=  22.0,   4.3, ROT= 128.0,  -4.3

2025-03-12T23:36:58.496Z,1741822618.496 [DAT](INFO): DAT read: bearing request

2025-03-12T23:36:58.496Z,1741822618.496 [DAT](INFO): received a bearing request message
2025-03-12T23:36:58.497Z,1741822618.497 [DAT](INFO): DAT read: Tx time:23:36:58.8703

2025-03-12T23:36:58.497Z,1741822618.497 [DAT](INFO): Ping request sent.
2025-03-12T23:36:58.497Z,1741822618.497 [DAT](INFO): transmitted an acoustic signal
2025-03-12T23:36:58.498Z,1741822618.498 [DAT](INFO): #Rx 135: Read direction message, but no range.
2025-03-12T23:36:58.499Z,1741822618.499 [DAT](INFO): direction in FSK: [-0.613928,0.785793,0.074979]
2025-03-12T23:36:58.499Z,1741822618.499 [DAT](INFO): publishing transmit ping time
2025-03-12T23:36:58.499Z,1741822618.499 [DAT](INFO): publishing range request flag
2025-03-12T23:36:58.502Z,1741822618.502 [DAT](INFO): publishing transmit ping time
2025-03-12T23:36:58.503Z,1741822618.503 [DAT](INFO): publishing range request flag
2025-03-12T23:37:10.341Z,1741822630.341 [DAT](INFO): DAT read: Rx Time:23:37:09.7114

2025-03-12T23:37:10.342Z,1741822630.342 [DAT](INFO): Rx dataTimestamp_ set to:1741822630.341507
2025-03-12T23:37:10.861Z,1741822630.861 [DAT](INFO): DAT read: 23:37:09.7115 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 330, 0.17, 0.393, 0.949,-1.080, 0.525, PHS=-0.163, 0.397,-1.609, RAW=  14.3,  15.2, CAL=  17.6,  13.9, ROT= 132.4, -13.9

2025-03-12T23:37:10.862Z,1741822630.862 [DAT](INFO): got valid direction response:
 23:37:09.7115 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 330, 0.17, 0.393, 0.949,-1.080, 0.525, PHS=-0.163, 0.397,-1.609, RAW=  14.3,  15.2, CAL=  17.6,  13.9, ROT= 132.4, -13.9

2025-03-12T23:37:10.862Z,1741822630.862 [DAT](INFO): DAT read: bearing request

2025-03-12T23:37:10.862Z,1741822630.862 [DAT](INFO): received a bearing request message
2025-03-12T23:37:10.863Z,1741822630.863 [DAT](INFO): DAT read: Tx time:23:37:11.3143

2025-03-12T23:37:10.863Z,1741822630.863 [DAT](INFO): Ping request sent.
2025-03-12T23:37:10.864Z,1741822630.864 [DAT](INFO): transmitted an acoustic signal
2025-03-12T23:37:10.864Z,1741822630.864 [DAT](INFO): #Rx 136: Read direction message, but no range.
2025-03-12T23:37:10.865Z,1741822630.865 [DAT](INFO): direction in FSK: [-0.654556,0.716831,0.240228]
2025-03-12T23:37:10.865Z,1741822630.865 [DAT](INFO): publishing transmit ping time
2025-03-12T23:37:10.865Z,1741822630.865 [DAT](INFO): publishing range request flag
2025-03-12T23:37:10.869Z,1741822630.869 [DAT](INFO): publishing transmit ping time
2025-03-12T23:37:10.869Z,1741822630.869 [DAT](INFO): publishing range request flag
2025-03-12T23:37:22.954Z,1741822642.954 [DAT](INFO): DAT read: Rx Time:23:37:22.1556

2025-03-12T23:37:22.956Z,1741822642.956 [DAT](INFO): Rx dataTimestamp_ set to:1741822642.954582
2025-03-12T23:37:23.477Z,1741822643.477 [DAT](INFO): DAT read: 23:37:22.1556 LVL= 32752, 29169, 32754, 32755, AGC= 63, IDX= 444,-0.49,-1.515,-1.001,-2.844,-1.685, PHS= 0.138, 0.656,-1.163, RAW=  14.0,   4.6, CAL=  18.4,  -1.3, ROT= 131.6,   1.3

2025-03-12T23:37:23.478Z,1741822643.478 [DAT](INFO): got valid direction response:
 23:37:22.1556 LVL= 32752, 29169, 32754, 32755, AGC= 63, IDX= 444,-0.49,-1.515,-1.001,-2.844,-1.685, PHS= 0.138, 0.656,-1.163, RAW=  14.0,   4.6, CAL=  18.4,  -1.3, ROT= 131.6,   1.3

2025-03-12T23:37:23.479Z,1741822643.479 [DAT](INFO): DAT read: bearing request

2025-03-12T23:37:23.479Z,1741822643.479 [DAT](INFO): received a bearing request message
2025-03-12T23:37:23.480Z,1741822643.480 [DAT](INFO): DAT read: Tx time:23:37:23.7584

2025-03-12T23:37:23.480Z,1741822643.480 [DAT](INFO): Ping request sent.
2025-03-12T23:37:23.480Z,1741822643.480 [DAT](INFO): transmitted an acoustic signal
2025-03-12T23:37:23.480Z,1741822643.480 [DAT](INFO): #Rx 137: Read direction message, but no range.
2025-03-12T23:37:23.481Z,1741822643.481 [DAT](INFO): direction in FSK: [-0.663755,0.747606,-0.022687]
2025-03-12T23:37:23.482Z,1741822643.482 [DAT](INFO): publishing transmit ping time
2025-03-12T23:37:23.482Z,1741822643.482 [DAT](INFO): publishing range request flag
2025-03-12T23:37:23.485Z,1741822643.485 [DAT](INFO): publishing transmit ping time
2025-03-12T23:37:23.485Z,1741822643.485 [DAT](INFO): publishing range request flag
2025-03-12T23:37:35.312Z,1741822655.312 [DAT](INFO): DAT read: Rx Time:23:37:34.6003

2025-03-12T23:37:35.313Z,1741822655.313 [DAT](INFO): Rx dataTimestamp_ set to:1741822655.312625
2025-03-12T23:37:35.821Z,1741822655.821 [DAT](INFO): DAT read: 23:37:34.6004 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 449, 0.07,-0.815,-0.207,-2.217,-0.738, PHS=-0.108, 0.504,-1.483, RAW=  12.5,  12.3, CAL=  16.0,  10.0, ROT= 134.0, -10.0

2025-03-12T23:37:35.822Z,1741822655.822 [DAT](INFO): got valid direction response:
 23:37:34.6004 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 449, 0.07,-0.815,-0.207,-2.217,-0.738, PHS=-0.108, 0.504,-1.483, RAW=  12.5,  12.3, CAL=  16.0,  10.0, ROT= 134.0, -10.0

2025-03-12T23:37:35.825Z,1741822655.825 [DAT](INFO): DAT read: bearing request

2025-03-12T23:37:35.826Z,1741822655.826 [DAT](INFO): received a bearing request message
2025-03-12T23:37:35.828Z,1741822655.828 [DAT](INFO): DAT read: Tx time:23:37:36.2033

2025-03-12T23:37:35.828Z,1741822655.828 [DAT](INFO): Ping request sent.
2025-03-12T23:37:35.828Z,1741822655.828 [DAT](INFO): transmitted an acoustic signal
2025-03-12T23:37:35.828Z,1741822655.828 [DAT](INFO): #Rx 138: Read direction message, but no range.
2025-03-12T23:37:35.830Z,1741822655.830 [DAT](INFO): direction in FSK: [-0.684105,0.708411,0.173648]
2025-03-12T23:37:35.830Z,1741822655.830 [DAT](INFO): publishing transmit ping time
2025-03-12T23:37:35.830Z,1741822655.830 [DAT](INFO): publishing range request flag
2025-03-12T23:37:35.833Z,1741822655.833 [DAT](INFO): publishing transmit ping time
2025-03-12T23:37:35.834Z,1741822655.834 [DAT](INFO): publishing range request flag
2025-03-12T23:37:47.684Z,1741822667.684 [DAT](INFO): DAT read: Rx Time:23:37:47.0453

2025-03-12T23:37:47.685Z,1741822667.685 [DAT](INFO): Rx dataTimestamp_ set to:1741822667.684416
2025-03-12T23:37:48.200Z,1741822668.200 [DAT](INFO): DAT read: 23:37:47.0453 LVL= 32672, 23729, 32754, 32755, AGC= 64, IDX= 201,-0.14,-1.677,-1.110,-3.090,-1.715, PHS= 0.007, 0.579,-1.379, RAW=  13.5,   9.1, CAL=  17.5,   5.4, ROT= 132.5,  -5.4

2025-03-12T23:37:48.203Z,1741822668.203 [DAT](INFO): got valid direction response:
 23:37:47.0453 LVL= 32672, 23729, 32754, 32755, AGC= 64, IDX= 201,-0.14,-1.677,-1.110,-3.090,-1.715, PHS= 0.007, 0.579,-1.379, RAW=  13.5,   9.1, CAL=  17.5,   5.4, ROT= 132.5,  -5.4

2025-03-12T23:37:48.221Z,1741822668.221 [DAT](INFO): DAT read: bearing request

2025-03-12T23:37:48.221Z,1741822668.221 [DAT](INFO): received a bearing request message
2025-03-12T23:37:48.223Z,1741822668.223 [DAT](INFO): DAT read: Tx time:23:37:48.6481

2025-03-12T23:37:48.236Z,1741822668.236 [DAT](INFO): Ping request sent.
2025-03-12T23:37:48.236Z,1741822668.236 [DAT](INFO): transmitted an acoustic signal
2025-03-12T23:37:48.237Z,1741822668.237 [DAT](INFO): #Rx 139: Read direction message, but no range.
2025-03-12T23:37:48.273Z,1741822668.273 [DAT](INFO): direction in FSK: [-0.672592,0.734005,0.094108]
2025-03-12T23:37:48.278Z,1741822668.278 [DAT](INFO): publishing transmit ping time
2025-03-12T23:37:48.279Z,1741822668.279 [DAT](INFO): publishing range request flag
2025-03-12T23:37:48.347Z,1741822668.347 [DAT](INFO): publishing transmit ping time
2025-03-12T23:37:48.348Z,1741822668.348 [DAT](INFO): publishing range request flag
2025-03-12T23:38:00.292Z,1741822680.292 [DAT](INFO): DAT read: Rx Time:23:37:59.4908

2025-03-12T23:38:00.293Z,1741822680.293 [DAT](INFO): Rx dataTimestamp_ set to:1741822680.292470
2025-03-12T23:38:00.808Z,1741822680.808 [DAT](INFO): DAT read: 23:37:59.4908 LVL= 32752, 25761, 32754, 32755, AGC= 66, IDX= 183,-0.01,-0.977,-0.286,-2.221,-1.067, PHS= 0.059, 0.753,-1.159, RAW=   9.0,   4.2, CAL=  11.7,  -2.3, ROT= 138.3,   2.3

2025-03-12T23:38:00.810Z,1741822680.810 [DAT](INFO): got valid direction response:
 23:37:59.4908 LVL= 32752, 25761, 32754, 32755, AGC= 66, IDX= 183,-0.01,-0.977,-0.286,-2.221,-1.067, PHS= 0.059, 0.753,-1.159, RAW=   9.0,   4.2, CAL=  11.7,  -2.3, ROT= 138.3,   2.3

2025-03-12T23:38:00.816Z,1741822680.816 [DAT](INFO): DAT read: bearing request

2025-03-12T23:38:00.817Z,1741822680.817 [DAT](INFO): received a bearing request message
2025-03-12T23:38:00.818Z,1741822680.818 [DAT](INFO): DAT read: Tx time:23:38:01.0936

2025-03-12T23:38:00.818Z,1741822680.818 [DAT](INFO): Ping request sent.
2025-03-12T23:38:00.818Z,1741822680.818 [DAT](INFO): transmitted an acoustic signal
2025-03-12T23:38:00.818Z,1741822680.818 [DAT](INFO): #Rx 140: Read direction message, but no range.
2025-03-12T23:38:00.825Z,1741822680.825 [DAT](INFO): direction in FSK: [-0.746037,0.664694,-0.040132]
2025-03-12T23:38:00.825Z,1741822680.825 [DAT](INFO): publishing transmit ping time
2025-03-12T23:38:00.826Z,1741822680.826 [DAT](INFO): publishing range request flag
2025-03-12T23:38:00.848Z,1741822680.848 [DAT](INFO): publishing transmit ping time
2025-03-12T23:38:00.848Z,1741822680.848 [DAT](INFO): publishing range request flag
2025-03-12T23:38:12.656Z,1741822692.656 [DAT](INFO): DAT read: Rx Time:23:38:11.9365

2025-03-12T23:38:12.657Z,1741822692.657 [DAT](INFO): Rx dataTimestamp_ set to:1741822692.656484
2025-03-12T23:38:13.169Z,1741822693.169 [DAT](INFO): DAT read: 23:38:11.9365 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 184, 0.46,-0.143, 0.617,-1.452, 0.038, PHS=-0.212, 0.552,-1.494, RAW=   8.3,  12.8, CAL=  11.7,  11.2, ROT= 138.3, -11.2

2025-03-12T23:38:13.170Z,1741822693.170 [DAT](INFO): got valid direction response:
 23:38:11.9365 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 184, 0.46,-0.143, 0.617,-1.452, 0.038, PHS=-0.212, 0.552,-1.494, RAW=   8.3,  12.8, CAL=  11.7,  11.2, ROT= 138.3, -11.2

2025-03-12T23:38:13.170Z,1741822693.170 [DAT](INFO): DAT read: bearing request

2025-03-12T23:38:13.171Z,1741822693.171 [DAT](INFO): received a bearing request message
2025-03-12T23:38:13.171Z,1741822693.171 [DAT](INFO): DAT read: Tx time:23:38:13.5393

2025-03-12T23:38:13.172Z,1741822693.172 [DAT](INFO): Ping request sent.
2025-03-12T23:38:13.172Z,1741822693.172 [DAT](INFO): transmitted an acoustic signal
2025-03-12T23:38:13.172Z,1741822693.172 [DAT](INFO): #Rx 141: Read direction message, but no range.
2025-03-12T23:38:13.173Z,1741822693.173 [DAT](INFO): direction in FSK: [-0.732419,0.652561,0.194234]
2025-03-12T23:38:13.173Z,1741822693.173 [DAT](INFO): publishing transmit ping time
2025-03-12T23:38:13.174Z,1741822693.174 [DAT](INFO): publishing range request flag
2025-03-12T23:38:13.177Z,1741822693.177 [DAT](INFO): publishing transmit ping time
2025-03-12T23:38:13.177Z,1741822693.177 [DAT](INFO): publishing range request flag
2025-03-12T23:38:25.020Z,1741822705.020 [DAT](INFO): DAT read: Rx Time:23:38:24.3827

2025-03-12T23:38:25.021Z,1741822705.021 [DAT](INFO): Rx dataTimestamp_ set to:1741822705.020682
2025-03-12T23:38:25.536Z,1741822705.536 [DAT](INFO): DAT read: 23:38:24.3827 LVL= 32752, 27505, 32754, 32755, AGC= 64, IDX= 189,-0.02, 0.312, 1.228,-0.792, 0.235, PHS= 0.046, 0.966,-1.031, RAW=   2.6,   0.2, CAL=   2.6,  -7.6, ROT= 147.4,   7.6

2025-03-12T23:38:25.539Z,1741822705.539 [DAT](INFO): got valid direction response:
 23:38:24.3827 LVL= 32752, 27505, 32754, 32755, AGC= 64, IDX= 189,-0.02, 0.312, 1.228,-0.792, 0.235, PHS= 0.046, 0.966,-1.031, RAW=   2.6,   0.2, CAL=   2.6,  -7.6, ROT= 147.4,   7.6

2025-03-12T23:38:25.541Z,1741822705.541 [DAT](INFO): DAT read: bearing request

2025-03-12T23:38:25.542Z,1741822705.542 [DAT](INFO): received a bearing request message
2025-03-12T23:38:25.543Z,1741822705.543 [DAT](INFO): DAT read: Tx time:23:38:25.9855

2025-03-12T23:38:25.546Z,1741822705.546 [DAT](INFO): Ping request sent.
2025-03-12T23:38:25.546Z,1741822705.546 [DAT](INFO): transmitted an acoustic signal
2025-03-12T23:38:25.547Z,1741822705.547 [DAT](INFO): #Rx 142: Read direction message, but no range.
2025-03-12T23:38:25.550Z,1741822705.550 [DAT](INFO): direction in FSK: [-0.835052,0.534038,-0.132256]
2025-03-12T23:38:25.550Z,1741822705.550 [DAT](INFO): publishing transmit ping time
2025-03-12T23:38:25.552Z,1741822705.552 [DAT](INFO): publishing range request flag
2025-03-12T23:38:25.562Z,1741822705.562 [DAT](INFO): publishing transmit ping time
2025-03-12T23:38:25.563Z,1741822705.563 [DAT](INFO): publishing range request flag
2025-03-12T23:38:37.380Z,1741822717.380 [DAT](INFO): DAT read: Rx Time:23:38:36.8293

2025-03-12T23:38:37.381Z,1741822717.381 [DAT](INFO): Rx dataTimestamp_ set to:1741822717.380550
2025-03-12T23:38:38.142Z,1741822718.142 [DAT](INFO): DAT read: 23:38:36.8293 LVL= 32752, 28721, 32754, 32755, AGC= 63, IDX= 199,-0.01,-0.569, 0.424,-1.662,-0.423, PHS=-0.177, 0.820,-1.243, RAW=   1.1,   6.8, CAL=   1.6,   2.6, ROT= 148.4,  -2.6

2025-03-12T23:38:38.143Z,1741822718.143 [DAT](INFO): got valid direction response:
 23:38:36.8293 LVL= 32752, 28721, 32754, 32755, AGC= 63, IDX= 199,-0.01,-0.569, 0.424,-1.662,-0.423, PHS=-0.177, 0.820,-1.243, RAW=   1.1,   6.8, CAL=   1.6,   2.6, ROT= 148.4,  -2.6

2025-03-12T23:38:38.144Z,1741822718.144 [DAT](INFO): DAT read: bearing request

2025-03-12T23:38:38.144Z,1741822718.144 [DAT](INFO): received a bearing request message
2025-03-12T23:38:38.145Z,1741822718.145 [DAT](INFO): DAT read: Tx time:23:38:38.4322

2025-03-12T23:38:38.145Z,1741822718.145 [DAT](INFO): Ping request sent.
2025-03-12T23:38:38.145Z,1741822718.145 [DAT](INFO): transmitted an acoustic signal
2025-03-12T23:38:38.146Z,1741822718.146 [DAT](INFO): #Rx 143: Read direction message, but no range.
2025-03-12T23:38:38.147Z,1741822718.147 [DAT](INFO): direction in FSK: [-0.850850,0.523447,0.045363]
2025-03-12T23:38:38.147Z,1741822718.147 [DAT](INFO): publishing transmit ping time
2025-03-12T23:38:38.154Z,1741822718.154 [DAT](INFO): publishing range request flag
2025-03-12T23:38:38.176Z,1741822718.176 [DAT](INFO): publishing transmit ping time
2025-03-12T23:38:38.177Z,1741822718.177 [DAT](INFO): publishing range request flag
2025-03-12T23:38:49.986Z,1741822729.986 [DAT](INFO): DAT read: Rx Time:23:38:49.2766

2025-03-12T23:38:49.988Z,1741822729.988 [DAT](INFO): Rx dataTimestamp_ set to:1741822729.986335
2025-03-12T23:38:50.492Z,1741822730.492 [DAT](INFO): DAT read: 23:38:49.2766 LVL= 32752, 27041, 32754, 32755, AGC= 59, IDX= 439,-0.23,-2.722,-1.638, 2.561,-2.477, PHS=-0.276, 0.811,-1.250, RAW= 358.2,   8.1, CAL= 359.3,   6.1, ROT= 150.7,  -6.1

2025-03-12T23:38:50.494Z,1741822730.494 [DAT](INFO): got valid direction response:
 23:38:49.2766 LVL= 32752, 27041, 32754, 32755, AGC= 59, IDX= 439,-0.23,-2.722,-1.638, 2.561,-2.477, PHS=-0.276, 0.811,-1.250, RAW= 358.2,   8.1, CAL= 359.3,   6.1, ROT= 150.7,  -6.1

2025-03-12T23:38:50.494Z,1741822730.494 [DAT](INFO): DAT read: bearing request

2025-03-12T23:38:50.494Z,1741822730.494 [DAT](INFO): received a bearing request message
2025-03-12T23:38:50.495Z,1741822730.495 [DAT](INFO): DAT read: Tx time:23:38:50.8794

2025-03-12T23:38:50.495Z,1741822730.495 [DAT](INFO): Ping request sent.
2025-03-12T23:38:50.496Z,1741822730.496 [DAT](INFO): transmitted an acoustic signal
2025-03-12T23:38:50.496Z,1741822730.496 [DAT](INFO): #Rx 144: Read direction message, but no range.
2025-03-12T23:38:50.497Z,1741822730.497 [DAT](INFO): direction in FSK: [-0.867132,0.486612,0.106264]
2025-03-12T23:38:50.497Z,1741822730.497 [DAT](INFO): publishing transmit ping time
2025-03-12T23:38:50.497Z,1741822730.497 [DAT](INFO): publishing range request flag
2025-03-12T23:38:50.501Z,1741822730.501 [DAT](INFO): publishing transmit ping time
2025-03-12T23:38:50.501Z,1741822730.501 [DAT](INFO): publishing range request flag
2025-03-12T23:39:02.338Z,1741822742.338 [DAT](INFO): DAT read: Rx Time:23:39:01.7259

2025-03-12T23:39:02.340Z,1741822742.340 [DAT](INFO): Rx dataTimestamp_ set to:1741822742.339041
2025-03-12T23:39:03.097Z,1741822743.097 [DAT](INFO): DAT read: 23:39:01.7260 LVL= 32752, 30961, 32754, 32755, AGC= 54, IDX= 460, 0.35,-1.041, 0.300,-1.675,-0.672, PHS=-0.400, 0.945,-1.007, RAW= 347.7,   5.4, CAL= 347.8,   3.8, ROT= 162.2,  -3.8

2025-03-12T23:39:03.098Z,1741822743.098 [DAT](INFO): got valid direction response:
 23:39:01.7260 LVL= 32752, 30961, 32754, 32755, AGC= 54, IDX= 460, 0.35,-1.041, 0.300,-1.675,-0.672, PHS=-0.400, 0.945,-1.007, RAW= 347.7,   5.4, CAL= 347.8,   3.8, ROT= 162.2,  -3.8

2025-03-12T23:39:03.098Z,1741822743.098 [DAT](INFO): DAT read: bearing request

2025-03-12T23:39:03.098Z,1741822743.098 [DAT](INFO): received a bearing request message
2025-03-12T23:39:03.102Z,1741822743.102 [DAT](INFO): DAT read: Tx time:23:39:03.3289

2025-03-12T23:39:03.103Z,1741822743.103 [DAT](INFO): Ping request sent.
2025-03-12T23:39:03.103Z,1741822743.103 [DAT](INFO): transmitted an acoustic signal
2025-03-12T23:39:03.103Z,1741822743.103 [DAT](INFO): #Rx 145: Read direction message, but no range.
2025-03-12T23:39:03.104Z,1741822743.104 [DAT](INFO): direction in FSK: [-0.950036,0.305023,0.066274]
2025-03-12T23:39:03.104Z,1741822743.104 [DAT](INFO): publishing transmit ping time
2025-03-12T23:39:03.105Z,1741822743.105 [DAT](INFO): publishing range request flag
2025-03-12T23:39:03.153Z,1741822743.153 [DAT](INFO): publishing transmit ping time
2025-03-12T23:39:03.153Z,1741822743.153 [DAT](INFO): publishing range request flag
2025-03-12T23:39:14.944Z,1741822754.944 [DAT](INFO): DAT read: Rx Time:23:39:14.1725

2025-03-12T23:39:14.945Z,1741822754.945 [DAT](INFO): Rx dataTimestamp_ set to:1741822754.944638
2025-03-12T23:39:15.465Z,1741822755.465 [DAT](INFO): DAT read: 23:39:14.1725 LVL= 32752, 25265, 32754, 32755, AGC= 64, IDX= 422, 0.41,-3.023,-1.643, 2.643,-2.491, PHS=-0.563, 0.821,-1.153, RAW= 346.9,  10.2, CAL= 350.7,  17.3, ROT= 159.3, -17.3

2025-03-12T23:39:15.485Z,1741822755.485 [DAT](INFO): got valid direction response:
 23:39:14.1725 LVL= 32752, 25265, 32754, 32755, AGC= 64, IDX= 422, 0.41,-3.023,-1.643, 2.643,-2.491, PHS=-0.563, 0.821,-1.153, RAW= 346.9,  10.2, CAL= 350.7,  17.3, ROT= 159.3, -17.3

2025-03-12T23:39:15.487Z,1741822755.487 [DAT](INFO): DAT read: bearing request

2025-03-12T23:39:15.496Z,1741822755.496 [DAT](INFO): received a bearing request message
2025-03-12T23:39:15.497Z,1741822755.497 [DAT](INFO): DAT read: Tx time:23:39:15.7753

2025-03-12T23:39:15.498Z,1741822755.498 [DAT](INFO): Ping request sent.
2025-03-12T23:39:15.498Z,1741822755.498 [DAT](INFO): transmitted an acoustic signal
2025-03-12T23:39:15.508Z,1741822755.508 [DAT](INFO): #Rx 146: Read direction message, but no range.
2025-03-12T23:39:15.511Z,1741822755.511 [DAT](INFO): direction in FSK: [-0.893125,0.337484,0.297375]
2025-03-12T23:39:15.516Z,1741822755.516 [DAT](INFO): publishing transmit ping time
2025-03-12T23:39:15.517Z,1741822755.517 [DAT](INFO): publishing range request flag
2025-03-12T23:39:15.546Z,1741822755.546 [DAT](INFO): publishing transmit ping time
2025-03-12T23:39:15.547Z,1741822755.547 [DAT](INFO): publishing range request flag
2025-03-12T23:39:27.304Z,1741822767.304 [DAT](INFO): DAT read: Rx Time:23:39:26.6214

2025-03-12T23:39:27.305Z,1741822767.305 [DAT](INFO): Rx dataTimestamp_ set to:1741822767.304503
2025-03-12T23:39:27.833Z,1741822767.833 [DAT](INFO): DAT read: 23:39:26.6214 LVL= 32752, 26513, 32754, 32755, AGC= 58, IDX= 455, 0.09, 2.490,-2.374, 2.095, 3.009, PHS=-0.550, 0.874,-0.918, RAW= 341.2,   7.3, CAL= 342.6,  10.1, ROT= 167.4, -10.1

2025-03-12T23:39:27.834Z,1741822767.834 [DAT](INFO): got valid direction response:
 23:39:26.6214 LVL= 32752, 26513, 32754, 32755, AGC= 58, IDX= 455, 0.09, 2.490,-2.374, 2.095, 3.009, PHS=-0.550, 0.874,-0.918, RAW= 341.2,   7.3, CAL= 342.6,  10.1, ROT= 167.4, -10.1

2025-03-12T23:39:27.835Z,1741822767.835 [DAT](INFO): DAT read: bearing request

2025-03-12T23:39:27.835Z,1741822767.835 [DAT](INFO): received a bearing request message
2025-03-12T23:39:27.836Z,1741822767.836 [DAT](INFO): DAT read: Tx time:23:39:28.2243

2025-03-12T23:39:27.836Z,1741822767.836 [DAT](INFO): Ping request sent.
2025-03-12T23:39:27.836Z,1741822767.836 [DAT](INFO): transmitted an acoustic signal
2025-03-12T23:39:27.837Z,1741822767.837 [DAT](INFO): #Rx 147: Read direction message, but no range.
2025-03-12T23:39:27.838Z,1741822767.838 [DAT](INFO): direction in FSK: [-0.960793,0.214763,0.175367]
2025-03-12T23:39:27.838Z,1741822767.838 [DAT](INFO): publishing transmit ping time
2025-03-12T23:39:27.838Z,1741822767.838 [DAT](INFO): publishing range request flag
2025-03-12T23:39:27.850Z,1741822767.850 [DAT](INFO): publishing transmit ping time
2025-03-12T23:39:27.850Z,1741822767.850 [DAT](INFO): publishing range request flag
2025-03-12T23:39:39.682Z,1741822779.682 [DAT](INFO): DAT read: Rx Time:23:39:39.0710

2025-03-12T23:39:39.684Z,1741822779.684 [DAT](INFO): Rx dataTimestamp_ set to:1741822779.682828
2025-03-12T23:39:40.207Z,1741822780.207 [DAT](INFO): DAT read: 23:39:39.0710 LVL= 32752, 23025, 30530, 32755, AGC= 64, IDX= 447, 0.14, 0.223, 1.822,-0.021, 0.870, PHS=-0.678, 0.925,-0.895, RAW= 336.3,   7.6, CAL= 337.7,  10.6, ROT= 172.3, -10.6

2025-03-12T23:39:40.210Z,1741822780.210 [DAT](INFO): got valid direction response:
 23:39:39.0710 LVL= 32752, 23025, 30530, 32755, AGC= 64, IDX= 447, 0.14, 0.223, 1.822,-0.021, 0.870, PHS=-0.678, 0.925,-0.895, RAW= 336.3,   7.6, CAL= 337.7,  10.6, ROT= 172.3, -10.6

2025-03-12T23:39:40.212Z,1741822780.212 [DAT](INFO): DAT read: bearing request

2025-03-12T23:39:40.212Z,1741822780.212 [DAT](INFO): received a bearing request message
2025-03-12T23:39:40.214Z,1741822780.214 [DAT](INFO): DAT read: Tx time:23:39:40.6739

2025-03-12T23:39:40.214Z,1741822780.214 [DAT](INFO): Ping request sent.
2025-03-12T23:39:40.215Z,1741822780.215 [DAT](INFO): transmitted an acoustic signal
2025-03-12T23:39:40.217Z,1741822780.217 [DAT](INFO): #Rx 148: Read direction message, but no range.
2025-03-12T23:39:40.220Z,1741822780.220 [DAT](INFO): direction in FSK: [-0.974072,0.131700,0.183951]
2025-03-12T23:39:40.221Z,1741822780.221 [DAT](INFO): publishing transmit ping time
2025-03-12T23:39:40.222Z,1741822780.222 [DAT](INFO): publishing range request flag
2025-03-12T23:39:40.230Z,1741822780.230 [DAT](INFO): publishing transmit ping time
2025-03-12T23:39:40.231Z,1741822780.231 [DAT](INFO): publishing range request flag
2025-03-12T23:39:52.281Z,1741822792.281 [DAT](INFO): DAT read: Rx Time:23:39:51.5208

2025-03-12T23:39:52.281Z,1741822792.281 [DAT](INFO): Rx dataTimestamp_ set to:1741822792.280696
2025-03-12T23:39:52.796Z,1741822792.796 [DAT](INFO): DAT read: 23:39:51.5209 LVL= 32752, 28897, 32754, 32755, AGC= 63, IDX= 458,-0.16,-2.234,-0.628,-2.381,-1.545, PHS=-0.719, 0.891,-0.839, RAW= 333.6,   8.0, CAL= 335.1,  11.1, ROT= 174.9, -11.1

2025-03-12T23:39:52.799Z,1741822792.799 [DAT](INFO): got valid direction response:
 23:39:51.5209 LVL= 32752, 28897, 32754, 32755, AGC= 63, IDX= 458,-0.16,-2.234,-0.628,-2.381,-1.545, PHS=-0.719, 0.891,-0.839, RAW= 333.6,   8.0, CAL= 335.1,  11.1, ROT= 174.9, -11.1

2025-03-12T23:39:52.802Z,1741822792.802 [DAT](INFO): DAT read: bearing request

2025-03-12T23:39:52.802Z,1741822792.802 [DAT](INFO): received a bearing request message
2025-03-12T23:39:52.822Z,1741822792.822 [DAT](INFO): DAT read: Tx time:23:39:53.1238

2025-03-12T23:39:52.822Z,1741822792.822 [DAT](INFO): Ping request sent.
2025-03-12T23:39:52.822Z,1741822792.822 [DAT](INFO): transmitted an acoustic signal
2025-03-12T23:39:52.823Z,1741822792.823 [DAT](INFO): #Rx 149: Read direction message, but no range.
2025-03-12T23:39:52.829Z,1741822792.829 [DAT](INFO): direction in FSK: [-0.977408,0.087231,0.192522]
2025-03-12T23:39:52.829Z,1741822792.829 [DAT](INFO): publishing transmit ping time
2025-03-12T23:39:52.830Z,1741822792.830 [DAT](INFO): publishing range request flag
2025-03-12T23:39:52.838Z,1741822792.838 [DAT](INFO): publishing transmit ping time
2025-03-12T23:39:52.838Z,1741822792.838 [DAT](INFO): publishing range request flag
2025-03-12T23:40:04.632Z,1741822804.632 [DAT](INFO): DAT read: Rx Time:23:40:03.9713

2025-03-12T23:40:04.633Z,1741822804.633 [DAT](INFO): Rx dataTimestamp_ set to:1741822804.632467
2025-03-12T23:40:05.141Z,1741822805.141 [DAT](INFO): DAT read: 23:40:03.9713 LVL= 32752, 26865, 32754, 32755, AGC= 62, IDX= 443, 0.21,-2.960,-1.272,-3.026,-2.303, PHS=-0.688, 1.004,-0.727, RAW= 331.1,   4.9, CAL= 332.9,   4.1, ROT= 177.1,  -4.1

2025-03-12T23:40:05.142Z,1741822805.142 [DAT](INFO): got valid direction response:
 23:40:03.9713 LVL= 32752, 26865, 32754, 32755, AGC= 62, IDX= 443, 0.21,-2.960,-1.272,-3.026,-2.303, PHS=-0.688, 1.004,-0.727, RAW= 331.1,   4.9, CAL= 332.9,   4.1, ROT= 177.1,  -4.1

2025-03-12T23:40:05.142Z,1741822805.142 [DAT](INFO): DAT read: bearing request

2025-03-12T23:40:05.143Z,1741822805.143 [DAT](INFO): received a bearing request message
2025-03-12T23:40:05.143Z,1741822805.143 [DAT](INFO): DAT read: Tx time:23:40:05.5742

2025-03-12T23:40:05.144Z,1741822805.144 [DAT](INFO): Ping request sent.
2025-03-12T23:40:05.144Z,1741822805.144 [DAT](INFO): transmitted an acoustic signal
2025-03-12T23:40:05.144Z,1741822805.144 [DAT](INFO): #Rx 150: Read direction message, but no range.
2025-03-12T23:40:05.145Z,1741822805.145 [DAT](INFO): direction in FSK: [-0.996163,0.050463,0.071497]
2025-03-12T23:40:05.146Z,1741822805.146 [DAT](INFO): publishing transmit ping time
2025-03-12T23:40:05.147Z,1741822805.147 [DAT](INFO): publishing range request flag
2025-03-12T23:40:05.165Z,1741822805.165 [DAT](INFO): publishing transmit ping time
2025-03-12T23:40:05.165Z,1741822805.165 [DAT](INFO): publishing range request flag
2025-03-12T23:40:16.986Z,1741822816.986 [DAT](INFO): DAT read: Rx Time:23:40:16.4227

2025-03-12T23:40:16.987Z,1741822816.987 [DAT](INFO): Rx dataTimestamp_ set to:1741822816.986245
2025-03-12T23:40:17.746Z,1741822817.746 [DAT](INFO): DAT read: 23:40:16.4227 LVL= 32752, 25809, 32754, 32755, AGC= 59, IDX= 453,-0.39, 2.013,-2.607, 1.968, 2.685, PHS=-0.703, 0.965,-0.720, RAW= 330.5,   5.5, CAL= 332.3,   5.5, ROT= 177.7,  -5.5

2025-03-12T23:40:17.747Z,1741822817.747 [DAT](INFO): got valid direction response:
 23:40:16.4227 LVL= 32752, 25809, 32754, 32755, AGC= 59, IDX= 453,-0.39, 2.013,-2.607, 1.968, 2.685, PHS=-0.703, 0.965,-0.720, RAW= 330.5,   5.5, CAL= 332.3,   5.5, ROT= 177.7,  -5.5

2025-03-12T23:40:17.748Z,1741822817.748 [DAT](INFO): DAT read: $Error in header

2025-03-12T23:40:17.748Z,1741822817.748 [DAT](INFO): Received a bad header
2025-03-12T23:40:17.760Z,1741822817.760 [DAT](INFO): #Rx 151: Read direction message, but no range.
2025-03-12T23:40:17.761Z,1741822817.761 [DAT](INFO): direction in FSK: [-0.994594,0.039947,0.095846]
2025-03-12T23:40:29.590Z,1741822829.590 [DAT](INFO): DAT read: Rx Time:23:40:28.8745

2025-03-12T23:40:29.592Z,1741822829.592 [DAT](INFO): Rx dataTimestamp_ set to:1741822829.591108
2025-03-12T23:40:30.098Z,1741822830.098 [DAT](INFO): DAT read: 23:40:28.8745 LVL= 32752, 21873, 32754, 32755, AGC= 61, IDX= 499,-0.07, 1.593,-2.905, 1.580, 2.289, PHS=-0.726, 1.062,-0.713, RAW= 329.6,   4.3, CAL= 331.7,   3.0, ROT= 178.3,  -3.0

2025-03-12T23:40:30.099Z,1741822830.099 [DAT](INFO): got valid direction response:
 23:40:28.8745 LVL= 32752, 21873, 32754, 32755, AGC= 61, IDX= 499,-0.07, 1.593,-2.905, 1.580, 2.289, PHS=-0.726, 1.062,-0.713, RAW= 329.6,   4.3, CAL= 331.7,   3.0, ROT= 178.3,  -3.0

2025-03-12T23:40:30.105Z,1741822830.105 [DAT](INFO): DAT read: bearing request

2025-03-12T23:40:30.105Z,1741822830.105 [DAT](INFO): received a bearing request message
2025-03-12T23:40:30.106Z,1741822830.106 [DAT](INFO): DAT read: Tx time:23:40:30.4773

2025-03-12T23:40:30.106Z,1741822830.106 [DAT](INFO): Ping request sent.
2025-03-12T23:40:30.106Z,1741822830.106 [DAT](INFO): transmitted an acoustic signal
2025-03-12T23:40:30.107Z,1741822830.107 [DAT](INFO): #Rx 152: Read direction message, but no range.
2025-03-12T23:40:30.140Z,1741822830.140 [DAT](INFO): direction in FSK: [-0.998190,0.029626,0.052336]
2025-03-12T23:40:30.141Z,1741822830.141 [DAT](INFO): publishing transmit ping time
2025-03-12T23:40:30.141Z,1741822830.141 [DAT](INFO): publishing range request flag
2025-03-12T23:40:30.148Z,1741822830.148 [DAT](INFO): publishing transmit ping time
2025-03-12T23:40:30.148Z,1741822830.148 [DAT](INFO): publishing range request flag
2025-03-12T23:40:37.233Z,1741822837.233 [Waterlinked](ERROR): only read 0 of 1 data item for altitude. Device response::BD,       +0.00,       +0.00,    ,   0.00,  0.00
2025-03-12T23:40:41.953Z,1741822841.953 [DAT](INFO): DAT read: Rx Time:23:40:41.3284

2025-03-12T23:40:41.954Z,1741822841.954 [DAT](INFO): Rx dataTimestamp_ set to:1741822841.953176
2025-03-12T23:40:42.461Z,1741822842.461 [DAT](INFO): DAT read: 23:40:41.3284 LVL= 32752, 24561, 32754, 32755, AGC= 61, IDX= 455, 0.38, 1.029, 2.901, 1.040, 1.730, PHS=-0.733, 1.144,-0.695, RAW= 329.0,   3.1, CAL= 331.2,   0.7, ROT= 178.8,  -0.7

2025-03-12T23:40:42.462Z,1741822842.462 [DAT](INFO): got valid direction response:
 23:40:41.3284 LVL= 32752, 24561, 32754, 32755, AGC= 61, IDX= 455, 0.38, 1.029, 2.901, 1.040, 1.730, PHS=-0.733, 1.144,-0.695, RAW= 329.0,   3.1, CAL= 331.2,   0.7, ROT= 178.8,  -0.7

2025-03-12T23:40:42.462Z,1741822842.462 [DAT](INFO): DAT read: bearing request

2025-03-12T23:40:42.463Z,1741822842.463 [DAT](INFO): received a bearing request message
2025-03-12T23:40:42.463Z,1741822842.463 [DAT](INFO): DAT read: Tx time:23:40:42.9312

2025-03-12T23:40:42.464Z,1741822842.464 [DAT](INFO): Ping request sent.
2025-03-12T23:40:42.464Z,1741822842.464 [DAT](INFO): transmitted an acoustic signal
2025-03-12T23:40:42.464Z,1741822842.464 [DAT](INFO): #Rx 153: Read direction message, but no range.
2025-03-12T23:40:42.465Z,1741822842.465 [DAT](INFO): direction in FSK: [-0.999706,0.020941,0.012217]
2025-03-12T23:40:42.465Z,1741822842.465 [DAT](INFO): publishing transmit ping time
2025-03-12T23:40:42.466Z,1741822842.466 [DAT](INFO): publishing range request flag
2025-03-12T23:40:42.469Z,1741822842.469 [DAT](INFO): publishing transmit ping time
2025-03-12T23:40:42.469Z,1741822842.469 [DAT](INFO): publishing range request flag
2025-03-12T23:40:54.556Z,1741822854.556 [DAT](INFO): DAT read: Rx Time:23:40:53.7795

2025-03-12T23:40:54.557Z,1741822854.557 [DAT](INFO): Rx dataTimestamp_ set to:1741822854.556614
2025-03-12T23:40:55.065Z,1741822855.065 [DAT](INFO): DAT read: 23:40:53.7795 LVL= 32752, 26353, 32754, 32755, AGC= 64, IDX= 399, 0.04, 0.919, 2.734, 0.910, 1.609, PHS=-0.722, 1.098,-0.704, RAW= 329.5,   3.7, CAL= 331.6,   1.8, ROT= 178.4,  -1.8

2025-03-12T23:40:55.066Z,1741822855.066 [DAT](INFO): got valid direction response:
 23:40:53.7795 LVL= 32752, 26353, 32754, 32755, AGC= 64, IDX= 399, 0.04, 0.919, 2.734, 0.910, 1.609, PHS=-0.722, 1.098,-0.704, RAW= 329.5,   3.7, CAL= 331.6,   1.8, ROT= 178.4,  -1.8

2025-03-12T23:40:55.066Z,1741822855.066 [DAT](INFO): DAT read: bearing request

2025-03-12T23:40:55.067Z,1741822855.067 [DAT](INFO): received a bearing request message
2025-03-12T23:40:55.067Z,1741822855.067 [DAT](INFO): DAT read: Tx time:23:40:55.3824

2025-03-12T23:40:55.068Z,1741822855.068 [DAT](INFO): Ping request sent.
2025-03-12T23:40:55.068Z,1741822855.068 [DAT](INFO): transmitted an acoustic signal
2025-03-12T23:40:55.068Z,1741822855.068 [DAT](INFO): #Rx 154: Read direction message, but no range.
2025-03-12T23:40:55.069Z,1741822855.069 [DAT](INFO): direction in FSK: [-0.999117,0.027908,0.031411]
2025-03-12T23:40:55.069Z,1741822855.069 [DAT](INFO): publishing transmit ping time
2025-03-12T23:40:55.070Z,1741822855.070 [DAT](INFO): publishing range request flag
2025-03-12T23:40:55.092Z,1741822855.092 [DAT](INFO): publishing transmit ping time
2025-03-12T23:40:55.092Z,1741822855.092 [DAT](INFO): publishing range request flag
2025-03-12T23:41:06.927Z,1741822866.927 [DAT](INFO): DAT read: Rx Time:23:41:06.2327

2025-03-12T23:41:06.928Z,1741822866.928 [DAT](INFO): Rx dataTimestamp_ set to:1741822866.927497
2025-03-12T23:41:07.433Z,1741822867.433 [DAT](INFO): DAT read: 23:41:06.2327 LVL= 31552, 17137, 32754, 32755, AGC= 59, IDX= 459,-0.09, 3.008,-1.278, 3.026,-2.547, PHS=-0.759, 1.242,-0.714, RAW= 328.9,   2.4, CAL= 331.2,  -0.5, ROT= 178.8,   0.5

2025-03-12T23:41:07.434Z,1741822867.434 [DAT](INFO): got valid direction response:
 23:41:06.2327 LVL= 31552, 17137, 32754, 32755, AGC= 59, IDX= 459,-0.09, 3.008,-1.278, 3.026,-2.547, PHS=-0.759, 1.242,-0.714, RAW= 328.9,   2.4, CAL= 331.2,  -0.5, ROT= 178.8,   0.5

2025-03-12T23:41:07.434Z,1741822867.434 [DAT](INFO): DAT read: bearing request

2025-03-12T23:41:07.435Z,1741822867.435 [DAT](INFO): received a bearing request message
2025-03-12T23:41:07.435Z,1741822867.435 [DAT](INFO): DAT read: Tx time:23:41:07.8355

2025-03-12T23:41:07.436Z,1741822867.436 [DAT](INFO): Ping request sent.
2025-03-12T23:41:07.436Z,1741822867.436 [DAT](INFO): transmitted an acoustic signal
2025-03-12T23:41:07.436Z,1741822867.436 [DAT](INFO): #Rx 155: Read direction message, but no range.
2025-03-12T23:41:07.437Z,1741822867.437 [DAT](INFO): direction in FSK: [-0.999743,0.020941,-0.008727]
2025-03-12T23:41:07.437Z,1741822867.437 [DAT](INFO): publishing transmit ping time
2025-03-12T23:41:07.438Z,1741822867.438 [DAT](INFO): publishing range request flag
2025-03-12T23:41:07.441Z,1741822867.441 [DAT](INFO): publishing transmit ping time
2025-03-12T23:41:07.441Z,1741822867.441 [DAT](INFO): publishing range request flag
2025-03-12T23:41:19.276Z,1741822879.276 [DAT](INFO): DAT read: Rx Time:23:41:18.6863

2025-03-12T23:41:19.277Z,1741822879.277 [DAT](INFO): Rx dataTimestamp_ set to:1741822879.276352
2025-03-12T23:41:20.045Z,1741822880.045 [DAT](INFO): DAT read: 23:41:18.6863 LVL= 32752, 26609, 32754, 32755, AGC= 59, IDX= 429, 0.49, 2.203,-2.105, 2.276, 2.913, PHS=-0.741, 1.238,-0.641, RAW= 327.4,   1.5, CAL= 329.9,  -1.6, ROT= 180.1,   1.6

2025-03-12T23:41:20.048Z,1741822880.048 [DAT](INFO): got valid direction response:
 23:41:18.6863 LVL= 32752, 26609, 32754, 32755, AGC= 59, IDX= 429, 0.49, 2.203,-2.105, 2.276, 2.913, PHS=-0.741, 1.238,-0.641, RAW= 327.4,   1.5, CAL= 329.9,  -1.6, ROT= 180.1,   1.6

2025-03-12T23:41:20.049Z,1741822880.049 [DAT](INFO): DAT read: bearing request

2025-03-12T23:41:20.049Z,1741822880.049 [DAT](INFO): received a bearing request message
2025-03-12T23:41:20.051Z,1741822880.051 [DAT](INFO): DAT read: Tx time:23:41:20.2891

2025-03-12T23:41:20.052Z,1741822880.052 [DAT](INFO): Ping request sent.
2025-03-12T23:41:20.052Z,1741822880.052 [DAT](INFO): transmitted an acoustic signal
2025-03-12T23:41:20.053Z,1741822880.053 [DAT](INFO): #Rx 156: Read direction message, but no range.
2025-03-12T23:41:20.055Z,1741822880.055 [DAT](INFO): direction in FSK: [-0.999609,-0.001745,-0.027922]
2025-03-12T23:41:20.056Z,1741822880.056 [DAT](INFO): publishing transmit ping time
2025-03-12T23:41:20.057Z,1741822880.057 [DAT](INFO): publishing range request flag
2025-03-12T23:41:20.078Z,1741822880.078 [DAT](INFO): publishing transmit ping time
2025-03-12T23:41:20.078Z,1741822880.078 [DAT](INFO): publishing range request flag
2025-03-12T23:41:31.880Z,1741822891.880 [DAT](INFO): DAT read: Rx Time:23:41:31.1406

2025-03-12T23:41:31.881Z,1741822891.881 [DAT](INFO): Rx dataTimestamp_ set to:1741822891.880473
2025-03-12T23:41:32.398Z,1741822892.398 [DAT](INFO): DAT read: 23:41:31.1406 LVL= 32752, 22977, 32754, 32755, AGC= 57, IDX= 453, 0.17, 2.357,-1.867, 2.484, 3.097, PHS=-0.771, 1.292,-0.617, RAW= 326.2,   1.0, CAL= 328.7,  -2.4, ROT= 181.3,   2.4

2025-03-12T23:41:32.401Z,1741822892.401 [DAT](INFO): got valid direction response:
 23:41:31.1406 LVL= 32752, 22977, 32754, 32755, AGC= 57, IDX= 453, 0.17, 2.357,-1.867, 2.484, 3.097, PHS=-0.771, 1.292,-0.617, RAW= 326.2,   1.0, CAL= 328.7,  -2.4, ROT= 181.3,   2.4

2025-03-12T23:41:32.403Z,1741822892.403 [DAT](INFO): DAT read: $Error in header

2025-03-12T23:41:32.404Z,1741822892.404 [DAT](INFO): Received a bad header
2025-03-12T23:41:32.416Z,1741822892.416 [DAT](INFO): #Rx 157: Read direction message, but no range.
2025-03-12T23:41:32.419Z,1741822892.419 [DAT](INFO): direction in FSK: [-0.998866,-0.022668,-0.041876]
2025-03-12T23:41:44.256Z,1741822904.256 [DAT](INFO): DAT read: Rx Time:23:41:43.5951

2025-03-12T23:41:44.257Z,1741822904.257 [DAT](INFO): Rx dataTimestamp_ set to:1741822904.256513
2025-03-12T23:41:44.761Z,1741822904.761 [DAT](INFO): DAT read: bearing request

2025-03-12T23:41:44.762Z,1741822904.762 [DAT](INFO): received a bearing request message
2025-03-12T23:41:44.763Z,1741822904.763 [DAT](INFO): DAT read: Tx time:23:41:45.1980

2025-03-12T23:41:44.763Z,1741822904.763 [DAT](INFO): Ping request sent.
2025-03-12T23:41:44.763Z,1741822904.763 [DAT](INFO): transmitted an acoustic signal
2025-03-12T23:41:44.764Z,1741822904.764 [DAT](INFO): publishing transmit ping time
2025-03-12T23:41:44.764Z,1741822904.764 [DAT](INFO): publishing range request flag
2025-03-12T23:41:56.863Z,1741822916.863 [DAT](INFO): DAT read: Rx Time:23:41:56.0500

2025-03-12T23:41:56.872Z,1741822916.872 [DAT](INFO): Rx dataTimestamp_ set to:1741822916.871533
2025-03-12T23:41:57.377Z,1741822917.377 [DAT](INFO): DAT read: 23:41:56.0500 LVL= 32752, 26033, 32754, 32755, AGC= 64, IDX= 399,-0.25, 1.855,-2.311, 2.144, 2.572, PHS=-0.748, 1.373,-0.432, RAW= 322.1,  -2.0, CAL= 324.9,  -7.1, ROT= 185.1,   7.1

2025-03-12T23:41:57.380Z,1741822917.380 [DAT](INFO): got valid direction response:
 23:41:56.0500 LVL= 32752, 26033, 32754, 32755, AGC= 64, IDX= 399,-0.25, 1.855,-2.311, 2.144, 2.572, PHS=-0.748, 1.373,-0.432, RAW= 322.1,  -2.0, CAL= 324.9,  -7.1, ROT= 185.1,   7.1

2025-03-12T23:41:57.382Z,1741822917.382 [DAT](INFO): DAT read: bearing request

2025-03-12T23:41:57.382Z,1741822917.382 [DAT](INFO): received a bearing request message
2025-03-12T23:41:57.384Z,1741822917.384 [DAT](INFO): DAT read: Tx time:23:41:57.6529

2025-03-12T23:41:57.385Z,1741822917.385 [DAT](INFO): Ping request sent.
2025-03-12T23:41:57.385Z,1741822917.385 [DAT](INFO): transmitted an acoustic signal
2025-03-12T23:41:57.386Z,1741822917.386 [DAT](INFO): #Rx 158: Read direction message, but no range.
2025-03-12T23:41:57.390Z,1741822917.390 [DAT](INFO): direction in FSK: [-0.988403,-0.088213,-0.123601]
2025-03-12T23:41:57.391Z,1741822917.391 [DAT](INFO): publishing transmit ping time
2025-03-12T23:41:57.392Z,1741822917.392 [DAT](INFO): publishing range request flag
2025-03-12T23:41:57.402Z,1741822917.402 [DAT](INFO): publishing transmit ping time
2025-03-12T23:41:57.402Z,1741822917.402 [DAT](INFO): publishing range request flag
2025-03-12T23:42:09.208Z,1741822929.208 [DAT](INFO): DAT read: Rx Time:23:42:08.5054

2025-03-12T23:42:09.209Z,1741822929.209 [DAT](INFO): Rx dataTimestamp_ set to:1741822929.208443
2025-03-12T23:42:09.718Z,1741822929.718 [DAT](INFO): DAT read: 23:42:08.5054 LVL= 32752, 23377, 32754, 32755, AGC= 65, IDX= 178,-0.19, 1.097,-2.878, 1.633, 2.155, PHS=-1.089, 1.223,-0.527, RAW= 316.5,   3.8, CAL= 320.1,   1.1, ROT= 189.9,  -1.1

2025-03-12T23:42:09.720Z,1741822929.720 [DAT](INFO): got valid direction response:
 23:42:08.5054 LVL= 32752, 23377, 32754, 32755, AGC= 65, IDX= 178,-0.19, 1.097,-2.878, 1.633, 2.155, PHS=-1.089, 1.223,-0.527, RAW= 316.5,   3.8, CAL= 320.1,   1.1, ROT= 189.9,  -1.1

2025-03-12T23:42:09.720Z,1741822929.720 [DAT](INFO): DAT read: bearing request

2025-03-12T23:42:09.720Z,1741822929.720 [DAT](INFO): received a bearing request message
2025-03-12T23:42:09.721Z,1741822929.721 [DAT](INFO): DAT read: Tx time:23:42:10.1083

2025-03-12T23:42:09.721Z,1741822929.721 [DAT](INFO): Ping request sent.
2025-03-12T23:42:09.721Z,1741822929.721 [DAT](INFO): transmitted an acoustic signal
2025-03-12T23:42:09.722Z,1741822929.722 [DAT](INFO): #Rx 159: Read direction message, but no range.
2025-03-12T23:42:09.723Z,1741822929.723 [DAT](INFO): direction in FSK: [-0.984928,-0.171897,0.019197]
2025-03-12T23:42:09.723Z,1741822929.723 [DAT](INFO): publishing transmit ping time
2025-03-12T23:42:09.724Z,1741822929.724 [DAT](INFO): publishing range request flag
2025-03-12T23:42:09.727Z,1741822929.727 [DAT](INFO): publishing transmit ping time
2025-03-12T23:42:09.727Z,1741822929.727 [DAT](INFO): publishing range request flag
2025-03-12T23:42:21.564Z,1741822941.564 [DAT](INFO): DAT read: Rx Time:23:42:20.9614

2025-03-12T23:42:21.565Z,1741822941.565 [DAT](INFO): Rx dataTimestamp_ set to:1741822941.564383
2025-03-12T23:42:22.325Z,1741822942.325 [DAT](INFO): DAT read: 23:42:20.9614 LVL= 31088, 20145, 26034, 32755, AGC= 64, IDX= 171,-0.29,-0.671, 1.622,-0.038, 0.344, PHS=-1.047, 1.251,-0.386, RAW= 313.8,   1.8, CAL= 317.4,  -1.9, ROT= 192.6,   1.9

2025-03-12T23:42:22.326Z,1741822942.326 [DAT](INFO): got valid direction response:
 23:42:20.9614 LVL= 31088, 20145, 26034, 32755, AGC= 64, IDX= 171,-0.29,-0.671, 1.622,-0.038, 0.344, PHS=-1.047, 1.251,-0.386, RAW= 313.8,   1.8, CAL= 317.4,  -1.9, ROT= 192.6,   1.9

2025-03-12T23:42:22.326Z,1741822942.326 [DAT](INFO): DAT read: bearing request

2025-03-12T23:42:22.326Z,1741822942.326 [DAT](INFO): received a bearing request message
2025-03-12T23:42:22.327Z,1741822942.327 [DAT](INFO): DAT read: Tx time:23:42:22.5642

2025-03-12T23:42:22.327Z,1741822942.327 [DAT](INFO): Ping request sent.
2025-03-12T23:42:22.328Z,1741822942.328 [DAT](INFO): transmitted an acoustic signal
2025-03-12T23:42:22.328Z,1741822942.328 [DAT](INFO): #Rx 160: Read direction message, but no range.
2025-03-12T23:42:22.329Z,1741822942.329 [DAT](INFO): direction in FSK: [-0.975380,-0.218023,-0.033155]
2025-03-12T23:42:22.329Z,1741822942.329 [DAT](INFO): publishing transmit ping time
2025-03-12T23:42:22.329Z,1741822942.329 [DAT](INFO): publishing range request flag
2025-03-12T23:42:22.333Z,1741822942.333 [DAT](INFO): publishing transmit ping time
2025-03-12T23:42:22.333Z,1741822942.333 [DAT](INFO): publishing range request flag
2025-03-12T23:42:34.168Z,1741822954.168 [DAT](INFO): DAT read: Rx Time:23:42:33.4176

2025-03-12T23:42:34.169Z,1741822954.169 [DAT](INFO): Rx dataTimestamp_ set to:1741822954.168448
2025-03-12T23:42:34.677Z,1741822954.677 [DAT](INFO): DAT read: 23:42:33.4177 LVL= 24048, 15665, 24770, 23907, AGC= 60, IDX= 168, 0.07, 1.019,-3.094, 1.638, 1.884, PHS=-0.896, 1.278,-0.250, RAW= 313.2,  -1.4, CAL= 316.7,  -6.6, ROT= 193.3,   6.6

2025-03-12T23:42:34.678Z,1741822954.678 [DAT](INFO): got valid direction response:
 23:42:33.4177 LVL= 24048, 15665, 24770, 23907, AGC= 60, IDX= 168, 0.07, 1.019,-3.094, 1.638, 1.884, PHS=-0.896, 1.278,-0.250, RAW= 313.2,  -1.4, CAL= 316.7,  -6.6, ROT= 193.3,   6.6

2025-03-12T23:42:34.678Z,1741822954.678 [DAT](INFO): DAT read: bearing request

2025-03-12T23:42:34.678Z,1741822954.678 [DAT](INFO): received a bearing request message
2025-03-12T23:42:34.679Z,1741822954.679 [DAT](INFO): DAT read: Tx time:23:42:35.0206

2025-03-12T23:42:34.680Z,1741822954.680 [DAT](INFO): Ping request sent.
2025-03-12T23:42:34.680Z,1741822954.680 [DAT](INFO): transmitted an acoustic signal
2025-03-12T23:42:34.680Z,1741822954.680 [DAT](INFO): #Rx 161: Read direction message, but no range.
2025-03-12T23:42:34.681Z,1741822954.681 [DAT](INFO): direction in FSK: [-0.966729,-0.228525,-0.114937]
2025-03-12T23:42:34.681Z,1741822954.681 [DAT](INFO): publishing transmit ping time
2025-03-12T23:42:34.682Z,1741822954.682 [DAT](INFO): publishing range request flag
2025-03-12T23:42:34.685Z,1741822954.685 [DAT](INFO): publishing transmit ping time
2025-03-12T23:42:34.685Z,1741822954.685 [DAT](INFO): publishing range request flag
2025-03-12T23:42:46.528Z,1741822966.528 [DAT](INFO): DAT read: Rx Time:23:42:45.8744

2025-03-12T23:42:46.529Z,1741822966.529 [DAT](INFO): Rx dataTimestamp_ set to:1741822966.528452
2025-03-12T23:42:47.046Z,1741822967.046 [DAT](INFO): DAT read: 23:42:45.8744 LVL= 32576, 21841, 22978, 30483, AGC= 65, IDX= 169, 0.34,-0.541, 1236, 0S=-1.216, 0.902,-0.41207.9,   7.9, CAL= 311.4,   7.8, ROT= 198.6,  -7.8

2025-03-12T23:42:47.049Z,1741822967.049 [DAT](INFO): unknown deviceResponse_: 23:42:45.8744 LVL= 32576, 21841, 22978, 30483, AGC= 65, IDX= 169, 0.34,-0.541, 1236, 0S=-1.216, 0.902,-0.41207.9,   7.9, CAL= 311.4,   7.8, ROT= 198.6,  -7.8

2025-03-12T23:42:47.050Z,1741822967.050 [DAT](INFO): DAT read: bearing request

2025-03-12T23:42:47.052Z,1741822967.052 [DAT](INFO): received a bearing request message
2025-03-12T23:42:47.054Z,1741822967.054 [DAT](INFO): DAT read: Tx time:23:42:47.4772

2025-03-12T23:42:47.055Z,1741822967.055 [DAT](INFO): Ping request sent.
2025-03-12T23:42:47.057Z,1741822967.057 [DAT](INFO): transmitted an acoustic signal
2025-03-12T23:42:47.058Z,1741822967.058 [DAT](INFO): publishing transmit ping time
2025-03-12T23:42:47.058Z,1741822967.058 [DAT](INFO): publishing range request flag
2025-03-12T23:42:47.827Z,1741822967.827 [Waterlinked](ERROR): only read 3 of 5 data items. Device response::BI,    +0,    +0,   +0,V
2025-03-12T23:42:59.128Z,1741822979.128 [DAT](INFO): DAT read: Rx Time:23:42:58.3315

2025-03-12T23:42:59.129Z,1741822979.129 [DAT](INFO): Rx dataTimestamp_ set to:1741822979.128417
2025-03-12T23:42:59.650Z,1741822979.650 [DAT](INFO): DAT read: 23:42:58.3315 LVL= 32752, 25921, 32754, 32755, AGC= 63, IDX= 430,-0.36,-2.970,-0.965,-2.234,-2.073, PHS=-0.928, 1.081,-0.164, RAW= 307.9,   0.1, CAL= 311.6,  -4.3, ROT= 198.4,   4.3

2025-03-12T23:42:59.653Z,1741822979.653 [DAT](INFO): got valid direction response:
 23:42:58.3315 LVL= 32752, 25921, 32754, 32755, AGC= 63, IDX= 430,-0.36,-2.970,-0.965,-2.234,-2.073, PHS=-0.928, 1.081,-0.164, RAW= 307.9,   0.1, CAL= 311.6,  -4.3, ROT= 198.4,   4.3

2025-03-12T23:42:59.655Z,1741822979.655 [DAT](INFO): DAT read: $Error in header

2025-03-12T23:42:59.679Z,1741822979.679 [DAT](INFO): Received a bad header
2025-03-12T23:42:59.692Z,1741822979.692 [DAT](INFO): #Rx 162: Read direction message, but no range.
2025-03-12T23:42:59.693Z,1741822979.693 [DAT](INFO): direction in FSK: [-0.946205,-0.314760,-0.074979]
2025-03-12T23:43:11.495Z,1741822991.495 [DAT](INFO): DAT read: Rx Time:23:43:10.7886

2025-03-12T23:43:11.496Z,1741822991.496 [DAT](INFO): Rx dataTimestamp_ set to:1741822991.495216
2025-03-12T23:43:12.000Z,1741822992.000 [DAT](INFO): DAT read: 23:43:10.7886 LVL= 32752, 23521, 23186, 31475, AGC= 63, IDX=  35, 0.18, 3.067,-1.258,-2.427,-2.072, PHS=-1.176, 0.787,-0.360, RAW= 305.5,   8.8, CAL= 309.0,   9.4, ROT= 201.0,  -9.4

2025-03-12T23:43:12.002Z,1741822992.002 [DAT](INFO): got valid direction response:
 23:43:10.7886 LVL= 32752, 23521, 23186, 31475, AGC= 63, IDX=  35, 0.18, 3.067,-1.258,-2.427,-2.072, PHS=-1.176, 0.787,-0.360, RAW= 305.5,   8.8, CAL= 309.0,   9.4, ROT= 201.0,  -9.4

2025-03-12T23:43:12.002Z,1741822992.002 [DAT](INFO): DAT read: bearing request

2025-03-12T23:43:12.002Z,1741822992.002 [DAT](INFO): received a bearing request message
2025-03-12T23:43:12.003Z,1741822992.003 [DAT](INFO): DAT read: Tx time:23:43:12.3915

2025-03-12T23:43:12.003Z,1741822992.003 [DAT](INFO): Ping request sent.
2025-03-12T23:43:12.004Z,1741822992.004 [DAT](INFO): transmitted an acoustic signal
2025-03-12T23:43:12.004Z,1741822992.004 [DAT](INFO): #Rx 163: Read direction message, but no range.
2025-03-12T23:43:12.005Z,1741822992.005 [DAT](INFO): direction in FSK: [-0.921044,-0.353556,0.163326]
2025-03-12T23:43:12.005Z,1741822992.005 [DAT](INFO): publishing transmit ping time
2025-03-12T23:43:12.005Z,1741822992.005 [DAT](INFO): publishing range request flag
2025-03-12T23:43:12.009Z,1741822992.009 [DAT](INFO): publishing transmit ping time
2025-03-12T23:43:12.009Z,1741822992.009 [DAT](INFO): publishing range request flag
2025-03-12T23:43:23.848Z,1741823003.848 [DAT](INFO): DAT read: Rx Time:23:43:23.2459

2025-03-12T23:43:23.849Z,1741823003.849 [DAT](INFO): Rx dataTimestamp_ set to:1741823003.848460
2025-03-12T23:43:24.620Z,1741823004.620 [DAT](INFO): DAT read: 23:43:23.2460 LVL= 32752, 27841, 32754, 32755, AGC= 64, IDX= 364,-0.46, 0.735, 2.606, 1.612, 1.926, PHS=-1.223, 0.653,-0.318, RAW= 301.2,  10.9, CAL= 304.2,  13.1, ROT= 205.8, -13.1

2025-03-12T23:43:24.636Z,1741823004.636 [DAT](INFO): got valid direction response:
 23:43:23.2460 LVL= 32752, 27841, 32754, 32755, AGC= 64, IDX= 364,-0.46, 0.735, 2.606, 1.612, 1.926, PHS=-1.223, 0.653,-0.318, RAW= 301.2,  10.9, CAL= 304.2,  13.1, ROT= 205.8, -13.1

2025-03-12T23:43:24.637Z,1741823004.637 [DAT](INFO): DAT read: $Error in header

2025-03-12T23:43:24.638Z,1741823004.638 [DAT](INFO): Received a bad header
2025-03-12T23:43:24.652Z,1741823004.652 [DAT](INFO): #Rx 164: Read direction message, but no range.
2025-03-12T23:43:24.655Z,1741823004.655 [DAT](INFO): direction in FSK: [-0.876889,-0.423905,0.226651]
2025-03-12T23:43:36.448Z,1741823016.448 [DAT](INFO): DAT read: Rx Time:23:43:35.7038

2025-03-12T23:43:36.449Z,1741823016.449 [DAT](INFO): Rx dataTimestamp_ set to:1741823016.448455
2025-03-12T23:43:36.958Z,1741823016.958 [DAT](INFO): DAT read: 23:43:35.7038 LVL= 22384, 12945, 16194, 23283, AGC= 60, IDX=  39, 0.15, 1.651,-2.645, 2.416, 2.556, PHS=-0.935, 1.055,-0.144, RAW= 306.7,   0.3, CAL= 310.4,  -4.1, ROT= 199.6,   4.1

2025-03-12T23:43:36.959Z,1741823016.959 [DAT](INFO): got valid direction response:
 23:43:35.7038 LVL= 22384, 12945, 16194, 23283, AGC= 60, IDX=  39, 0.15, 1.651,-2.645, 2.416, 2.556, PHS=-0.935, 1.055,-0.144, RAW= 306.7,   0.3, CAL= 310.4,  -4.1, ROT= 199.6,   4.1

2025-03-12T23:43:36.960Z,1741823016.960 [DAT](INFO): DAT read: $Error in header

2025-03-12T23:43:36.960Z,1741823016.960 [DAT](INFO): Received a bad header
2025-03-12T23:43:36.971Z,1741823016.971 [DAT](INFO): #Rx 165: Read direction message, but no range.
2025-03-12T23:43:36.973Z,1741823016.973 [DAT](INFO): direction in FSK: [-0.939646,-0.334593,-0.071497]
2025-03-12T23:43:48.808Z,1741823028.808 [DAT](INFO): DAT read: Rx Time:23:43:48.1618

2025-03-12T23:43:48.809Z,1741823028.809 [DAT](INFO): Rx dataTimestamp_ set to:1741823028.808502
2025-03-12T23:43:49.317Z,1741823029.317 [DAT](INFO): DAT read: 23:43:48.1618 LVL= 32752, 26481, 27298, 32755, AGC= 66, IDX=  37, 0.29, 1.036, 2.936, 1.992, 2.325, PHS=-1.319, 0.584,-0.337, RAW= 298.9,  13.0, CAL= 301.8,  16.7, ROT= 208.2, -16.7

2025-03-12T23:43:49.318Z,1741823029.318 [DAT](INFO): got valid direction response:
 23:43:48.1618 LVL= 32752, 26481, 27298, 32755, AGC= 66, IDX=  37, 0.29, 1.036, 2.936, 1.992, 2.325, PHS=-1.319, 0.584,-0.337, RAW= 298.9,  13.0, CAL= 301.8,  16.7, ROT= 208.2, -16.7

2025-03-12T23:43:49.318Z,1741823029.318 [DAT](INFO): DAT read: bearing request

2025-03-12T23:43:49.319Z,1741823029.319 [DAT](INFO): received a bearing request message
2025-03-12T23:43:49.319Z,1741823029.319 [DAT](INFO): DAT read: Tx time:23:43:49.7646

2025-03-12T23:43:49.320Z,1741823029.320 [DAT](INFO): Ping request sent.
2025-03-12T23:43:49.320Z,1741823029.320 [DAT](INFO): transmitted an acoustic signal
2025-03-12T23:43:49.320Z,1741823029.320 [DAT](INFO): #Rx 166: Read direction message, but no range.
2025-03-12T23:43:49.321Z,1741823029.321 [DAT](INFO): direction in FSK: [-0.844132,-0.452620,0.287361]
2025-03-12T23:43:49.321Z,1741823029.321 [DAT](INFO): publishing transmit ping time
2025-03-12T23:43:49.322Z,1741823029.322 [DAT](INFO): publishing range request flag
2025-03-12T23:43:49.325Z,1741823029.325 [DAT](INFO): publishing transmit ping time
2025-03-12T23:43:49.325Z,1741823029.325 [DAT](INFO): publishing range request flag
2025-03-12T23:43:56.839Z,1741823036.839 [ElevatorServo](ERROR): getPosition uart error serial timeout
2025-03-12T23:43:56.839Z,1741823036.839 [ElevatorServo](FAULT): Elevator uart error - getPosition.serial timeout
2025-03-12T23:43:56.840Z,1741823036.840 [ElevatorServo] Communications Fault, FailCount= 1
2025-03-12T23:43:56.840Z,1741823036.840 [ElevatorServo](ERROR): Communications Fault
2025-03-12T23:43:56.954Z,1741823036.954 [CBIT](ERROR): Communications Fault in component: ElevatorServo
2025-03-12T23:43:57.091Z,1741823037.091 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2025-03-12T23:43:57.091Z,1741823037.091 [ElevatorServo](INFO): Powering down
2025-03-12T23:43:57.826Z,1741823037.826 [ElevatorServo](DEBUG): Initializing EZServoServo.
2025-03-12T23:43:57.944Z,1741823037.944 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2025-03-12T23:43:57.976Z,1741823037.976 [CBIT](INFO): Clearing failed state for component ElevatorServo
2025-03-12T23:43:57.976Z,1741823037.976 [ElevatorServo] No Fault, FailCount= 1
2025-03-12T23:44:01.423Z,1741823041.423 [DAT](INFO): DAT read: Rx Time:23:44:00.6197

2025-03-12T23:44:01.425Z,1741823041.425 [DAT](INFO): Rx dataTimestamp_ set to:1741823041.423791
2025-03-12T23:44:01.942Z,1741823041.942 [DAT](INFO): DAT read: 23:44:00.6198 LVL= 32752, 26769, 26706, 32755, AGC= 66, IDX= 259, 0.22, 1.281, 3.114, 2.172, 2.334, PHS=-1.084, 0.753,-0.167, RAW= 300.0,   6.3, CAL= 303.1,   5.4, ROT= 206.9,  -5.4

2025-03-12T23:44:01.957Z,1741823041.957 [DAT](INFO): got valid direction response:
 23:44:00.6198 LVL= 32752, 26769, 26706, 32755, AGC= 66, IDX= 259, 0.22, 1.281, 3.114, 2.172, 2.334, PHS=-1.084, 0.753,-0.167, RAW= 300.0,   6.3, CAL= 303.1,   5.4, ROT= 206.9,  -5.4

2025-03-12T23:44:01.959Z,1741823041.959 [DAT](INFO): DAT read: bearing request

2025-03-12T23:44:01.991Z,1741823041.991 [DAT](INFO): received a bearing request message
2025-03-12T23:44:01.992Z,1741823041.992 [DAT](INFO): DAT read: Tx time:23:44:02.2226

2025-03-12T23:44:01.992Z,1741823041.992 [DAT](INFO): Ping request sent.
2025-03-12T23:44:01.992Z,1741823041.992 [DAT](INFO): transmitted an acoustic signal
2025-03-12T23:44:01.993Z,1741823041.993 [DAT](INFO): #Rx 167: Read direction message, but no range.
2025-03-12T23:44:01.994Z,1741823041.994 [DAT](INFO): direction in FSK: [-0.887840,-0.450427,0.094108]
2025-03-12T23:44:01.994Z,1741823041.994 [DAT](INFO): publishing transmit ping time
2025-03-12T23:44:01.994Z,1741823041.994 [DAT](INFO): publishing range request flag
2025-03-12T23:44:02.010Z,1741823042.010 [DAT](INFO): publishing transmit ping time
2025-03-12T23:44:02.010Z,1741823042.010 [DAT](INFO): publishing range request flag
2025-03-12T23:44:13.780Z,1741823053.780 [DAT](INFO): DAT read: Rx Time:23:44:13.0779

2025-03-12T23:44:13.781Z,1741823053.781 [DAT](INFO): Rx dataTimestamp_ set to:1741823053.780139
2025-03-12T23:44:14.287Z,1741823054.287 [DAT](INFO): DAT read: 23:44:13.0779 LVL= 26096, 19585, 22434, 26947, AGC= 65, IDX= 179,-0.10,-2.494,-0.732,-1.571,-1.337, PHS=-1.188, 0.577,-0.238, RAW= 297.5,  11.1, CAL= 300.3,  13.7, ROT= 209.7, -13.7

2025-03-12T23:44:14.288Z,1741823054.288 [DAT](INFO): got valid direction response:
 23:44:13.0779 LVL= 26096, 19585, 22434, 26947, AGC= 65, IDX= 179,-0.10,-2.494,-0.732,-1.571,-1.337, PHS=-1.188, 0.577,-0.238, RAW= 297.5,  11.1, CAL= 300.3,  13.7, ROT= 209.7, -13.7

2025-03-12T23:44:14.289Z,1741823054.289 [DAT](INFO): DAT read: $Error in header

2025-03-12T23:44:14.289Z,1741823054.289 [DAT](INFO): Received a bad header
2025-03-12T23:44:14.303Z,1741823054.303 [DAT](INFO): #Rx 168: Read direction message, but no range.
2025-03-12T23:44:14.305Z,1741823054.305 [DAT](INFO): direction in FSK: [-0.843918,-0.481362,0.236838]
2025-03-12T23:44:26.128Z,1741823066.128 [DAT](INFO): DAT read: Rx Time:23:44:25.5365

2025-03-12T23:44:26.129Z,1741823066.129 [DAT](INFO): Rx dataTimestamp_ set to:1741823066.128496
2025-03-12T23:44:26.890Z,1741823066.890 [DAT](INFO): DAT read: 23:44:25.5365 LVL= 24032, 17185, 21938, 24371, AGC= 67, IDX=  39,-0.03,-2.607,-0.939,-1.535,-1.308, PHS=-1.330, 0.343,-0.230, RAW= 289.7,  16.3, CAL= 290.6,  25.8, ROT= 219.4, -25.8

2025-03-12T23:44:26.892Z,1741823066.892 [DAT](INFO): got valid direction response:
 23:44:25.5365 LVL= 24032, 17185, 21938, 24371, AGC= 67, IDX=  39,-0.03,-2.607,-0.939,-1.535,-1.308, PHS=-1.330, 0.343,-0.230, RAW= 289.7,  16.3, CAL= 290.6,  25.8, ROT= 219.4, -25.8

2025-03-12T23:44:26.892Z,1741823066.892 [DAT](INFO): DAT read: $Error in header

2025-03-12T23:44:26.893Z,1741823066.893 [DAT](INFO): Received a bad header
2025-03-12T23:44:26.904Z,1741823066.904 [DAT](INFO): #Rx 169: Read direction message, but no range.
2025-03-12T23:44:26.906Z,1741823066.906 [DAT](INFO): direction in FSK: [-0.695707,-0.571460,0.435231]
2025-03-12T23:44:38.734Z,1741823078.734 [DAT](INFO): DAT read: Rx Time:23:44:37.9967

2025-03-12T23:44:38.736Z,1741823078.736 [DAT](INFO): Rx dataTimestamp_ set to:1741823078.734805
2025-03-12T23:44:39.254Z,1741823079.254 [DAT](INFO): DAT read: 23:44:37.9967 LVL= 14256, 10625, 13522, 16835, AGC= 61, IDX=  61,-0.36,-2.946,-1.262,-1.938,-1.873, PHS=-1.103, 0.584,-0.069, RAW= 292.6,   8.0, CAL= 294.7,   8.5, ROT= 215.3,  -8.5

2025-03-12T23:44:39.257Z,1741823079.257 [DAT](INFO): got valid direction response:
 23:44:37.9967 LVL= 14256, 10625, 13522, 16835, AGC= 61, IDX=  61,-0.36,-2.946,-1.262,-1.938,-1.873, PHS=-1.103, 0.584,-0.069, RAW= 292.6,   8.0, CAL= 294.7,   8.5, ROT= 215.3,  -8.5

2025-03-12T23:44:39.259Z,1741823079.259 [DAT](INFO): DAT read: $Error in header

2025-03-12T23:44:39.269Z,1741823079.269 [DAT](INFO): Received a bad header
2025-03-12T23:44:39.284Z,1741823079.284 [DAT](INFO): #Rx 170: Read direction message, but no range.
2025-03-12T23:44:39.287Z,1741823079.287 [DAT](INFO): direction in FSK: [-0.807173,-0.571510,0.147809]
2025-03-12T23:44:51.092Z,1741823091.092 [DAT](INFO): DAT read: Rx Time:23:44:50.4541

2025-03-12T23:44:51.093Z,1741823091.093 [DAT](INFO): Rx dataTimestamp_ set to:1741823091.092592
2025-03-12T23:44:51.628Z,1741823091.628 [DAT](INFO): DAT read: 23:44:50.4541 LVL= 30640, 21169, 26178, 31699, AGC= 69, IDX=  36, 0.05,-1.876,-0.201,-0.720,-0.508, PHS=-1.399, 0.280,-0.215, RAW= 286.7,  17.5, CAL= 287.0,  29.2, ROT= 223.0, -29.2

2025-03-12T23:44:51.636Z,1741823091.636 [DAT](INFO): got valid direction response:
 23:44:50.4541 LVL= 30640, 21169, 26178, 31699, AGC= 69, IDX=  36, 0.05,-1.876,-0.201,-0.720,-0.508, PHS=-1.399, 0.280,-0.215, RAW= 286.7,  17.5, CAL= 287.0,  29.2, ROT= 223.0, -29.2

2025-03-12T23:44:51.638Z,1741823091.638 [DAT](INFO): DAT read: $Error in header

2025-03-12T23:44:51.639Z,1741823091.639 [DAT](INFO): Received a bad header
2025-03-12T23:44:51.698Z,1741823091.698 [DAT](INFO): #Rx 171: Read direction message, but no range.
2025-03-12T23:44:51.710Z,1741823091.710 [DAT](INFO): direction in FSK: [-0.638415,-0.595331,0.487860]
2025-03-12T23:45:03.698Z,1741823103.698 [DAT](INFO): DAT read: Rx Time:23:45:02.9132

2025-03-12T23:45:03.699Z,1741823103.699 [DAT](INFO): Rx dataTimestamp_ set to:1741823103.698325
2025-03-12T23:45:04.206Z,1741823104.206 [DAT](INFO): DAT read: 23:45:02.9132 LVL= 28368, 21073, 25458, 30483, AGC= 68, IDX=  46, 0.00,-1.139, 0.483, 0.137, 0.111, PHS=-1.280, 0.346, 0.022, RAW= 280.8,  12.2, CAL= 281.5,  16.0, ROT= 228.5, -16.0

2025-03-12T23:45:04.207Z,1741823104.207 [DAT](INFO): got valid direction response:
 23:45:02.9132 LVL= 28368, 21073, 25458, 30483, AGC= 68, IDX=  46, 0.00,-1.139, 0.483, 0.137, 0.111, PHS=-1.280, 0.346, 0.022, RAW= 280.8,  12.2, CAL= 281.5,  16.0, ROT= 228.5, -16.0

2025-03-12T23:45:04.208Z,1741823104.208 [DAT](INFO): DAT read: $Error in header

2025-03-12T23:45:04.208Z,1741823104.208 [DAT](INFO): Received a bad header
2025-03-12T23:45:04.220Z,1741823104.220 [DAT](INFO): #Rx 172: Read direction message, but no range.
2025-03-12T23:45:04.221Z,1741823104.221 [DAT](INFO): direction in FSK: [-0.636951,-0.719942,0.275637]
2025-03-12T23:45:16.064Z,1741823116.064 [DAT](INFO): DAT read: Rx Time:23:45:15.3724

2025-03-12T23:45:16.065Z,1741823116.065 [DAT](INFO): Rx dataTimestamp_ set to:1741823116.064278
2025-03-12T23:45:16.574Z,1741823116.574 [DAT](INFO): DAT read: 23:45:15.3724 LVL= 28896, 20465, 25874, 27507, AGC= 67, IDX=  72,-0.18,-2.091,-0.458,-0.834,-0.944, PHS=-1.178, 0.459, 0.105, RAW= 281.8,   8.3, CAL= 282.4,   9.0, ROT= 227.6,  -9.0

2025-03-12T23:45:16.576Z,1741823116.576 [DAT](INFO): got valid direction response:
 23:45:15.3724 LVL= 28896, 20465, 25874, 27507, AGC= 67, IDX=  72,-0.18,-2.091,-0.458,-0.834,-0.944, PHS=-1.178, 0.459, 0.105, RAW= 281.8,   8.3, CAL= 282.4,   9.0, ROT= 227.6,  -9.0

2025-03-12T23:45:16.576Z,1741823116.576 [DAT](INFO): DAT read: $Error in header

2025-03-12T23:45:16.576Z,1741823116.576 [DAT](INFO): Received a bad header
2025-03-12T23:45:16.589Z,1741823116.589 [DAT](INFO): #Rx 173: Read direction message, but no range.
2025-03-12T23:45:16.593Z,1741823116.593 [DAT](INFO): direction in FSK: [-0.666001,-0.729364,0.156434]
2025-03-12T23:45:28.422Z,1741823128.422 [DAT](INFO): DAT read: Rx Time:23:45:27.8317

2025-03-12T23:45:28.423Z,1741823128.423 [DAT](INFO): Rx dataTimestamp_ set to:1741823128.422118
2025-03-12T23:45:29.214Z,1741823129.214 [DAT](INFO): DAT read: 23:45:27.8317 LVL= 32752, 26225, 32754, 32755, AGC= 72, IDX=  51, 0.24,-2.246,-0.596,-0.980,-0.814, PHS=-1.463, 0.191,-0.170, RAW= 282.0,  18.7, CAL= 281.7,  31.9, ROT= 228.3, -31.9

2025-03-12T23:45:29.221Z,1741823129.221 [DAT](INFO): got valid direction response:
 23:45:27.8317 LVL= 32752, 26225, 32754, 32755, AGC= 72, IDX=  51, 0.24,-2.246,-0.596,-0.980,-0.814, PHS=-1.463, 0.191,-0.170, RAW= 282.0,  18.7, CAL= 281.7,  31.9, ROT= 228.3, -31.9

2025-03-12T23:45:29.227Z,1741823129.227 [DAT](INFO): DAT read: $Error in header

2025-03-12T23:45:29.228Z,1741823129.228 [DAT](INFO): Received a bad header
2025-03-12T23:45:29.240Z,1741823129.240 [DAT](INFO): #Rx 174: Read direction message, but no range.
2025-03-12T23:45:29.241Z,1741823129.241 [DAT](INFO): direction in FSK: [-0.564762,-0.633875,0.528438]
2025-03-12T23:45:41.029Z,1741823141.029 [DAT](INFO): DAT read: Rx Time:23:45:40.2910

2025-03-12T23:45:41.029Z,1741823141.029 [DAT](INFO): Rx dataTimestamp_ set to:1741823141.028996
2025-03-12T23:45:41.538Z,1741823141.538 [DAT](INFO): DAT read: 23:45:40.2910 LVL= 17648, 14833, 17682, 21171, AGC= 67, IDX=  47, 0.31, 1.981,-2.670,-3.031, 3.018, PHS=-1.069, 0.568, 0.230, RAW= 281.3,   3.7, CAL= 281.5,   0.9, ROT= 228.5,  -0.9

2025-03-12T23:45:41.539Z,1741823141.539 [DAT](INFO): got valid direction response:
 23:45:40.2910 LVL= 17648, 14833, 17682, 21171, AGC= 67, IDX=  47, 0.31, 1.981,-2.670,-3.031, 3.018, PHS=-1.069, 0.568, 0.230, RAW= 281.3,   3.7, CAL= 281.5,   0.9, ROT= 228.5,  -0.9

2025-03-12T23:45:41.540Z,1741823141.540 [DAT](INFO): DAT read: $Error in header

2025-03-12T23:45:41.540Z,1741823141.540 [DAT](INFO): Received a bad header
2025-03-12T23:45:41.551Z,1741823141.551 [DAT](INFO): #Rx 175: Read direction message, but no range.
2025-03-12T23:45:41.552Z,1741823141.552 [DAT](INFO): direction in FSK: [-0.662538,-0.748863,0.015707]
2025-03-12T23:45:53.377Z,1741823153.377 [DAT](INFO): DAT read: Rx Time:23:45:52.7505

2025-03-12T23:45:53.378Z,1741823153.378 [DAT](INFO): Rx dataTimestamp_ set to:1741823153.377421
2025-03-12T23:45:53.888Z,1741823153.888 [DAT](INFO): DAT read: 23:45:52.7505 LVL= 28400, 18129, 23394, 29043, AGC= 70, IDX=  61, 0.06, 0.428, 2.101, 1.785, 1.726, PHS=-1.329, 0.348, 0.055, RAW= 279.4,  11.9, CAL= 279.9,  15.4, ROT= 230.1, -15.4

2025-03-12T23:45:53.890Z,1741823153.890 [DAT](INFO): got valid direction response:
 23:45:52.7505 LVL= 28400, 18129, 23394, 29043, AGC= 70, IDX=  61, 0.06, 0.428, 2.101, 1.785, 1.726, PHS=-1.329, 0.348, 0.055, RAW= 279.4,  11.9, CAL= 279.9,  15.4, ROT= 230.1, -15.4

2025-03-12T23:45:53.890Z,1741823153.890 [DAT](INFO): DAT read: bearing request

2025-03-12T23:45:53.891Z,1741823153.891 [DAT](INFO): received a bearing request message
2025-03-12T23:45:53.892Z,1741823153.892 [DAT](INFO): DAT read: Tx time:23:45:54.3534

2025-03-12T23:45:53.892Z,1741823153.892 [DAT](INFO): Ping request sent.
2025-03-12T23:45:53.893Z,1741823153.893 [DAT](INFO): transmitted an acoustic signal
2025-03-12T23:45:53.893Z,1741823153.893 [DAT](INFO): #Rx 176: Read direction message, but no range.
2025-03-12T23:45:53.895Z,1741823153.895 [DAT](INFO): direction in FSK: [-0.618419,-0.739620,0.265556]
2025-03-12T23:45:53.895Z,1741823153.895 [DAT](INFO): publishing transmit ping time
2025-03-12T23:45:53.896Z,1741823153.896 [DAT](INFO): publishing range request flag
2025-03-12T23:45:53.901Z,1741823153.901 [DAT](INFO): publishing transmit ping time
2025-03-12T23:45:53.901Z,1741823153.901 [DAT](INFO): publishing range request flag
2025-03-12T23:46:05.990Z,1741823165.990 [DAT](INFO): DAT read: Rx Time:23:46:05.2102

2025-03-12T23:46:05.992Z,1741823165.992 [DAT](INFO): Rx dataTimestamp_ set to:1741823165.990764
2025-03-12T23:46:06.498Z,1741823166.498 [DAT](INFO): DAT read: 23:46:05.2102 LVL= 24448, 18513, 23538, 30627, AGC= 67, IDX= 492,-0.10,-1.233, 0.504, 0.222, 0.111, PHS=-1.375, 0.366, 0.107, RAW= 277.9,  11.1, CAL= 278.3,  13.9, ROT= 231.7, -13.9

2025-03-12T23:46:06.499Z,1741823166.499 [DAT](INFO): got valid direction response:
 23:46:05.2102 LVL= 24448, 18513, 23538, 30627, AGC= 67, IDX= 492,-0.10,-1.233, 0.504, 0.222, 0.111, PHS=-1.375, 0.366, 0.107, RAW= 277.9,  11.1, CAL= 278.3,  13.9, ROT= 231.7, -13.9

2025-03-12T23:46:06.500Z,1741823166.500 [DAT](INFO): DAT read: $Error in header

2025-03-12T23:46:06.500Z,1741823166.500 [DAT](INFO): Received a bad header
2025-03-12T23:46:06.511Z,1741823166.511 [DAT](INFO): #Rx 177: Read direction message, but no range.
2025-03-12T23:46:06.512Z,1741823166.512 [DAT](INFO): direction in FSK: [-0.601630,-0.761795,0.240228]
2025-03-12T23:46:18.336Z,1741823178.336 [DAT](INFO): DAT read: Rx Time:23:46:17.6697

2025-03-12T23:46:18.337Z,1741823178.337 [DAT](INFO): Rx dataTimestamp_ set to:1741823178.336448
2025-03-12T23:46:18.855Z,1741823178.855 [DAT](INFO): DAT read: 23:46:17.6698 LVL= 30352, 20721, 21266, 24819, AGC= 70, IDX=  74,-0.29, 0.082, 1.718, 1.459, 1.170, PHS=-1.119, 0.522, 0.285, RAW= 277.7,   4.1, CAL= 277.2,   1.7, ROT= 232.8,  -1.7

2025-03-12T23:46:18.859Z,1741823178.859 [DAT](INFO): got valid direction response:
 23:46:17.6698 LVL= 30352, 20721, 21266, 24819, AGC= 70, IDX=  74,-0.29, 0.082, 1.718, 1.459, 1.170, PHS=-1.119, 0.522, 0.285, RAW= 277.7,   4.1, CAL= 277.2,   1.7, ROT= 232.8,  -1.7

2025-03-12T23:46:18.861Z,1741823178.861 [DAT](INFO): DAT read: $Error in header

2025-03-12T23:46:18.861Z,1741823178.861 [DAT](INFO): Received a bad header
2025-03-12T23:46:18.882Z,1741823178.882 [DAT](INFO): #Rx 178: Read direction message, but no range.
2025-03-12T23:46:18.895Z,1741823178.895 [DAT](INFO): direction in FSK: [-0.604333,-0.796179,0.029666]
2025-03-12T23:46:30.941Z,1741823190.941 [DAT](INFO): DAT read: Rx Time:23:46:30.1293

2025-03-12T23:46:30.942Z,1741823190.942 [DAT](INFO): Rx dataTimestamp_ set to:1741823190.941594
2025-03-12T23:46:31.460Z,1741823191.460 [DAT](INFO): DAT read: 23:46:30.1293 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX=  57, 0.20, 0.782, 2.469, 2.190, 2.244, PHS=-1.493, 0.199,-0.058, RAW= 278.1,  16.8, CAL= 278.3,  26.3, ROT= 231.7, -26.3

2025-03-12T23:46:31.475Z,1741823191.475 [DAT](INFO): got valid direction response:
 23:46:30.1293 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX=  57, 0.20, 0.782, 2.469, 2.190, 2.244, PHS=-1.493, 0.199,-0.058, RAW= 278.1,  16.8, CAL= 278.3,  26.3, ROT= 231.7, -26.3

2025-03-12T23:46:31.477Z,1741823191.477 [DAT](INFO): DAT read: $Error in header

2025-03-12T23:46:31.478Z,1741823191.478 [DAT](INFO): Received a bad header
2025-03-12T23:46:31.492Z,1741823191.492 [DAT](INFO): #Rx 179: Read direction message, but no range.
2025-03-12T23:46:31.493Z,1741823191.493 [DAT](INFO): direction in FSK: [-0.555624,-0.703541,0.443071]
2025-03-12T23:46:43.306Z,1741823203.306 [DAT](INFO): DAT read: Rx Time:23:46:42.5891

2025-03-12T23:46:43.308Z,1741823203.308 [DAT](INFO): Rx dataTimestamp_ set to:1741823203.306791
2025-03-12T23:46:43.816Z,1741823203.816 [DAT](INFO): DAT read: 23:46:42.5891 LVL= 24976, 18561, 18002, 27843, AGC= 66, IDX=  57, 0.21, 1.394, 3.050, 2.853, 2.532, PHS=-1.169, 0.491, 0.317, RAW= 275.4,   4.6, CAL= 274.7,   2.5, ROT= 235.3,  -2.5

2025-03-12T23:46:43.817Z,1741823203.817 [DAT](INFO): got valid direction response:
 23:46:42.5891 LVL= 24976, 18561, 18002, 27843, AGC= 66, IDX=  57, 0.21, 1.394, 3.050, 2.853, 2.532, PHS=-1.169, 0.491, 0.317, RAW= 275.4,   4.6, CAL= 274.7,   2.5, ROT= 235.3,  -2.5

2025-03-12T23:46:43.818Z,1741823203.818 [DAT](INFO): DAT read: $Error in header

2025-03-12T23:46:43.818Z,1741823203.818 [DAT](INFO): Received a bad header
2025-03-12T23:46:43.832Z,1741823203.832 [DAT](INFO): #Rx 180: Read direction message, but no range.
2025-03-12T23:46:43.833Z,1741823203.833 [DAT](INFO): direction in FSK: [-0.568738,-0.821361,0.043619]
2025-03-12T23:46:55.652Z,1741823215.652 [DAT](INFO): DAT read: Rx Time:23:46:55.0491

2025-03-12T23:46:55.653Z,1741823215.653 [DAT](INFO): Rx dataTimestamp_ set to:1741823215.652439
2025-03-12T23:46:56.420Z,1741823216.420 [DAT](INFO): DAT read: 23:46:55.0491 LVL= 25728, 19825, 24226, 28883, AGC= 71, IDX=  75,-0.33,-0.427, 1.224, 1.085, 0.825, PHS=-1.283, 0.372, 0.256, RAW= 273.6,   8.2, CAL= 273.2,   8.8, ROT= 236.8,  -8.8

2025-03-12T23:46:56.422Z,1741823216.422 [DAT](INFO): got valid direction response:
 23:46:55.0491 LVL= 25728, 19825, 24226, 28883, AGC= 71, IDX=  75,-0.33,-0.427, 1.224, 1.085, 0.825, PHS=-1.283, 0.372, 0.256, RAW= 273.6,   8.2, CAL= 273.2,   8.8, ROT= 236.8,  -8.8

2025-03-12T23:46:56.425Z,1741823216.425 [DAT](INFO): DAT read: bearing request

2025-03-12T23:46:56.425Z,1741823216.425 [DAT](INFO): received a bearing request message
2025-03-12T23:46:56.427Z,1741823216.427 [DAT](INFO): DAT read: Tx time:23:46:56.6519

2025-03-12T23:46:56.428Z,1741823216.428 [DAT](INFO): Ping request sent.
2025-03-12T23:46:56.428Z,1741823216.428 [DAT](INFO): transmitted an acoustic signal
2025-03-12T23:46:56.429Z,1741823216.429 [DAT](INFO): #Rx 181: Read direction message, but no range.
2025-03-12T23:46:56.432Z,1741823216.432 [DAT](INFO): direction in FSK: [-0.541117,-0.826914,0.152986]
2025-03-12T23:46:56.433Z,1741823216.433 [DAT](INFO): publishing transmit ping time
2025-03-12T23:46:56.433Z,1741823216.433 [DAT](INFO): publishing range request flag
2025-03-12T23:46:56.454Z,1741823216.454 [DAT](INFO): publishing transmit ping time
2025-03-12T23:46:56.454Z,1741823216.454 [DAT](INFO): publishing range request flag
2025-03-12T23:47:08.257Z,1741823228.257 [DAT](INFO): DAT read: Rx Time:23:47:07.5089

2025-03-12T23:47:08.257Z,1741823228.257 [DAT](INFO): Rx dataTimestamp_ set to:1741823228.256936
2025-03-12T23:47:08.766Z,1741823228.766 [DAT](INFO): DAT read: 23:47:07.5090 LVL= 32752, 24753, 32754, 32755, AGC= 72, IDX= 301, 0.19, 2.053,-2.566,-2.664,-2.854, PHS=-1.408, 0.261, 0.185, RAW= 272.3,  11.8, CAL= 272.3,  14.8, ROT= 237.7, -14.8

2025-03-12T23:47:08.767Z,1741823228.767 [DAT](INFO): got valid direction response:
 23:47:07.5090 LVL= 32752, 24753, 32754, 32755, AGC= 72, IDX= 301, 0.19, 2.053,-2.566,-2.664,-2.854, PHS=-1.408, 0.261, 0.185, RAW= 272.3,  11.8, CAL= 272.3,  14.8, ROT= 237.7, -14.8

2025-03-12T23:47:08.768Z,1741823228.768 [DAT](INFO): DAT read: $Error in header

2025-03-12T23:47:08.768Z,1741823228.768 [DAT](INFO): Received a bad header
2025-03-12T23:47:08.780Z,1741823228.780 [DAT](INFO): #Rx 182: Read direction message, but no range.
2025-03-12T23:47:08.781Z,1741823228.781 [DAT](INFO): direction in FSK: [-0.516624,-0.817219,0.255446]
2025-03-12T23:47:20.608Z,1741823240.608 [DAT](INFO): DAT read: Rx Time:23:47:19.9690

2025-03-12T23:47:20.609Z,1741823240.609 [DAT](INFO): Rx dataTimestamp_ set to:1741823240.608496
2025-03-12T23:47:21.124Z,1741823241.124 [DAT](INFO): DAT read: 23:47:19.9690 LVL= 21168, 16321, 23474, 25939, AGC= 65, IDX=  63,-0.11,-1.257, 0.304, 0.327,-0.195, PHS=-1.092, 0.472, 0.518, RAW= 268.6,   1.3, CAL= 266.6,  -2.3, ROT= 243.4,   2.3

2025-03-12T23:47:21.125Z,1741823241.125 [DAT](INFO): got valid direction response:
 23:47:19.9690 LVL= 21168, 16321, 23474, 25939, AGC= 65, IDX=  63,-0.11,-1.257, 0.304, 0.327,-0.195, PHS=-1.092, 0.472, 0.518, RAW= 268.6,   1.3, CAL= 266.6,  -2.3, ROT= 243.4,   2.3

2025-03-12T23:47:21.126Z,1741823241.126 [DAT](INFO): DAT read: $Error in header

2025-03-12T23:47:21.126Z,1741823241.126 [DAT](INFO): Received a bad header
2025-03-12T23:47:21.139Z,1741823241.139 [DAT](INFO): #Rx 183: Read direction message, but no range.
2025-03-12T23:47:21.141Z,1741823241.141 [DAT](INFO): direction in FSK: [-0.447398,-0.893434,-0.040132]
2025-03-12T23:47:33.222Z,1741823253.222 [DAT](INFO): DAT read: Rx Time:23:47:32.4290

2025-03-12T23:47:33.223Z,1741823253.223 [DAT](INFO): Rx dataTimestamp_ set to:1741823253.222296
2025-03-12T23:47:33.730Z,1741823253.730 [DAT](INFO): DAT read: 23:47:32.4291 LVL= 32752, 32753, 32754, 32755, AGC= 79, IDX=  66, 0.07,-0.257, 1.363, 1.423, 1.266, PHS=-1.553, 0.070, 0.153, RAW= 267.5,  15.8, CAL= 267.9,  22.1, ROT= 242.1, -22.1

2025-03-12T23:47:33.731Z,1741823253.731 [DAT](INFO): got valid direction response:
 23:47:32.4291 LVL= 32752, 32753, 32754, 32755, AGC= 79, IDX=  66, 0.07,-0.257, 1.363, 1.423, 1.266, PHS=-1.553, 0.070, 0.153, RAW= 267.5,  15.8, CAL= 267.9,  22.1, ROT= 242.1, -22.1

2025-03-12T23:47:33.732Z,1741823253.732 [DAT](INFO): DAT read: $Error in header

2025-03-12T23:47:33.732Z,1741823253.732 [DAT](INFO): Received a bad header
2025-03-12T23:47:33.744Z,1741823253.744 [DAT](INFO): #Rx 184: Read direction message, but no range.
2025-03-12T23:47:33.745Z,1741823253.745 [DAT](INFO): direction in FSK: [-0.433550,-0.818834,0.376224]
2025-03-12T23:47:45.578Z,1741823265.578 [DAT](INFO): DAT read: Rx Time:23:47:44.8893

2025-03-12T23:47:45.579Z,1741823265.579 [DAT](INFO): Rx dataTimestamp_ set to:1741823265.578197
2025-03-12T23:47:46.094Z,1741823266.094 [DAT](INFO): DAT read: 23:47:44.8893 LVL= 24096, 24401, 20210, 32755, AGC= 74, IDX=  71, 0.14, 2.798,-2.065,-1.833,-2.474, PHS=-1.042, 0.383, 0.637, RAW= 261.9,   0.3, CAL= 259.0,  -3.3, ROT= 251.0,   3.3

2025-03-12T23:47:46.097Z,1741823266.097 [DAT](INFO): got valid direction response:
 23:47:44.8893 LVL= 24096, 24401, 20210, 32755, AGC= 74, IDX=  71, 0.14, 2.798,-2.065,-1.833,-2.474, PHS=-1.042, 0.383, 0.637, RAW= 261.9,   0.3, CAL= 259.0,  -3.3, ROT= 251.0,   3.3

2025-03-12T23:47:46.098Z,1741823266.098 [DAT](INFO): DAT read: $Error in header

2025-03-12T23:47:46.098Z,1741823266.098 [DAT](INFO): Received a bad header
2025-03-12T23:47:46.111Z,1741823266.111 [DAT](INFO): #Rx 185: Read direction message, but no range.
2025-03-12T23:47:46.112Z,1741823266.112 [DAT](INFO): direction in FSK: [-0.325028,-0.943951,-0.057564]
2025-03-12T23:47:57.952Z,1741823277.952 [DAT](INFO): DAT read: Rx Time:23:47:57.3584

2025-03-12T23:47:57.953Z,1741823277.953 [DAT](INFO): Rx dataTimestamp_ set to:1741823277.952509
2025-03-12T23:47:58.719Z,1741823278.719 [DAT](INFO): DAT read: 23:47:57.3585 LVL= 30896, 27217, 19666, 32755, AGC= 70, IDX=  78, 0.07, 0.552, 2.237, 2.286, 1.865, PHS=-1.344, 0.344, 0.417, RAW= 267.9,   6.8, CAL= 266.6,   6.2, ROT= 243.4,  -6.2

2025-03-12T23:47:58.722Z,1741823278.722 [DAT](INFO): got valid direction response:
 23:47:57.3585 LVL= 30896, 27217, 19666, 32755, AGC= 70, IDX=  78, 0.07, 0.552, 2.237, 2.286, 1.865, PHS=-1.344, 0.344, 0.417, RAW= 267.9,   6.8, CAL= 266.6,   6.2, ROT= 243.4,  -6.2

2025-03-12T23:47:58.723Z,1741823278.723 [DAT](INFO): DAT read: $Error in header

2025-03-12T23:47:58.733Z,1741823278.733 [DAT](INFO): Received a bad header
2025-03-12T23:47:58.750Z,1741823278.750 [DAT](INFO): #Rx 186: Read direction message, but no range.
2025-03-12T23:47:58.754Z,1741823278.754 [DAT](INFO): direction in FSK: [-0.445140,-0.888924,0.107999]
2025-03-12T23:48:22.904Z,1741823302.904 [DAT](INFO): DAT read: Rx Time:23:48:22.2708

2025-03-12T23:48:22.905Z,1741823302.905 [DAT](INFO): Rx dataTimestamp_ set to:1741823302.904414
2025-03-12T23:48:23.442Z,1741823303.442 [DAT](INFO): DAT read: 23:48:22.2708 LVL= 32752, 32753, 27762, 32755, AGC= 74, IDX=  78, 0.13,-1.760,-0.334,-0.031,-0.771, PHS=-1.019, 0.410, 0.737, RAW= 259.9,  -1.6, CAL= 257.0,  -5.6, ROT= 253.0,   5.6

2025-03-12T23:48:23.448Z,1741823303.448 [DAT](INFO): got valid direction response:
 23:48:22.2708 LVL= 32752, 32753, 27762, 32755, AGC= 74, IDX=  78, 0.13,-1.760,-0.334,-0.031,-0.771, PHS=-1.019, 0.410, 0.737, RAW= 259.9,  -1.6, CAL= 257.0,  -5.6, ROT= 253.0,   5.6

2025-03-12T23:48:23.450Z,1741823303.450 [DAT](INFO): DAT read: $Error in header

2025-03-12T23:48:23.451Z,1741823303.451 [DAT](INFO): Received a bad header
2025-03-12T23:48:23.468Z,1741823303.468 [DAT](INFO): #Rx 187: Read direction message, but no range.
2025-03-12T23:48:23.472Z,1741823303.472 [DAT](INFO): direction in FSK: [-0.290977,-0.951741,-0.097583]
2025-03-12T23:48:29.555Z,1741823309.555 [Waterlinked](ERROR): only read 2 of 5 data items. Device response::BI,    +0,    +0 +0,    +0,V
2025-03-12T23:48:35.524Z,1741823315.524 [DAT](INFO): DAT read: Rx Time:23:48:34.7313

2025-03-12T23:48:35.525Z,1741823315.525 [DAT](INFO): Rx dataTimestamp_ set to:1741823315.524430
2025-03-12T23:48:36.034Z,1741823316.034 [DAT](INFO): DAT read: 23:48:34.7313 LVL= 27760, 25297, 27810, 32755, AGC= 74, IDX=  71,-0.23,-0.826, 0.829, 0.808, 0.701, PHS=-1.558, 0.101, 0.103, RAW= 269.9,  16.1, CAL= 270.3,  23.3, ROT= 239.7, -23.3

2025-03-12T23:48:36.035Z,1741823316.035 [DAT](INFO): got valid direction response:
 23:48:34.7313 LVL= 27760, 25297, 27810, 32755, AGC= 74, IDX=  71,-0.23,-0.826, 0.829, 0.808, 0.701, PHS=-1.558, 0.101, 0.103, RAW= 269.9,  16.1, CAL= 270.3,  23.3, ROT= 239.7, -23.3

2025-03-12T23:48:36.036Z,1741823316.036 [DAT](INFO): DAT read: $Error in header

2025-03-12T23:48:36.036Z,1741823316.036 [DAT](INFO): Received a bad header
2025-03-12T23:48:36.048Z,1741823316.048 [DAT](INFO): #Rx 188: Read direction message, but no range.
2025-03-12T23:48:36.049Z,1741823316.049 [DAT](INFO): direction in FSK: [-0.463382,-0.792983,0.395545]
2025-03-12T23:48:47.872Z,1741823327.872 [DAT](INFO): DAT read: Rx Time:23:48:47.1919

2025-03-12T23:48:47.873Z,1741823327.873 [DAT](INFO): Rx dataTimestamp_ set to:1741823327.872563
2025-03-12T23:48:48.382Z,1741823328.382 [DAT](INFO): DAT read: 23:48:47.1919 LVL= 15264, 14705, 20322, 20131, AGC= 68, IDX=  79,-0.11, 0.165, 1.719, 1.874, 1.426, PHS=-1.291, 0.266, 0.444, RAW= 264.7,   7.1, CAL= 263.1,   6.7, ROT= 246.9,  -6.7

2025-03-12T23:48:48.387Z,1741823328.387 [DAT](INFO): got valid direction response:
 23:48:47.1919 LVL= 15264, 14705, 20322, 20131, AGC= 68, IDX=  79,-0.11, 0.165, 1.719, 1.874, 1.426, PHS=-1.291, 0.266, 0.444, RAW= 264.7,   7.1, CAL= 263.1,   6.7, ROT= 246.9,  -6.7

2025-03-12T23:48:48.388Z,1741823328.388 [DAT](INFO): DAT read: $Error in header

2025-03-12T23:48:48.388Z,1741823328.388 [DAT](INFO): Received a bad header
2025-03-12T23:48:48.400Z,1741823328.400 [DAT](INFO): #Rx 189: Read direction message, but no range.
2025-03-12T23:48:48.401Z,1741823328.401 [DAT](INFO): direction in FSK: [-0.389658,-0.913540,0.116671]
2025-03-12T23:49:00.220Z,1741823340.220 [DAT](INFO): DAT read: Rx Time:23:48:59.6524

2025-03-12T23:49:00.221Z,1741823340.221 [DAT](INFO): Rx dataTimestamp_ set to:1741823340.220421
2025-03-12T23:49:00.982Z,1741823340.982 [DAT](INFO): DAT read: 23:48:59.6524 LVL= 26544, 16945, 21554, 31859, AGC= 74, IDX= 103,-0.19, 0.468, 2.011, 2.101, 1.695, PHS=-1.258, 0.289, 0.402, RAW= 266.5,   7.1, CAL= 265.1,   6.7, ROT= 244.9,  -6.7

2025-03-12T23:49:00.987Z,1741823340.987 [DAT](INFO): got valid direction response:
 23:48:59.6524 LVL= 26544, 16945, 21554, 31859, AGC= 74, IDX= 103,-0.19, 0.468, 2.011, 2.101, 1.695, PHS=-1.258, 0.289, 0.402, RAW= 266.5,   7.1, CAL= 265.1,   6.7, ROT= 244.9,  -6.7

2025-03-12T23:49:00.988Z,1741823340.988 [DAT](INFO): DAT read: $Error in header

2025-03-12T23:49:00.988Z,1741823340.988 [DAT](INFO): Received a bad header
2025-03-12T23:49:00.999Z,1741823340.999 [DAT](INFO): #Rx 190: Read direction message, but no range.
2025-03-12T23:49:01.002Z,1741823341.002 [DAT](INFO): direction in FSK: [-0.421303,-0.899384,0.116671]
2025-03-12T23:49:06.865Z,1741823346.865 [CTD_Seabird](ERROR): Failed to parse device response: 89.24,9.4729,3.909.98
2025-03-12T23:49:12.836Z,1741823352.836 [DAT](INFO): DAT read: Rx Time:23:49:12.1130

2025-03-12T23:49:12.837Z,1741823352.837 [DAT](INFO): Rx dataTimestamp_ set to:1741823352.836523
2025-03-12T23:49:13.354Z,1741823353.354 [DAT](INFO): DAT read: 23:49:12.1130 LVL= 32752, 32753, 32754, 32755, AGC= 81, IDX=  64, 0.04, 0.558, 2.289, 2.234, 2.152, PHS=-1.624, 0.110, 0.078, RAW= 270.9,  16.5, CAL= 271.2,  24.4, ROT= 238.8, -24.4

2025-03-12T23:49:13.356Z,1741823353.356 [DAT](INFO): got valid direction response:
 23:49:12.1130 LVL= 32752, 32753, 32754, 32755, AGC= 81, IDX=  64, 0.04, 0.558, 2.289, 2.234, 2.152, PHS=-1.624, 0.110, 0.078, RAW= 270.9,  16.5, CAL= 271.2,  24.4, ROT= 238.8, -24.4

2025-03-12T23:49:13.357Z,1741823353.357 [DAT](INFO): DAT read: $Error in header

2025-03-12T23:49:13.358Z,1741823353.358 [DAT](INFO): Received a bad header
2025-03-12T23:49:13.382Z,1741823353.382 [DAT](INFO): #Rx 191: Read direction message, but no range.
2025-03-12T23:49:13.384Z,1741823353.384 [DAT](INFO): direction in FSK: [-0.471759,-0.778966,0.413104]
2025-03-12T23:49:25.216Z,1741823365.216 [DAT](INFO): DAT read: Rx Time:23:49:24.5737

2025-03-12T23:49:25.217Z,1741823365.217 [DAT](INFO): Rx dataTimestamp_ set to:1741823365.216140
2025-03-12T23:49:25.727Z,1741823365.727 [DAT](INFO): DAT read: 23:49:24.5737 LVL= 16368, 15153, 13426, 25683, AGC= 72, IDX=  73, 0.18, 2.686,-2.044,-2.024,-2.545, PHS=-1.083, 0.474, 0.517, RAW= 268.6,   1.2, CAL= 266.7,  -2.4, ROT= 243.3,   2.4

2025-03-12T23:49:25.728Z,1741823365.728 [DAT](INFO): got valid direction response:
 23:49:24.5737 LVL= 16368, 15153, 13426, 25683, AGC= 72, IDX=  73, 0.18, 2.686,-2.044,-2.024,-2.545, PHS=-1.083, 0.474, 0.517, RAW= 268.6,   1.2, CAL= 266.7,  -2.4, ROT= 243.3,   2.4

2025-03-12T23:49:25.729Z,1741823365.729 [DAT](INFO): DAT read: $Error in header

2025-03-12T23:49:25.729Z,1741823365.729 [DAT](INFO): Received a bad header
2025-03-12T23:49:25.744Z,1741823365.744 [DAT](INFO): #Rx 192: Read direction message, but no range.
2025-03-12T23:49:25.745Z,1741823365.745 [DAT](INFO): direction in FSK: [-0.448925,-0.892588,-0.041876]
2025-03-12T23:49:37.818Z,1741823377.818 [DAT](INFO): DAT read: Rx Time:23:49:37.0342

2025-03-12T23:49:37.820Z,1741823377.820 [DAT](INFO): Rx dataTimestamp_ set to:1741823377.818887
2025-03-12T23:49:38.326Z,1741823378.326 [DAT](INFO): DAT read: 23:49:37.0342 LVL=  7568,  7505,  7794, 12483, AGC= 67, IDX=  82, 0.21, 1.803,-2.892,-2.716,-3.121, PHS=-1.390, 0.203, 0.401, RAW= 264.2,   9.3, CAL= 263.2,  10.3, ROT= 246.8, -10.3

2025-03-12T23:49:38.330Z,1741823378.330 [DAT](INFO): got valid direction response:
 23:49:37.0342 LVL=  7568,  7505,  7794, 12483, AGC= 67, IDX=  82, 0.21, 1.803,-2.892,-2.716,-3.121, PHS=-1.390, 0.203, 0.401, RAW= 264.2,   9.3, CAL= 263.2,  10.3, ROT= 246.8, -10.3

2025-03-12T23:49:38.331Z,1741823378.331 [DAT](INFO): DAT read: $Error in header

2025-03-12T23:49:38.336Z,1741823378.336 [DAT](INFO): Received a bad header
2025-03-12T23:49:38.351Z,1741823378.351 [DAT](INFO): #Rx 193: Read direction message, but no range.
2025-03-12T23:49:38.353Z,1741823378.353 [DAT](INFO): direction in FSK: [-0.387593,-0.904324,0.178802]
2025-03-12T23:49:50.164Z,1741823390.164 [DAT](INFO): DAT read: Rx Time:23:49:49.4950

2025-03-12T23:49:50.165Z,1741823390.165 [DAT](INFO): Rx dataTimestamp_ set to:1741823390.164426
2025-03-12T23:49:50.682Z,1741823390.682 [DAT](INFO): DAT read: 23:49:49.4950 LVL= 32752, 32753, 32754, 32755, AGC= 81, IDX= 108, 0.23, 2.476,-2.287,-2.042,-2.521, PHS=-1.316, 0.208, 0.476, RAW= 262.0,   7.6, CAL= 260.4,   7.5, ROT= 249.6,  -7.5

2025-03-12T23:49:50.688Z,1741823390.688 [DAT](INFO): got valid direction response:
 23:49:49.4950 LVL= 32752, 32753, 32754, 32755, AGC= 81, IDX= 108, 0.23, 2.476,-2.287,-2.042,-2.521, PHS=-1.316, 0.208, 0.476, RAW= 262.0,   7.6, CAL= 260.4,   7.5, ROT= 249.6,  -7.5

2025-03-12T23:49:50.689Z,1741823390.689 [DAT](INFO): DAT read: $Error in header

2025-03-12T23:49:50.690Z,1741823390.690 [DAT](INFO): Received a bad header
2025-03-12T23:49:50.705Z,1741823390.705 [DAT](INFO): #Rx 194: Read direction message, but no range.
2025-03-12T23:49:50.717Z,1741823390.717 [DAT](INFO): direction in FSK: [-0.345590,-0.929263,0.130526]
2025-03-12T23:50:02.520Z,1741823402.520 [DAT](INFO): DAT read: Rx Time:23:50:01.9558

2025-03-12T23:50:02.521Z,1741823402.521 [DAT](INFO): Rx dataTimestamp_ set to:1741823402.520397
2025-03-12T23:50:03.284Z,1741823403.284 [DAT](INFO): DAT read: 23:50:01.9558 LVL= 24160, 18977, 18466, 32755, AGC= 74, IDX=  71, 0.12, 0.596, 2.265, 2.271, 1.847, PHS=-1.282, 0.390, 0.420, RAW= 269.1,   5.7, CAL= 267.6,   4.3, ROT= 242.4,  -4.3

2025-03-12T23:50:03.295Z,1741823403.295 [DAT](INFO): got valid direction response:
 23:50:01.9558 LVL= 24160, 18977, 18466, 32755, AGC= 74, IDX=  71, 0.12, 0.596, 2.265, 2.271, 1.847, PHS=-1.282, 0.390, 0.420, RAW= 269.1,   5.7, CAL= 267.6,   4.3, ROT= 242.4,  -4.3

2025-03-12T23:50:03.297Z,1741823403.297 [DAT](INFO): DAT read: $Error in header

2025-03-12T23:50:03.298Z,1741823403.298 [DAT](INFO): Received a bad header
2025-03-12T23:50:03.324Z,1741823403.324 [DAT](INFO): #Rx 195: Read direction message, but no range.
2025-03-12T23:50:03.332Z,1741823403.332 [DAT](INFO): direction in FSK: [-0.461992,-0.883709,0.074979]
2025-03-12T23:51:54.700Z,1741823514.700 [DAT](INFO): DAT read: Rx Time:23:51:54.1056

2025-03-12T23:51:54.701Z,1741823514.701 [DAT](INFO): Rx dataTimestamp_ set to:1741823514.700581
2025-03-12T23:51:55.480Z,1741823515.480 [DAT](INFO): DAT read: 23:51:54.1056 LVL= 32752, 32753, 32754, 32755, AGC= 81, IDX= 451, 0.22, 1.662,-2.976,-2.601,-2.904, PHS=-1.749,-0.100, 0.299, RAW= 259.4,  16.2, CAL= 259.9,  22.6, ROT= 250.1, -22.6

2025-03-12T23:51:55.488Z,1741823515.488 [DAT](INFO): got valid direction response:
 23:51:54.1056 LVL= 32752, 32753, 32754, 32755, AGC= 81, IDX= 451, 0.22, 1.662,-2.976,-2.601,-2.904, PHS=-1.749,-0.100, 0.299, RAW= 259.4,  16.2, CAL= 259.9,  22.6, ROT= 250.1, -22.6

2025-03-12T23:51:55.489Z,1741823515.489 [DAT](INFO): DAT read: $Error in header

2025-03-12T23:51:55.490Z,1741823515.490 [DAT](INFO): Received a bad header
2025-03-12T23:51:55.504Z,1741823515.504 [DAT](INFO): #Rx 196: Read direction message, but no range.
2025-03-12T23:51:55.507Z,1741823515.507 [DAT](INFO): direction in FSK: [-0.314242,-0.868084,0.384295]
2025-03-12T23:53:46.122Z,1741823626.122 [sci2_noyo_optim:SurfaceComms] Running Loop=1
2025-03-12T23:53:46.122Z,1741823626.122 [sci2_noyo_optim:SurfaceComms](DEBUG): Aggregate::initialize sci2_noyo_optim:SurfaceComms
2025-03-12T23:53:46.123Z,1741823626.123 [sci2_noyo_optim:SurfaceComms:A] Running Loop=1
2025-03-12T23:53:46.123Z,1741823626.123 [sci2_noyo_optim:SurfaceComms:A] Stopped
2025-03-12T23:53:46.127Z,1741823626.127 [sci2_noyo_optim:SurfaceComms:B] Running Loop=1
2025-03-12T23:53:46.127Z,1741823626.127 [sci2_noyo_optim:SurfaceComms:B](DEBUG): Aggregate::initialize sci2_noyo_optim:SurfaceComms:B
2025-03-12T23:53:46.442Z,1741823626.442 [sci2_noyo_optim:Lap:Dive] Stopped
2025-03-12T23:53:46.443Z,1741823626.443 [sci2_noyo_optim:Lap:Dive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Lap:Dive
2025-03-12T23:53:46.443Z,1741823626.443 [sci2_noyo_optim:Lap:Dive:A] Stopped
2025-03-12T23:53:46.443Z,1741823626.443 [sci2_noyo_optim:Lap:Dive:A](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Lap:Dive:A
2025-03-12T23:53:46.444Z,1741823626.444 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow] Stopped
2025-03-12T23:53:46.444Z,1741823626.444 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepthSlow
2025-03-12T23:53:46.444Z,1741823626.444 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:A.SetSpeed] Stopped
2025-03-12T23:53:46.444Z,1741823626.444 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:A.SetSpeed](DEBUG): Uninitialize.
2025-03-12T23:53:46.444Z,1741823626.444 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:B] Stopped
2025-03-12T23:53:46.444Z,1741823626.444 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:C.Buoyancy] Stopped
2025-03-12T23:53:46.444Z,1741823626.444 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-03-12T23:53:46.444Z,1741823626.444 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:D.Pitch] Stopped
2025-03-12T23:53:46.447Z,1741823626.447 [sci2_noyo_optim:NeedComms] Running Loop=1
2025-03-12T23:53:46.447Z,1741823626.447 [sci2_noyo_optim:NeedComms](DEBUG): Aggregate::initialize sci2_noyo_optim:NeedComms
2025-03-12T23:53:46.448Z,1741823626.448 [sci2_noyo_optim:NeedComms:B.GoToSurface] Running Loop=1
2025-03-12T23:53:46.448Z,1741823626.448 [sci2_noyo_optim:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-03-12T23:53:46.448Z,1741823626.448 [sci2_noyo_optim:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-03-12T23:53:46.448Z,1741823626.448 [sci2_noyo_optim:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-03-12T23:53:46.449Z,1741823626.449 [sci2_noyo_optim:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-03-12T23:53:46.449Z,1741823626.449 [sci2_noyo_optim:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-03-12T23:53:46.449Z,1741823626.449 [sci2_noyo_optim:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-03-12T23:53:46.450Z,1741823626.450 [sci2_noyo_optim:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-03-12T23:53:46.450Z,1741823626.450 [sci2_noyo_optim:NeedComms:A] Running Loop=1
2025-03-12T23:53:46.469Z,1741823626.469 [sci2_noyo_optim:NeedComms:A](INFO): last time_fix was:  1741820025.000000 second since 1970/01/01T00:00:00Z 
2025-03-12T23:53:46.469Z,1741823626.469 [sci2_noyo_optim:NeedComms:A] Stopped
2025-03-12T23:53:59.525Z,1741823639.525 [DAT](INFO): DAT read: Rx Time:23:53:58.7218

2025-03-12T23:53:59.525Z,1741823639.525 [DAT](INFO): Rx dataTimestamp_ set to:1741823639.525083
2025-03-12T23:54:00.042Z,1741823640.042 [DAT](INFO): DAT read: 23:53:58.7218 LVL= 32752, 32753, 32754, 32755, AGC= 81, IDX=  84,-0.06, 2.190,-2.491,-2.442,-2.412, PHS=-1.712,-0.105,-0.033, RAW= 267.8,  21.7, CAL= 267.7,  38.6, ROT= 242.3, -38.6

2025-03-12T23:54:00.054Z,1741823640.054 [DAT](INFO): got valid direction response:
 23:53:58.7218 LVL= 32752, 32753, 32754, 32755, AGC= 81, IDX=  84,-0.06, 2.190,-2.491,-2.442,-2.412, PHS=-1.712,-0.105,-0.033, RAW= 267.8,  21.7, CAL= 267.7,  38.6, ROT= 242.3, -38.6

2025-03-12T23:54:00.055Z,1741823640.055 [DAT](INFO): DAT read: $Error in header

2025-03-12T23:54:00.056Z,1741823640.056 [DAT](INFO): Received a bad header
2025-03-12T23:54:00.070Z,1741823640.070 [DAT](INFO): #Rx 197: Read direction message, but no range.
2025-03-12T23:54:00.073Z,1741823640.073 [DAT](INFO): direction in FSK: [-0.363284,-0.691953,0.623880]
2025-03-12T23:54:13.055Z,1741823653.055 [sci2_noyo_optim:DiveCmd:MaintainDepth] Running Loop=1
2025-03-12T23:54:13.059Z,1741823653.059 [sci2_noyo_optim:DiveCmd:MaintainDepth](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepth
2025-03-12T23:54:13.060Z,1741823653.060 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive] Running Loop=1
2025-03-12T23:54:13.060Z,1741823653.060 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive
2025-03-12T23:54:13.060Z,1741823653.060 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive] Running Loop=1
2025-03-12T23:54:13.061Z,1741823653.061 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive
2025-03-12T23:54:13.061Z,1741823653.061 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass] Running Loop=1
2025-03-12T23:54:13.061Z,1741823653.061 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass](DEBUG): Initialize.
2025-03-12T23:54:13.061Z,1741823653.061 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed] Running Loop=1
2025-03-12T23:54:13.061Z,1741823653.061 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed](DEBUG): Initialize.
2025-03-12T23:54:13.062Z,1741823653.062 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:B.Pitch] Running Loop=1
2025-03-12T23:54:13.062Z,1741823653.062 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:B.Pitch](DEBUG): Initialize.
2025-03-12T23:54:36.858Z,1741823676.858 [DAT](INFO): DAT read: Rx Time:23:54:36.1172

2025-03-12T23:54:36.860Z,1741823676.860 [DAT](INFO): Rx dataTimestamp_ set to:1741823676.859337
2025-03-12T23:54:37.366Z,1741823677.366 [DAT](INFO): DAT read: 23:54:36.1172 LVL= 28784, 27505, 30930, 32755, AGC= 72, IDX= 473, 0.43,-2.501,-1.173,-0.905,-1.865, PHS=-0.667, 0.665, 0.956, RAW= 260.3, -12.7, CAL= 258.1, -19.1, ROT= 251.9,  19.1

2025-03-12T23:54:37.367Z,1741823677.367 [DAT](INFO): got valid direction response:
 23:54:36.1172 LVL= 28784, 27505, 30930, 32755, AGC= 72, IDX= 473, 0.43,-2.501,-1.173,-0.905,-1.865, PHS=-0.667, 0.665, 0.956, RAW= 260.3, -12.7, CAL= 258.1, -19.1, ROT= 251.9,  19.1

2025-03-12T23:54:37.376Z,1741823677.376 [DAT](INFO): DAT read: $Error in header

2025-03-12T23:54:37.376Z,1741823677.376 [DAT](INFO): Received a bad header
2025-03-12T23:54:37.388Z,1741823677.388 [DAT](INFO): #Rx 198: Read direction message, but no range.
2025-03-12T23:54:37.391Z,1741823677.391 [DAT](INFO): direction in FSK: [-0.293573,-0.898189,-0.327218]
2025-03-12T23:55:39.138Z,1741823739.138 [DAT](INFO): DAT read: Rx Time:23:55:38.4375

2025-03-12T23:55:39.138Z,1741823739.138 [DAT](INFO): Rx dataTimestamp_ set to:1741823739.138022
2025-03-12T23:55:39.652Z,1741823739.652 [DAT](INFO): DAT read: 23:55:38.4375 LVL= 30128, 23233, 19954, 32755, AGC= 78, IDX= 149,-0.07, 0.215, 1.388, 1.940, 0.595, PHS=-0.412, 0.766, 1.340, RAW= 251.2, -21.2, CAL= 248.5, -26.9, ROT= 261.5,  26.9

2025-03-12T23:55:39.653Z,1741823739.653 [DAT](INFO): got valid direction response:
 23:55:38.4375 LVL= 30128, 23233, 19954, 32755, AGC= 78, IDX= 149,-0.07, 0.215, 1.388, 1.940, 0.595, PHS=-0.412, 0.766, 1.340, RAW= 251.2, -21.2, CAL= 248.5, -26.9, ROT= 261.5,  26.9

2025-03-12T23:55:39.653Z,1741823739.653 [DAT](INFO): DAT read: $Error in header

2025-03-12T23:55:39.654Z,1741823739.654 [DAT](INFO): Received a bad header
2025-03-12T23:55:39.667Z,1741823739.667 [DAT](INFO): #Rx 199: Read direction message, but no range.
2025-03-12T23:55:39.669Z,1741823739.669 [DAT](INFO): direction in FSK: [-0.131816,-0.882002,-0.452435]
2025-03-12T23:59:39.022Z,1741823979.022 [sci2_noyo_optim:NeedComms:C] Running Loop=1
2025-03-12T23:59:39.420Z,1741823979.420 [Waterlinked](INFO): Powering down
2025-03-12T23:59:39.607Z,1741823979.607 [Radio_Surface](INFO): Powering up
2025-03-12T23:59:44.959Z,1741823984.959 [DataOverHttps](INFO): Radio surface powered ON.
2025-03-13T00:00:15.080Z,1741824015.080 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T00:00:50.240Z,1741824050.240 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T00:01:25.384Z,1741824085.384 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T00:02:00.524Z,1741824120.524 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T00:02:35.672Z,1741824155.672 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T00:03:10.816Z,1741824190.816 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T00:03:45.956Z,1741824225.956 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T00:03:52.282Z,1741824232.282 [NAL9602](INFO): SBD MO Status=2, MOMSN=18521, MT Status=2, MTMSN=0
2025-03-13T00:03:52.282Z,1741824232.282 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-03-13T00:04:21.112Z,1741824261.112 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T00:04:40.757Z,1741824280.757 [NAL9602](INFO): SBD MO Status=2, MOMSN=18521, MT Status=2, MTMSN=0
2025-03-13T00:04:40.757Z,1741824280.757 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-03-13T00:04:43.185Z,1741824283.185 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2025-03-13T00:04:48.034Z,1741824288.034 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,000447.00,A,3647.77517,N,12152.41317,W,0.875,52.80,130325,,,A*48
2025-03-13T00:04:48.036Z,1741824288.036 [NAL9602](INFO): GPS fix at 20250313T000447: (36.796253, -121.873553)
2025-03-13T00:04:48.048Z,1741824288.048 [UniversalFixResidualReporter](INFO): Fix residual: 16.0 %DT, over the last 2180.1 m. Residual distance 348.6 m at bearing -102.2 degrees. Fix at (36.7963, -121.8736) with 1743.8 m made good.
2025-03-13T00:04:48.068Z,1741824288.068 [sci2_noyo_optim:NeedComms:C] Stopped
2025-03-13T00:04:48.069Z,1741824288.069 [sci2_noyo_optim:NeedComms:D] Running Loop=1
2025-03-13T00:04:56.268Z,1741824296.268 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T00:05:18.753Z,1741824318.753 [NAL9602](ERROR): Queried for signal strength and failed to receive proper response. 
2025-03-13T00:05:18.831Z,1741824318.831 [NAL9602](ERROR): received: 
+SBDI: 2, 18521, 2, 0, 0, 0

OK
2025-03-13T00:05:31.441Z,1741824331.441 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T00:05:54.377Z,1741824354.377 [NAL9602](INFO): SBD MO Status=2, MOMSN=18521, MT Status=2, MTMSN=0
2025-03-13T00:05:54.377Z,1741824354.377 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-03-13T00:06:06.583Z,1741824366.583 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T00:06:23.111Z,1741824383.111 [NAL9602](IMPORTANT): SBD MO Status=1, MOMSN=18521, MT Status=1, MTMSN=1050
2025-03-13T00:06:23.168Z,1741824383.168 [NAL9602](INFO): Sent 92 bytes from file Logs/20250311T232940/Courier0201.lzma
2025-03-13T00:06:23.168Z,1741824383.168 [NAL9602](INFO): Packets left to send: 0
2025-03-13T00:06:23.600Z,1741824383.600 [NAL9602](INFO): Received command: schedule resume
2025-03-13T00:06:23.673Z,1741824383.673 [CommandExec](IMPORTANT): got command schedule resume
2025-03-13T00:06:23.673Z,1741824383.673 [CommandExec](IMPORTANT): Scheduling is resumed
2025-03-13T00:06:41.724Z,1741824401.724 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T00:06:54.428Z,1741824414.428 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003965
2025-03-13T00:06:57.564Z,1741824417.564 [NAL9602](IMPORTANT): SBD MO Status=1, MOMSN=18522, MT Status=1, MTMSN=1051
2025-03-13T00:06:57.615Z,1741824417.615 [NAL9602](INFO): Sent 332 bytes from file Logs/20250311T232940/Express0202.lzma
2025-03-13T00:06:57.616Z,1741824417.616 [NAL9602](INFO): Packets left to send: 2
2025-03-13T00:06:58.080Z,1741824418.080 [NAL9602](INFO): Received command: schedule clear; schedule resume
2025-03-13T00:06:58.184Z,1741824418.184 [CommandExec](IMPORTANT): got command schedule clear
2025-03-13T00:06:58.184Z,1741824418.184 [CommandExec](IMPORTANT): Cleared 0 scheduled commands.
2025-03-13T00:06:58.184Z,1741824418.184 [CommandExec](IMPORTANT): got command schedule resume
2025-03-13T00:07:03.245Z,1741824423.245 [DataOverHttps](INFO): Sending 946 bytes from file Logs/20250311T232940/Express0202.lzma
2025-03-13T00:07:06.254Z,1741824426.254 [DataOverHttps](INFO): Moved sent file to Logs/20250311T232940/Express0202.lzma.bak
2025-03-13T00:07:06.254Z,1741824426.254 [DataOverHttps](INFO): SBD MOMSN=24219525
2025-03-13T00:07:07.431Z,1741824427.431 [sci2_noyo_optim:NeedComms:D] Stopped
2025-03-13T00:07:07.432Z,1741824427.432 [sci2_noyo_optim:NeedComms:E] Running Loop=1
2025-03-13T00:07:09.306Z,1741824429.306 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,000708.00,A,3647.77651,N,12152.37308,W,0.914,52.80,130325,,,A*48
2025-03-13T00:07:09.309Z,1741824429.309 [NAL9602](INFO): GPS fix at 20250313T000708: (36.796275, -121.872885)
2025-03-13T00:07:09.355Z,1741824429.355 [sci2_noyo_optim:NeedComms:E] Stopped
2025-03-13T00:07:09.356Z,1741824429.356 [sci2_noyo_optim:NeedComms](INFO): Completed sci2_noyo_optim:NeedComms
2025-03-13T00:07:09.357Z,1741824429.357 [sci2_noyo_optim:NeedComms] Stopped
2025-03-13T00:07:09.357Z,1741824429.357 [sci2_noyo_optim:NeedComms](DEBUG): Aggregate::uninitialize sci2_noyo_optim:NeedComms
2025-03-13T00:07:09.357Z,1741824429.357 [sci2_noyo_optim:NeedComms:B.GoToSurface] Stopped
2025-03-13T00:07:09.357Z,1741824429.357 [sci2_noyo_optim:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-03-13T00:07:09.730Z,1741824429.730 [sci2_noyo_optim:SurfaceComms:B](INFO): Completed sci2_noyo_optim:SurfaceComms:B
2025-03-13T00:07:09.731Z,1741824429.731 [sci2_noyo_optim:SurfaceComms:B] Stopped
2025-03-13T00:07:09.731Z,1741824429.731 [sci2_noyo_optim:SurfaceComms:B](DEBUG): Aggregate::uninitialize sci2_noyo_optim:SurfaceComms:B
2025-03-13T00:07:09.731Z,1741824429.731 [sci2_noyo_optim:SurfaceComms:C] Running Loop=1
2025-03-13T00:07:10.104Z,1741824430.104 [ElevatorOffsetCalculator](INFO): Removing expired estimator for commanded vars: speed 1.00 m/s, pitch 20.00 deg, mass-position 6.85 mm.
2025-03-13T00:07:10.121Z,1741824430.121 [sci2_noyo_optim:SurfaceComms:C] Stopped
2025-03-13T00:07:10.121Z,1741824430.121 [sci2_noyo_optim:SurfaceComms](INFO): Completed sci2_noyo_optim:SurfaceComms
2025-03-13T00:07:10.121Z,1741824430.121 [sci2_noyo_optim:SurfaceComms] Stopped
2025-03-13T00:07:10.121Z,1741824430.121 [sci2_noyo_optim:SurfaceComms](DEBUG): Aggregate::uninitialize sci2_noyo_optim:SurfaceComms
2025-03-13T00:07:10.536Z,1741824430.536 [sci2_noyo_optim:Lap:Dive] Running Loop=1
2025-03-13T00:07:10.536Z,1741824430.536 [sci2_noyo_optim:Lap:Dive](DEBUG): Aggregate::initialize sci2_noyo_optim:Lap:Dive
2025-03-13T00:07:10.536Z,1741824430.536 [sci2_noyo_optim:Lap:Dive:A] Running Loop=1
2025-03-13T00:07:10.536Z,1741824430.536 [sci2_noyo_optim:Lap:Dive:A](DEBUG): Aggregate::initialize sci2_noyo_optim:Lap:Dive:A
2025-03-13T00:07:10.538Z,1741824430.538 [sci2_noyo_optim:DiveCmd:InitialDive] Running Loop=1
2025-03-13T00:07:10.538Z,1741824430.538 [sci2_noyo_optim:DiveCmd:InitialDive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:InitialDive
2025-03-13T00:07:10.538Z,1741824430.538 [sci2_noyo_optim:DiveCmd:InitialDive:dive] Running Loop=1
2025-03-13T00:07:10.538Z,1741824430.538 [sci2_noyo_optim:DiveCmd:InitialDive:dive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:InitialDive:dive
2025-03-13T00:07:10.538Z,1741824430.538 [sci2_noyo_optim:DiveCmd:InitialDive:dive:A] Running Loop=1
2025-03-13T00:07:10.539Z,1741824430.539 [sci2_noyo_optim:DiveCmd:InitialDive:dive:B] Running Loop=1
2025-03-13T00:07:10.539Z,1741824430.539 [sci2_noyo_optim:DiveCmd:InitialDive:dive:C.Mass] Running Loop=1
2025-03-13T00:07:10.539Z,1741824430.539 [sci2_noyo_optim:DiveCmd:InitialDive:dive:C.Mass](DEBUG): Initialize.
2025-03-13T00:07:10.544Z,1741824430.544 [sci2_noyo_optim:DiveCmd:InitialDive:dive:D] Running Loop=1
2025-03-13T00:07:10.544Z,1741824430.544 [sci2_noyo_optim:DiveCmd:InitialDive:dive:D](INFO): Waiting for  1.000000 min while pumping down to neutral.
2025-03-13T00:07:10.544Z,1741824430.544 [sci2_noyo_optim:DiveCmd:InitialDive:dive:D] Stopped
2025-03-13T00:07:10.544Z,1741824430.544 [sci2_noyo_optim:DiveCmd:InitialDive:dive:E.Wait] Running Loop=1
2025-03-13T00:07:10.544Z,1741824430.544 [sci2_noyo_optim:DiveCmd:InitialDive:dive:E.Wait](DEBUG): Initialize Wait Component.
2025-03-13T00:07:33.244Z,1741824453.244 [ElevatorOffsetCalculator](INFO): New estimator for commanded vars: speed 1.00 m/s, pitch 20.00 deg, mass-position 6.85 mm (3 active estimators).
2025-03-13T00:07:41.347Z,1741824461.347 [NAL9602](INFO): Not Powering down - fast GPS
2025-03-13T00:08:11.181Z,1741824491.181 [sci2_noyo_optim:DiveCmd:InitialDive:dive:E.Wait](INFO): Done Waiting.
2025-03-13T00:08:11.181Z,1741824491.181 [sci2_noyo_optim:DiveCmd:InitialDive:dive:E.Wait] Stopped
2025-03-13T00:08:11.181Z,1741824491.181 [sci2_noyo_optim:DiveCmd:InitialDive:dive:E.Wait](DEBUG): Uninitialize Wait Component.
2025-03-13T00:08:11.181Z,1741824491.181 [sci2_noyo_optim:DiveCmd:InitialDive:dive:F] Running Loop=1
2025-03-13T00:08:11.539Z,1741824491.539 [sci2_noyo_optim:DiveCmd:InitialDive:dive:F](INFO): Moving to  10.000000 m 
2025-03-13T00:08:11.539Z,1741824491.539 [sci2_noyo_optim:DiveCmd:InitialDive:dive:F] Stopped
2025-03-13T00:08:11.540Z,1741824491.540 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth] Running Loop=1
2025-03-13T00:08:11.540Z,1741824491.540 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth
2025-03-13T00:08:11.540Z,1741824491.540 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:A.SetSpeed] Running Loop=1
2025-03-13T00:08:11.540Z,1741824491.540 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:A.SetSpeed](DEBUG): Initialize.
2025-03-13T00:08:11.540Z,1741824491.540 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:B.Pitch] Running Loop=1
2025-03-13T00:08:11.540Z,1741824491.540 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:B.Pitch](DEBUG): Initialize.
2025-03-13T00:08:12.752Z,1741824492.752 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T00:08:15.765Z,1741824495.765 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.252129
2025-03-13T00:08:33.708Z,1741824513.708 [Radio_Surface](INFO): Powering down
2025-03-13T00:08:43.780Z,1741824523.780 [DAT](INFO): DAT read: Rx Time:00:08:43.0885

2025-03-13T00:08:43.781Z,1741824523.781 [DAT](INFO): Rx dataTimestamp_ set to:1741824523.780636
2025-03-13T00:08:43.782Z,1741824523.782 [DAT](INFO): DAT read: $Low SNR acquisition

2025-03-13T00:08:43.782Z,1741824523.782 [DAT](INFO): Received low SNR in chirp
2025-03-13T00:08:47.913Z,1741824527.913 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T00:08:48.916Z,1741824528.916 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-03-13T00:09:08.782Z,1741824548.782 [DAT](INFO): DAT read: 00:09:07.9958 LVL= 32752, 32753, 32754, 32387, AGC= 77, IDX=  16,-0.17,-1.036, 1.329,-0.718,-0.009, PHS=-1.058, 1.311,-0.713, RAW= 322.3,   4.2, CAL= 325.2,   2.3, ROT= 184.8,  -2.3

2025-03-13T00:09:08.795Z,1741824548.795 [DAT](INFO): got valid direction response:
 00:09:07.9958 LVL= 32752, 32753, 32754, 32387, AGC= 77, IDX=  16,-0.17,-1.036, 1.329,-0.718,-0.009, PHS=-1.058, 1.311,-0.713, RAW= 322.3,   4.2, CAL= 325.2,   2.3, ROT= 184.8,  -2.3

2025-03-13T00:09:08.798Z,1741824548.798 [DAT](INFO): DAT read: Rx Time:00:09:07.9958

2025-03-13T00:09:08.804Z,1741824548.804 [DAT](INFO): Rx dataTimestamp_ set to:1741824548.798774
2025-03-13T00:09:08.806Z,1741824548.806 [DAT](INFO): DAT read: $Low SNR acquisition

2025-03-13T00:09:08.812Z,1741824548.812 [DAT](INFO): Received low SNR in chirp
2025-03-13T00:09:08.824Z,1741824548.824 [DAT](INFO): #Rx 200: Read direction message, but no range.
2025-03-13T00:09:08.852Z,1741824548.852 [DAT](INFO): direction in FSK: [-0.995690,-0.083610,0.040132]
2025-03-13T00:09:46.086Z,1741824586.086 [DAT](INFO): DAT read: Rx Time:00:09:45.3369

2025-03-13T00:09:46.087Z,1741824586.087 [DAT](INFO): Rx dataTimestamp_ set to:1741824586.086523
2025-03-13T00:09:46.617Z,1741824586.617 [DAT](INFO): DAT read: 00:09:45.3369 LVL= 32752, 22945, 29410, 32755, AGC= 87, IDX= 376,-0.12, 0.767, 2.956, 1.026, 1.838, PHS=-1.102, 1.091,-0.816, RAW= 323.1,   8.1, CAL= 325.5,   9.1, ROT= 184.5,  -9.1

2025-03-13T00:09:46.632Z,1741824586.632 [DAT](INFO): got valid direction response:
 00:09:45.3369 LVL= 32752, 22945, 29410, 32755, AGC= 87, IDX= 376,-0.12, 0.767, 2.956, 1.026, 1.838, PHS=-1.102, 1.091,-0.816, RAW= 323.1,   8.1, CAL= 325.5,   9.1, ROT= 184.5,  -9.1

2025-03-13T00:09:46.633Z,1741824586.633 [DAT](INFO): DAT read: $Error in header

2025-03-13T00:09:46.634Z,1741824586.634 [DAT](INFO): Received a bad header
2025-03-13T00:09:46.649Z,1741824586.649 [DAT](INFO): #Rx 201: Read direction message, but no range.
2025-03-13T00:09:46.653Z,1741824586.653 [DAT](INFO): direction in FSK: [-0.984370,-0.077471,0.158158]
2025-03-13T00:10:17.208Z,1741824617.208 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:B.Pitch] Stopped
2025-03-13T00:10:17.208Z,1741824617.208 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth](INFO): Completed sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth
2025-03-13T00:10:17.208Z,1741824617.208 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth] Stopped
2025-03-13T00:10:17.209Z,1741824617.209 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth
2025-03-13T00:10:17.209Z,1741824617.209 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:A.SetSpeed] Stopped
2025-03-13T00:10:17.209Z,1741824617.209 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:A.SetSpeed](DEBUG): Uninitialize.
2025-03-13T00:10:17.209Z,1741824617.209 [sci2_noyo_optim:DiveCmd:InitialDive:dive:H] Running Loop=1
2025-03-13T00:10:17.692Z,1741824617.692 [sci2_noyo_optim:DiveCmd:InitialDive:dive:H] Stopped
2025-03-13T00:10:17.701Z,1741824617.701 [sci2_noyo_optim:DiveCmd:InitialDive:dive](INFO): Completed sci2_noyo_optim:DiveCmd:InitialDive:dive
2025-03-13T00:10:17.701Z,1741824617.701 [sci2_noyo_optim:DiveCmd:InitialDive:dive] Stopped
2025-03-13T00:10:17.702Z,1741824617.702 [sci2_noyo_optim:DiveCmd:InitialDive:dive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:InitialDive:dive
2025-03-13T00:10:17.702Z,1741824617.702 [sci2_noyo_optim:DiveCmd:InitialDive:dive:A] Stopped
2025-03-13T00:10:17.702Z,1741824617.702 [sci2_noyo_optim:DiveCmd:InitialDive:dive:B] Stopped
2025-03-13T00:10:17.702Z,1741824617.702 [sci2_noyo_optim:DiveCmd:InitialDive:dive:C.Mass] Stopped
2025-03-13T00:10:17.703Z,1741824617.703 [sci2_noyo_optim:DiveCmd:InitialDive:dive:C.Mass](DEBUG): Uninitialize.
2025-03-13T00:10:17.708Z,1741824617.708 [sci2_noyo_optim:DiveCmd:InitialDive](INFO): Completed sci2_noyo_optim:DiveCmd:InitialDive
2025-03-13T00:10:18.263Z,1741824618.263 [sci2_noyo_optim:DiveCmd:SettleAtDepth] Running Loop=1
2025-03-13T00:10:18.263Z,1741824618.263 [sci2_noyo_optim:DiveCmd:SettleAtDepth](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:SettleAtDepth
2025-03-13T00:10:18.263Z,1741824618.263 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive] Running Loop=1
2025-03-13T00:10:18.264Z,1741824618.264 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:SettleAtDepth:dive
2025-03-13T00:10:18.264Z,1741824618.264 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:B.Pitch] Running Loop=1
2025-03-13T00:10:18.264Z,1741824618.264 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:B.Pitch](DEBUG): Initialize.
2025-03-13T00:10:18.264Z,1741824618.264 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:A] Running Loop=1
2025-03-13T00:10:18.265Z,1741824618.265 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:A](INFO): Reached  10.082541 m , settling for  3.000000 min 
2025-03-13T00:10:18.265Z,1741824618.265 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:A] Stopped
2025-03-13T00:10:18.265Z,1741824618.265 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:C.Wait] Running Loop=1
2025-03-13T00:10:18.265Z,1741824618.265 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:C.Wait](DEBUG): Initialize Wait Component.
2025-03-13T00:10:36.009Z,1741824636.009 [DAT](INFO): DAT read: 00:10:35.1376 LVL= 32752, 32753, 32754, 32755, AGC= 75, IDX= 465,-0.07,-2.567,-0.380,-2.214,-1.388, PHS=-1.210, 0.981,-0.830, RAW= 320.7,  10.5, CAL= 323.2,  12.6, ROT= 186.8, -12.6

2025-03-13T00:10:36.011Z,1741824636.011 [DAT](INFO): got valid direction response:
 00:10:35.1376 LVL= 32752, 32753, 32754, 32755, AGC= 75, IDX= 465,-0.07,-2.567,-0.380,-2.214,-1.388, PHS=-1.210, 0.981,-0.830, RAW= 320.7,  10.5, CAL= 323.2,  12.6, ROT= 186.8, -12.6

2025-03-13T00:10:36.011Z,1741824636.011 [DAT](INFO): DAT read: Rx Time:00:10:35.1376

2025-03-13T00:10:36.012Z,1741824636.012 [DAT](INFO): Rx dataTimestamp_ set to:1741824636.011678
2025-03-13T00:10:36.013Z,1741824636.013 [DAT](INFO): DAT read: $Low SNR acquisition

2025-03-13T00:10:36.013Z,1741824636.013 [DAT](INFO): Received low SNR in chirp
2025-03-13T00:10:36.027Z,1741824636.027 [DAT](INFO): #Rx 202: Read direction message, but no range.
2025-03-13T00:10:36.028Z,1741824636.028 [DAT](INFO): direction in FSK: [-0.969052,-0.115552,0.218143]
2025-03-13T00:12:11.779Z,1741824731.779 [BPC1](ERROR): BPC1B: No match for serial number 1717 in BPC1B's battery stick inventory (sticks 32-62 in onboard configuration file).
2025-03-13T00:13:18.571Z,1741824798.571 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:C.Wait](INFO): Done Waiting.
2025-03-13T00:13:18.571Z,1741824798.571 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:C.Wait] Stopped
2025-03-13T00:13:18.591Z,1741824798.591 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:C.Wait](DEBUG): Uninitialize Wait Component.
2025-03-13T00:13:18.591Z,1741824798.591 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:D] Running Loop=1
2025-03-13T00:13:19.090Z,1741824799.090 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:D] Stopped
2025-03-13T00:13:19.090Z,1741824799.090 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive](INFO): Completed sci2_noyo_optim:DiveCmd:SettleAtDepth:dive
2025-03-13T00:13:19.091Z,1741824799.091 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive] Stopped
2025-03-13T00:13:19.091Z,1741824799.091 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:SettleAtDepth:dive
2025-03-13T00:13:19.091Z,1741824799.091 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:B.Pitch] Stopped
2025-03-13T00:13:19.091Z,1741824799.091 [sci2_noyo_optim:DiveCmd:SettleAtDepth](INFO): Completed sci2_noyo_optim:DiveCmd:SettleAtDepth
2025-03-13T00:13:43.962Z,1741824823.962 [Waterlinked](ERROR): No DVL communication! Re-initializing
2025-03-13T00:13:43.962Z,1741824823.962 [Waterlinked] Communications Fault, FailCount= 1
2025-03-13T00:13:43.962Z,1741824823.962 [Waterlinked](ERROR): Communications Fault
2025-03-13T00:13:44.075Z,1741824824.075 [CBIT](ERROR): Communications Fault in component: Waterlinked
2025-03-13T00:13:44.459Z,1741824824.459 [Waterlinked](INFO): Powering down
2025-03-13T00:13:45.363Z,1741824825.363 [CBIT](INFO): Clearing failed state for component Waterlinked
2025-03-13T00:13:45.363Z,1741824825.363 [Waterlinked] No Fault, FailCount= 1
2025-03-13T00:14:32.587Z,1741824872.587 [DAT](INFO): DAT read: 00:14:31.8254 LVL= 30064, 21313, 15122, 17763, AGC= 84, IDX= 252,-0.30,-3.123,-1.722,-1.710,-1.918, PHS=-1.236, 0.169, 0.203, RAW= 268.8,  12.1, CAL= 268.7,  15.2, ROT= 241.3, -15.2

2025-03-13T00:14:32.590Z,1741824872.590 [DAT](INFO): got valid direction response:
 00:14:31.8254 LVL= 30064, 21313, 15122, 17763, AGC= 84, IDX= 252,-0.30,-3.123,-1.722,-1.710,-1.918, PHS=-1.236, 0.169, 0.203, RAW= 268.8,  12.1, CAL= 268.7,  15.2, ROT= 241.3, -15.2

2025-03-13T00:14:32.592Z,1741824872.592 [DAT](INFO): DAT read: Rx Time:00:14:31.8254

2025-03-13T00:14:32.593Z,1741824872.593 [DAT](INFO): Rx dataTimestamp_ set to:1741824872.592160
2025-03-13T00:14:32.594Z,1741824872.594 [DAT](INFO): DAT read: $Low SNR acquisition

2025-03-13T00:14:32.595Z,1741824872.595 [DAT](INFO): Received low SNR in chirp
2025-03-13T00:14:32.608Z,1741824872.608 [DAT](INFO): #Rx 203: Read direction message, but no range.
2025-03-13T00:14:32.610Z,1741824872.610 [DAT](INFO): direction in FSK: [-0.463423,-0.846461,0.262189]
2025-03-13T00:14:39.697Z,1741824879.697 [BPC1](INFO): Calculating totals. Valid battery stick count: 50. Valid reserve battery stick count: 5.
2025-03-13T00:14:39.701Z,1741824879.701 [BPC1](FAULT): Failed to receive data from 3 sticks prior to timeout. Will not retry this scan cycle. Missing stick IDs are: 19, 21, 24.
2025-03-13T00:18:34.260Z,1741825114.260 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow] Running Loop=1
2025-03-13T00:18:34.261Z,1741825114.261 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepthSlow
2025-03-13T00:18:34.261Z,1741825114.261 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:A.SetSpeed] Running Loop=1
2025-03-13T00:18:34.261Z,1741825114.261 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:A.SetSpeed](DEBUG): Initialize.
2025-03-13T00:18:34.262Z,1741825114.262 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:B] Running Loop=1
2025-03-13T00:18:34.262Z,1741825114.262 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:C.Buoyancy] Running Loop=1
2025-03-13T00:18:34.263Z,1741825114.263 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:C.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-03-13T00:18:34.268Z,1741825114.268 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:D.Pitch] Running Loop=1
2025-03-13T00:18:34.268Z,1741825114.268 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:D.Pitch](DEBUG): Initialize.
2025-03-13T00:18:34.279Z,1741825114.279 [sci2_noyo_optim:DiveCmd:MaintainDepth] Stopped
2025-03-13T00:18:34.279Z,1741825114.279 [sci2_noyo_optim:DiveCmd:MaintainDepth](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepth
2025-03-13T00:18:34.280Z,1741825114.280 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive] Stopped
2025-03-13T00:18:34.280Z,1741825114.280 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive
2025-03-13T00:18:34.281Z,1741825114.281 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive] Stopped
2025-03-13T00:18:34.281Z,1741825114.281 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive
2025-03-13T00:18:34.282Z,1741825114.282 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass] Stopped
2025-03-13T00:18:34.282Z,1741825114.282 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass](DEBUG): Uninitialize.
2025-03-13T00:18:34.282Z,1741825114.282 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed] Stopped
2025-03-13T00:18:34.283Z,1741825114.283 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed](DEBUG): Uninitialize.
2025-03-13T00:18:34.291Z,1741825114.291 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:B.Pitch] Stopped
2025-03-13T00:21:03.362Z,1741825263.362 [sci2_noyo_optim:Lap:DepthByLap:Wpt2:A.Waypoint](IMPORTANT): Reached waypoint: 36.796879,-121.880051
2025-03-13T00:21:03.362Z,1741825263.362 [sci2_noyo_optim:Lap:DepthByLap:Wpt2:A.Waypoint] Stopped
2025-03-13T00:21:03.362Z,1741825263.362 [sci2_noyo_optim:Lap:DepthByLap:Wpt2:A.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-03-13T00:21:03.362Z,1741825263.362 [sci2_noyo_optim:Lap:DepthByLap:Wpt2](INFO): Completed sci2_noyo_optim:Lap:DepthByLap:Wpt2
2025-03-13T00:21:03.362Z,1741825263.362 [sci2_noyo_optim:Lap:DepthByLap:Wpt2] Stopped
2025-03-13T00:21:03.362Z,1741825263.362 [sci2_noyo_optim:Lap:DepthByLap:Wpt2](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Lap:DepthByLap:Wpt2
2025-03-13T00:21:03.363Z,1741825263.363 [sci2_noyo_optim:Lap:DepthByLap:Wpt3] Running Loop=1
2025-03-13T00:21:03.363Z,1741825263.363 [sci2_noyo_optim:Lap:DepthByLap:Wpt3](DEBUG): Aggregate::initialize sci2_noyo_optim:Lap:DepthByLap:Wpt3
2025-03-13T00:21:03.363Z,1741825263.363 [sci2_noyo_optim:Lap:DepthByLap:Wpt3:A.Waypoint] Running Loop=1
2025-03-13T00:21:03.363Z,1741825263.363 [sci2_noyo_optim:Lap:DepthByLap:Wpt3:A.Waypoint](DEBUG): Initialize WaypointComponent.
2025-03-13T00:21:23.552Z,1741825283.552 [DAT](INFO): DAT read: Rx Time:00:21:22.8016

2025-03-13T00:21:23.553Z,1741825283.553 [DAT](INFO): Rx dataTimestamp_ set to:1741825283.552569
2025-03-13T00:21:24.057Z,1741825284.057 [DAT](INFO): DAT read: $Error in header

2025-03-13T00:21:24.057Z,1741825284.057 [DAT](INFO): Received a bad header
2025-03-13T00:21:47.064Z,1741825307.064 [CTD_Seabird](ERROR): Failed to parse device response: ,9.4854,3.65361,1947.43
2025-03-13T00:23:10.095Z,1741825390.095 [sci2_noyo_optim:Lap:DepthByLap:Wpt3:A.Waypoint] Stopped
2025-03-13T00:23:10.095Z,1741825390.095 [sci2_noyo_optim:Lap:DepthByLap:Wpt3:A.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-03-13T00:23:10.096Z,1741825390.096 [sci2_noyo_optim:Lap:DepthByLap:Wpt3](INFO): Completed sci2_noyo_optim:Lap:DepthByLap:Wpt3
2025-03-13T00:23:10.096Z,1741825390.096 [sci2_noyo_optim:Lap:DepthByLap:Wpt3] Stopped
2025-03-13T00:23:10.096Z,1741825390.096 [sci2_noyo_optim:Lap:DepthByLap:Wpt3](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Lap:DepthByLap:Wpt3
2025-03-13T00:23:10.096Z,1741825390.096 [sci2_noyo_optim:Lap:DepthByLap:Wpt4] Running Loop=1
2025-03-13T00:23:10.096Z,1741825390.096 [sci2_noyo_optim:Lap:DepthByLap:Wpt4](DEBUG): Aggregate::initialize sci2_noyo_optim:Lap:DepthByLap:Wpt4
2025-03-13T00:23:10.097Z,1741825390.097 [sci2_noyo_optim:Lap:DepthByLap:Wpt4:A.Waypoint] Running Loop=1
2025-03-13T00:23:10.097Z,1741825390.097 [sci2_noyo_optim:Lap:DepthByLap:Wpt4:A.Waypoint](DEBUG): Initialize WaypointComponent.
2025-03-13T00:23:10.462Z,1741825390.462 [sci2_noyo_optim:Lap:DepthByLap:Wpt4:A.Waypoint] Stopped
2025-03-13T00:23:10.462Z,1741825390.462 [sci2_noyo_optim:Lap:DepthByLap:Wpt4:A.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-03-13T00:23:10.462Z,1741825390.462 [sci2_noyo_optim:Lap:DepthByLap:Wpt4](INFO): Completed sci2_noyo_optim:Lap:DepthByLap:Wpt4
2025-03-13T00:23:10.462Z,1741825390.462 [sci2_noyo_optim:Lap:DepthByLap:Wpt4] Stopped
2025-03-13T00:23:10.462Z,1741825390.462 [sci2_noyo_optim:Lap:DepthByLap:Wpt4](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Lap:DepthByLap:Wpt4
2025-03-13T00:23:10.462Z,1741825390.462 [sci2_noyo_optim:Lap:DepthByLap:Wpt5] Running Loop=1
2025-03-13T00:23:10.462Z,1741825390.462 [sci2_noyo_optim:Lap:DepthByLap:Wpt5](DEBUG): Aggregate::initialize sci2_noyo_optim:Lap:DepthByLap:Wpt5
2025-03-13T00:23:10.462Z,1741825390.462 [sci2_noyo_optim:Lap:DepthByLap:Wpt5:A.Waypoint] Running Loop=1
2025-03-13T00:23:10.462Z,1741825390.462 [sci2_noyo_optim:Lap:DepthByLap:Wpt5:A.Waypoint](DEBUG): Initialize WaypointComponent.
2025-03-13T00:23:10.875Z,1741825390.875 [sci2_noyo_optim:Lap:DepthByLap:Wpt5:A.Waypoint] Stopped
2025-03-13T00:23:10.875Z,1741825390.875 [sci2_noyo_optim:Lap:DepthByLap:Wpt5:A.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-03-13T00:23:10.875Z,1741825390.875 [sci2_noyo_optim:Lap:DepthByLap:Wpt5](INFO): Completed sci2_noyo_optim:Lap:DepthByLap:Wpt5
2025-03-13T00:23:10.875Z,1741825390.875 [sci2_noyo_optim:Lap:DepthByLap:Wpt5] Stopped
2025-03-13T00:23:10.876Z,1741825390.876 [sci2_noyo_optim:Lap:DepthByLap:Wpt5](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Lap:DepthByLap:Wpt5
2025-03-13T00:23:10.876Z,1741825390.876 [sci2_noyo_optim:Lap:DepthByLap:Wpt6] Running Loop=1
2025-03-13T00:23:10.876Z,1741825390.876 [sci2_noyo_optim:Lap:DepthByLap:Wpt6](DEBUG): Aggregate::initialize sci2_noyo_optim:Lap:DepthByLap:Wpt6
2025-03-13T00:23:10.876Z,1741825390.876 [sci2_noyo_optim:Lap:DepthByLap:Wpt6:A.Waypoint] Running Loop=1
2025-03-13T00:23:10.876Z,1741825390.876 [sci2_noyo_optim:Lap:DepthByLap:Wpt6:A.Waypoint](DEBUG): Initialize WaypointComponent.
2025-03-13T00:23:11.302Z,1741825391.302 [sci2_noyo_optim:Lap:DepthByLap:Wpt6:A.Waypoint] Stopped
2025-03-13T00:23:11.302Z,1741825391.302 [sci2_noyo_optim:Lap:DepthByLap:Wpt6:A.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-03-13T00:23:11.303Z,1741825391.303 [sci2_noyo_optim:Lap:DepthByLap:Wpt6](INFO): Completed sci2_noyo_optim:Lap:DepthByLap:Wpt6
2025-03-13T00:23:11.303Z,1741825391.303 [sci2_noyo_optim:Lap:DepthByLap:Wpt6] Stopped
2025-03-13T00:23:11.303Z,1741825391.303 [sci2_noyo_optim:Lap:DepthByLap:Wpt6](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Lap:DepthByLap:Wpt6
2025-03-13T00:23:11.303Z,1741825391.303 [sci2_noyo_optim:Lap:DepthByLap:Wpt7] Running Loop=1
2025-03-13T00:23:11.303Z,1741825391.303 [sci2_noyo_optim:Lap:DepthByLap:Wpt7](DEBUG): Aggregate::initialize sci2_noyo_optim:Lap:DepthByLap:Wpt7
2025-03-13T00:23:11.303Z,1741825391.303 [sci2_noyo_optim:Lap:DepthByLap:Wpt7:A.Waypoint] Running Loop=1
2025-03-13T00:23:11.303Z,1741825391.303 [sci2_noyo_optim:Lap:DepthByLap:Wpt7:A.Waypoint](DEBUG): Initialize WaypointComponent.
2025-03-13T00:23:11.837Z,1741825391.837 [sci2_noyo_optim:Lap:DepthByLap:Wpt7:A.Waypoint] Stopped
2025-03-13T00:23:11.837Z,1741825391.837 [sci2_noyo_optim:Lap:DepthByLap:Wpt7:A.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-03-13T00:23:11.837Z,1741825391.837 [sci2_noyo_optim:Lap:DepthByLap:Wpt7](INFO): Completed sci2_noyo_optim:Lap:DepthByLap:Wpt7
2025-03-13T00:23:11.837Z,1741825391.837 [sci2_noyo_optim:Lap:DepthByLap:Wpt7] Stopped
2025-03-13T00:23:11.837Z,1741825391.837 [sci2_noyo_optim:Lap:DepthByLap:Wpt7](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Lap:DepthByLap:Wpt7
2025-03-13T00:23:11.837Z,1741825391.837 [sci2_noyo_optim:Lap:DepthByLap:Wpt8] Running Loop=1
2025-03-13T00:23:11.837Z,1741825391.837 [sci2_noyo_optim:Lap:DepthByLap:Wpt8](DEBUG): Aggregate::initialize sci2_noyo_optim:Lap:DepthByLap:Wpt8
2025-03-13T00:23:11.837Z,1741825391.837 [sci2_noyo_optim:Lap:DepthByLap:Wpt8:A.Waypoint] Running Loop=1
2025-03-13T00:23:11.837Z,1741825391.837 [sci2_noyo_optim:Lap:DepthByLap:Wpt8:A.Waypoint](DEBUG): Initialize WaypointComponent.
2025-03-13T00:23:12.073Z,1741825392.073 [sci2_noyo_optim:Lap:DepthByLap:Wpt8:A.Waypoint] Stopped
2025-03-13T00:23:12.073Z,1741825392.073 [sci2_noyo_optim:Lap:DepthByLap:Wpt8:A.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-03-13T00:23:12.074Z,1741825392.074 [sci2_noyo_optim:Lap:DepthByLap:Wpt8](INFO): Completed sci2_noyo_optim:Lap:DepthByLap:Wpt8
2025-03-13T00:23:12.074Z,1741825392.074 [sci2_noyo_optim:Lap:DepthByLap:Wpt8] Stopped
2025-03-13T00:23:12.074Z,1741825392.074 [sci2_noyo_optim:Lap:DepthByLap:Wpt8](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Lap:DepthByLap:Wpt8
2025-03-13T00:23:12.074Z,1741825392.074 [sci2_noyo_optim:Lap:DepthByLap:Leg2] Running Loop=1
2025-03-13T00:23:12.074Z,1741825392.074 [sci2_noyo_optim:Lap:DepthByLap:Leg2](DEBUG): Aggregate::initialize sci2_noyo_optim:Lap:DepthByLap:Leg2
2025-03-13T00:23:12.074Z,1741825392.074 [sci2_noyo_optim:Lap:DepthByLap:Leg2:A] Running Loop=1
2025-03-13T00:23:12.526Z,1741825392.526 [sci2_noyo_optim:Lap:DepthByLap:Leg2] Stopped
2025-03-13T00:23:12.526Z,1741825392.526 [sci2_noyo_optim:Lap:DepthByLap:Leg2](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Lap:DepthByLap:Leg2
2025-03-13T00:23:12.526Z,1741825392.526 [sci2_noyo_optim:Lap:DepthByLap:Leg2:A] Stopped
2025-03-13T00:23:12.528Z,1741825392.528 [sci2_noyo_optim:Lap:DepthByLap:Leg3] Running Loop=1
2025-03-13T00:23:12.528Z,1741825392.528 [sci2_noyo_optim:Lap:DepthByLap:Leg3](DEBUG): Aggregate::initialize sci2_noyo_optim:Lap:DepthByLap:Leg3
2025-03-13T00:23:12.529Z,1741825392.529 [sci2_noyo_optim:Lap:DepthByLap:Leg3:A] Running Loop=1
2025-03-13T00:23:12.893Z,1741825392.893 [sci2_noyo_optim:Lap:DepthByLap:Leg3] Stopped
2025-03-13T00:23:12.893Z,1741825392.893 [sci2_noyo_optim:Lap:DepthByLap:Leg3](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Lap:DepthByLap:Leg3
2025-03-13T00:23:12.893Z,1741825392.893 [sci2_noyo_optim:Lap:DepthByLap:Leg3:A] Stopped
2025-03-13T00:23:12.894Z,1741825392.894 [sci2_noyo_optim:Lap:DepthByLap:Leg4] Running Loop=1
2025-03-13T00:23:12.894Z,1741825392.894 [sci2_noyo_optim:Lap:DepthByLap:Leg4](DEBUG): Aggregate::initialize sci2_noyo_optim:Lap:DepthByLap:Leg4
2025-03-13T00:23:12.894Z,1741825392.894 [sci2_noyo_optim:Lap:DepthByLap:Leg4:A] Running Loop=1
2025-03-13T00:23:13.272Z,1741825393.272 [sci2_noyo_optim:Lap:DepthByLap:Leg4] Stopped
2025-03-13T00:23:13.273Z,1741825393.273 [sci2_noyo_optim:Lap:DepthByLap:Leg4](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Lap:DepthByLap:Leg4
2025-03-13T00:23:13.273Z,1741825393.273 [sci2_noyo_optim:Lap:DepthByLap:Leg4:A] Stopped
2025-03-13T00:23:13.273Z,1741825393.273 [sci2_noyo_optim:Lap:DepthByLap:Leg5] Running Loop=1
2025-03-13T00:23:13.273Z,1741825393.273 [sci2_noyo_optim:Lap:DepthByLap:Leg5](DEBUG): Aggregate::initialize sci2_noyo_optim:Lap:DepthByLap:Leg5
2025-03-13T00:23:13.273Z,1741825393.273 [sci2_noyo_optim:Lap:DepthByLap:Leg5:A] Running Loop=1
2025-03-13T00:23:13.854Z,1741825393.854 [sci2_noyo_optim:Lap:DepthByLap:Leg5] Stopped
2025-03-13T00:23:13.854Z,1741825393.854 [sci2_noyo_optim:Lap:DepthByLap:Leg5](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Lap:DepthByLap:Leg5
2025-03-13T00:23:13.854Z,1741825393.854 [sci2_noyo_optim:Lap:DepthByLap:Leg5:A] Stopped
2025-03-13T00:23:13.855Z,1741825393.855 [sci2_noyo_optim:Lap:DepthByLap:Leg6] Running Loop=1
2025-03-13T00:23:13.855Z,1741825393.855 [sci2_noyo_optim:Lap:DepthByLap:Leg6](DEBUG): Aggregate::initialize sci2_noyo_optim:Lap:DepthByLap:Leg6
2025-03-13T00:23:13.855Z,1741825393.855 [sci2_noyo_optim:Lap:DepthByLap:Leg6:A] Running Loop=1
2025-03-13T00:23:14.472Z,1741825394.472 [sci2_noyo_optim:Lap:DepthByLap:Leg6] Stopped
2025-03-13T00:23:14.473Z,1741825394.473 [sci2_noyo_optim:Lap:DepthByLap:Leg6](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Lap:DepthByLap:Leg6
2025-03-13T00:23:14.473Z,1741825394.473 [sci2_noyo_optim:Lap:DepthByLap:Leg6:A] Stopped
2025-03-13T00:23:14.473Z,1741825394.473 [sci2_noyo_optim:Lap:DepthByLap:Leg7] Running Loop=1
2025-03-13T00:23:14.474Z,1741825394.474 [sci2_noyo_optim:Lap:DepthByLap:Leg7](DEBUG): Aggregate::initialize sci2_noyo_optim:Lap:DepthByLap:Leg7
2025-03-13T00:23:14.474Z,1741825394.474 [sci2_noyo_optim:Lap:DepthByLap:Leg7:A] Running Loop=1
2025-03-13T00:23:14.686Z,1741825394.686 [sci2_noyo_optim:Lap:DepthByLap:Leg7] Stopped
2025-03-13T00:23:14.686Z,1741825394.686 [sci2_noyo_optim:Lap:DepthByLap:Leg7](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Lap:DepthByLap:Leg7
2025-03-13T00:23:14.687Z,1741825394.687 [sci2_noyo_optim:Lap:DepthByLap:Leg7:A] Stopped
2025-03-13T00:23:14.687Z,1741825394.687 [sci2_noyo_optim:Lap:DepthByLap:Leg8] Running Loop=1
2025-03-13T00:23:14.687Z,1741825394.687 [sci2_noyo_optim:Lap:DepthByLap:Leg8](DEBUG): Aggregate::initialize sci2_noyo_optim:Lap:DepthByLap:Leg8
2025-03-13T00:23:14.687Z,1741825394.687 [sci2_noyo_optim:Lap:DepthByLap:Leg8:A] Running Loop=1
2025-03-13T00:23:15.183Z,1741825395.183 [sci2_noyo_optim:Lap:DepthByLap:Leg8] Stopped
2025-03-13T00:23:15.184Z,1741825395.184 [sci2_noyo_optim:Lap:DepthByLap:Leg8](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Lap:DepthByLap:Leg8
2025-03-13T00:23:15.184Z,1741825395.184 [sci2_noyo_optim:Lap:DepthByLap:Leg8:A] Stopped
2025-03-13T00:23:15.184Z,1741825395.184 [sci2_noyo_optim:Lap:DepthByLap](INFO): Completed sci2_noyo_optim:Lap:DepthByLap
2025-03-13T00:23:15.184Z,1741825395.184 [sci2_noyo_optim:Lap:DepthByLap] Stopped
2025-03-13T00:23:15.184Z,1741825395.184 [sci2_noyo_optim:Lap:DepthByLap](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Lap:DepthByLap
2025-03-13T00:23:15.184Z,1741825395.184 [sci2_noyo_optim:Lap:DepthByLeg] Running Loop=1
2025-03-13T00:23:15.184Z,1741825395.184 [sci2_noyo_optim:Lap:DepthByLeg](DEBUG): Aggregate::initialize sci2_noyo_optim:Lap:DepthByLeg
2025-03-13T00:23:15.184Z,1741825395.184 [sci2_noyo_optim:Lap:DepthByLeg:Leg1] Running Loop=1
2025-03-13T00:23:15.184Z,1741825395.184 [sci2_noyo_optim:Lap:DepthByLeg:Leg1](DEBUG): Aggregate::initialize sci2_noyo_optim:Lap:DepthByLeg:Leg1
2025-03-13T00:23:15.185Z,1741825395.185 [sci2_noyo_optim:Lap:DepthByLeg:Leg1:A] Running Loop=1
2025-03-13T00:23:15.510Z,1741825395.510 [sci2_noyo_optim:Lap:DepthByLeg] Stopped
2025-03-13T00:23:15.510Z,1741825395.510 [sci2_noyo_optim:Lap:DepthByLeg](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Lap:DepthByLeg
2025-03-13T00:23:15.510Z,1741825395.510 [sci2_noyo_optim:Lap:DepthByLeg:Leg1] Stopped
2025-03-13T00:23:15.510Z,1741825395.510 [sci2_noyo_optim:Lap:DepthByLeg:Leg1](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Lap:DepthByLeg:Leg1
2025-03-13T00:23:15.510Z,1741825395.510 [sci2_noyo_optim:Lap:DepthByLeg:Leg1:A] Stopped
2025-03-13T00:23:15.510Z,1741825395.510 [sci2_noyo_optim:Lap](INFO): Completed sci2_noyo_optim:Lap
2025-03-13T00:23:15.511Z,1741825395.511 [sci2_noyo_optim:Lap] Stopped
2025-03-13T00:23:15.511Z,1741825395.511 [sci2_noyo_optim:Lap](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Lap
2025-03-13T00:23:15.511Z,1741825395.511 [sci2_noyo_optim:Lap:Dive] Stopped
2025-03-13T00:23:15.511Z,1741825395.511 [sci2_noyo_optim:Lap:Dive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Lap:Dive
2025-03-13T00:23:15.511Z,1741825395.511 [sci2_noyo_optim:Lap:Dive:A] Stopped
2025-03-13T00:23:15.511Z,1741825395.511 [sci2_noyo_optim:Lap:Dive:A](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Lap:Dive:A
2025-03-13T00:23:15.511Z,1741825395.511 [sci2_noyo_optim:Lap](INFO): Running loop #2
2025-03-13T00:23:15.512Z,1741825395.512 [sci2_noyo_optim:Lap] Running Loop=2
2025-03-13T00:23:15.512Z,1741825395.512 [sci2_noyo_optim:Lap](DEBUG): Aggregate::initialize sci2_noyo_optim:Lap
2025-03-13T00:23:15.512Z,1741825395.512 [sci2_noyo_optim:Lap:Dive] Running Loop=1
2025-03-13T00:23:15.512Z,1741825395.512 [sci2_noyo_optim:Lap:Dive](DEBUG): Aggregate::initialize sci2_noyo_optim:Lap:Dive
2025-03-13T00:23:15.512Z,1741825395.512 [sci2_noyo_optim:Lap:Dive:A] Running Loop=1
2025-03-13T00:23:15.512Z,1741825395.512 [sci2_noyo_optim:Lap:Dive:A](DEBUG): Aggregate::initialize sci2_noyo_optim:Lap:Dive:A
2025-03-13T00:23:15.512Z,1741825395.512 [sci2_noyo_optim:Lap:DepthByLap] Running Loop=1
2025-03-13T00:23:15.512Z,1741825395.512 [sci2_noyo_optim:Lap:DepthByLap](DEBUG): Aggregate::initialize sci2_noyo_optim:Lap:DepthByLap
2025-03-13T00:23:15.512Z,1741825395.512 [sci2_noyo_optim:Lap:DepthByLap:A] Running Loop=1
2025-03-13T00:23:15.889Z,1741825395.889 [sci2_noyo_optim:Lap:DepthByLap:A] Stopped
2025-03-13T00:23:15.889Z,1741825395.889 [sci2_noyo_optim:Lap:DepthByLap:Wpt1] Running Loop=1
2025-03-13T00:23:15.889Z,1741825395.889 [sci2_noyo_optim:Lap:DepthByLap:Wpt1](DEBUG): Aggregate::initialize sci2_noyo_optim:Lap:DepthByLap:Wpt1
2025-03-13T00:23:15.889Z,1741825395.889 [sci2_noyo_optim:Lap:DepthByLap:Wpt1:A.Waypoint] Running Loop=1
2025-03-13T00:23:15.889Z,1741825395.889 [sci2_noyo_optim:Lap:DepthByLap:Wpt1:A.Waypoint](DEBUG): Initialize WaypointComponent.
2025-03-13T00:23:15.890Z,1741825395.890 [sci2_noyo_optim:Lap:DepthByLap:Wpt1:A.Waypoint](IMPORTANT): Navigating to waypoint: 36.797020,-121.866699
2025-03-13T00:24:17.843Z,1741825457.843 [DAT](INFO): DAT read: Rx Time:00:24:17.0518

2025-03-13T00:24:17.844Z,1741825457.844 [DAT](INFO): Rx dataTimestamp_ set to:1741825457.843508
2025-03-13T00:24:18.361Z,1741825458.361 [DAT](INFO): DAT read: 00:24:17.0518 LVL= 18096, 23745, 24802, 32755, AGC= 75, IDX= 438,-0.19,-1.698, 2.645,-2.809,-2.595, PHS= 0.867,-1.070,-0.217, RAW= 116.1,   5.1, CAL= 112.0,  -1.8, ROT=  38.0,   1.8

2025-03-13T00:24:18.377Z,1741825458.377 [DAT](INFO): got valid direction response:
 00:24:17.0518 LVL= 18096, 23745, 24802, 32755, AGC= 75, IDX= 438,-0.19,-1.698, 2.645,-2.809,-2.595, PHS= 0.867,-1.070,-0.217, RAW= 116.1,   5.1, CAL= 112.0,  -1.8, ROT=  38.0,   1.8

2025-03-13T00:24:18.378Z,1741825458.378 [DAT](INFO): DAT read: $Error in header

2025-03-13T00:24:18.388Z,1741825458.388 [DAT](INFO): Received a bad header
2025-03-13T00:24:18.400Z,1741825458.400 [DAT](INFO): #Rx 204: Read direction message, but no range.
2025-03-13T00:24:18.401Z,1741825458.401 [DAT](INFO): direction in FSK: [0.787622,0.615358,-0.031411]
2025-03-13T00:24:30.205Z,1741825470.205 [DAT](INFO): DAT read: Rx Time:00:24:29.4994

2025-03-13T00:24:30.205Z,1741825470.205 [DAT](INFO): Rx dataTimestamp_ set to:1741825470.205028
2025-03-13T00:24:30.714Z,1741825470.714 [DAT](INFO): DAT read: 00:24:29.4994 LVL= 30096, 32753, 32754, 32755, AGC= 78, IDX= 457,-0.41, 1.637,-0.483, 0.744, 0.808, PHS= 0.798,-1.318,-0.068, RAW= 126.0,   6.4, CAL= 121.8,   1.3, ROT=  28.2,  -1.3

2025-03-13T00:24:30.715Z,1741825470.715 [DAT](INFO): got valid direction response:
 00:24:29.4994 LVL= 30096, 32753, 32754, 32755, AGC= 78, IDX= 457,-0.41, 1.637,-0.483, 0.744, 0.808, PHS= 0.798,-1.318,-0.068, RAW= 126.0,   6.4, CAL= 121.8,   1.3, ROT=  28.2,  -1.3

2025-03-13T00:24:30.716Z,1741825470.716 [DAT](INFO): DAT read: $Error in header

2025-03-13T00:24:30.716Z,1741825470.716 [DAT](INFO): Received a bad header
2025-03-13T00:24:30.727Z,1741825470.727 [DAT](INFO): #Rx 205: Read direction message, but no range.
2025-03-13T00:24:30.728Z,1741825470.728 [DAT](INFO): direction in FSK: [0.881077,0.472429,0.022687]
2025-03-13T00:24:55.170Z,1741825495.170 [DAT](INFO): DAT read: Rx Time:00:24:54.3900

2025-03-13T00:24:55.172Z,1741825495.172 [DAT](INFO): Rx dataTimestamp_ set to:1741825495.170606
2025-03-13T00:24:55.677Z,1741825495.677 [DAT](INFO): DAT read: 00:24:54.3901 LVL= 17504, 26177, 26226, 32755, AGC= 75, IDX= 386, 0.10, 1.682,-0.227, 0.398, 0.771, PHS= 0.880,-1.025,-0.377, RAW= 109.5,   6.3, CAL= 106.2,  -1.2, ROT=  43.8,   1.2

2025-03-13T00:24:55.678Z,1741825495.678 [DAT](INFO): got valid direction response:
 00:24:54.3901 LVL= 17504, 26177, 26226, 32755, AGC= 75, IDX= 386, 0.10, 1.682,-0.227, 0.398, 0.771, PHS= 0.880,-1.025,-0.377, RAW= 109.5,   6.3, CAL= 106.2,  -1.2, ROT=  43.8,   1.2

2025-03-13T00:24:55.680Z,1741825495.680 [DAT](INFO): DAT read: Unsupported packet type received!

2025-03-13T00:24:55.680Z,1741825495.680 [DAT](INFO): unknown deviceResponse_: Unsupported packet type received!

2025-03-13T00:24:55.680Z,1741825495.680 [DAT](INFO): DAT read: 

2025-03-13T00:24:55.681Z,1741825495.681 [DAT](INFO): DAT read: $Packet for address 126

2025-03-13T00:24:55.682Z,1741825495.682 [DAT](INFO): received a packet notification
2025-03-13T00:24:55.695Z,1741825495.695 [DAT](INFO): #Rx 206: Read direction message, but no range.
2025-03-13T00:24:55.697Z,1741825495.697 [DAT](INFO): direction in FSK: [0.721602,0.691991,-0.020942]
2025-03-13T00:25:32.498Z,1741825532.498 [DAT](INFO): DAT read: 00:25:31.7388 LVL= 29280, 32753, 32754, 32755, AGC= 82, IDX= 475,-0.42,-0.571,-2.221,-2.571,-1.418, PHS= 0.816,-0.830,-1.157, RAW=  81.1,  12.7, CAL=  81.8,   7.5, ROT=  68.2,  -7.5

2025-03-13T00:25:32.509Z,1741825532.509 [DAT](INFO): got valid direction response:
 00:25:31.7388 LVL= 29280, 32753, 32754, 32755, AGC= 82, IDX= 475,-0.42,-0.571,-2.221,-2.571,-1.418, PHS= 0.816,-0.830,-1.157, RAW=  81.1,  12.7, CAL=  81.8,   7.5, ROT=  68.2,  -7.5

2025-03-13T00:25:32.517Z,1741825532.517 [DAT](INFO): DAT read: Rx Time:00:25:31.7388

2025-03-13T00:25:32.518Z,1741825532.518 [DAT](INFO): Rx dataTimestamp_ set to:1741825532.517584
2025-03-13T00:25:32.524Z,1741825532.524 [DAT](INFO): DAT read: $Low SNR acquisition

2025-03-13T00:25:32.525Z,1741825532.525 [DAT](INFO): Received low SNR in chirp
2025-03-13T00:25:32.542Z,1741825532.542 [DAT](INFO): #Rx 207: Read direction message, but no range.
2025-03-13T00:25:32.545Z,1741825532.545 [DAT](INFO): direction in FSK: [0.368191,0.920542,0.130526]
2025-03-13T00:25:44.840Z,1741825544.840 [DAT](INFO): DAT read: Rx Time:00:25:44.1912

2025-03-13T00:25:44.841Z,1741825544.841 [DAT](INFO): Rx dataTimestamp_ set to:1741825544.840518
2025-03-13T00:25:45.359Z,1741825545.359 [DAT](INFO): DAT read: 00:25:44.1912 LVL= 32752, 32753, 32754, 32755, AGC= 75, IDX= 494, 0.18, 1.146,-0.115,-0.768, 0.711, PHS= 0.404,-0.853,-1.483, RAW=  70.9,  22.3, CAL=  73.4,  29.1, ROT=  76.6, -29.1

2025-03-13T00:25:45.360Z,1741825545.360 [DAT](INFO): got valid direction response:
 00:25:44.1912 LVL= 32752, 32753, 32754, 32755, AGC= 75, IDX= 494, 0.18, 1.146,-0.115,-0.768, 0.711, PHS= 0.404,-0.853,-1.483, RAW=  70.9,  22.3, CAL=  73.4,  29.1, ROT=  76.6, -29.1

2025-03-13T00:25:45.361Z,1741825545.361 [DAT](INFO): DAT read: $Error in header

2025-03-13T00:25:45.361Z,1741825545.361 [DAT](INFO): Received a bad header
2025-03-13T00:25:45.375Z,1741825545.375 [DAT](INFO): #Rx 208: Read direction message, but no range.
2025-03-13T00:25:45.377Z,1741825545.377 [DAT](INFO): direction in FSK: [0.202495,0.849985,0.486335]
2025-03-13T00:26:22.160Z,1741825582.160 [DAT](INFO): DAT read: Rx Time:00:26:21.5491

2025-03-13T00:26:22.161Z,1741825582.161 [DAT](INFO): Rx dataTimestamp_ set to:1741825582.160600
2025-03-13T00:26:22.943Z,1741825582.943 [DAT](INFO): DAT read: 00:26:21.5491 LVL= 26144, 32753, 32754, 32755, AGC= 84, IDX=  52, 0.08, 3.087, 2.607, 1.148, 2.369, PHS= 0.687, 0.211,-1.225, RAW=  43.8,   3.8, CAL=  49.2,  -4.2, ROT= 100.8,   4.2

2025-03-13T00:26:22.946Z,1741825582.946 [DAT](INFO): got valid direction response:
 00:26:21.5491 LVL= 26144, 32753, 32754, 32755, AGC= 84, IDX=  52, 0.08, 3.087, 2.607, 1.148, 2.369, PHS= 0.687, 0.211,-1.225, RAW=  43.8,   3.8, CAL=  49.2,  -4.2, ROT= 100.8,   4.2

2025-03-13T00:26:22.952Z,1741825582.952 [DAT](INFO): DAT read: $Error in header

2025-03-13T00:26:22.953Z,1741825582.953 [DAT](INFO): Received a bad header
2025-03-13T00:26:22.968Z,1741825582.968 [DAT](INFO): #Rx 209: Read direction message, but no range.
2025-03-13T00:26:22.970Z,1741825582.970 [DAT](INFO): direction in FSK: [-0.186878,0.979649,-0.073238]
2025-03-13T00:26:59.475Z,1741825619.475 [DAT](INFO): DAT read: Rx Time:00:26:58.9080

2025-03-13T00:26:59.477Z,1741825619.477 [DAT](INFO): Rx dataTimestamp_ set to:1741825619.475954
2025-03-13T00:27:00.242Z,1741825620.242 [DAT](INFO): DAT read: 00:26:58.9080 LVL= 29792, 32753, 32754, 32755, AGC= 85, IDX=  36, 0.11,-0.041,-0.702,-1.961,-0.702, PHS= 0.630,-0.027,-1.263, RAW=  50.0,   8.0, CAL=  53.7,   1.2, ROT=  96.3,  -1.2

2025-03-13T00:27:00.255Z,1741825620.255 [DAT](INFO): got valid direction response:
 00:26:58.9080 LVL= 29792, 32753, 32754, 32755, AGC= 85, IDX=  36, 0.11,-0.041,-0.702,-1.961,-0.702, PHS= 0.630,-0.027,-1.263, RAW=  50.0,   8.0, CAL=  53.7,   1.2, ROT=  96.3,  -1.2

2025-03-13T00:27:00.257Z,1741825620.257 [DAT](INFO): DAT read: $Error in header

2025-03-13T00:27:00.257Z,1741825620.257 [DAT](INFO): Received a bad header
2025-03-13T00:27:00.272Z,1741825620.272 [DAT](INFO): #Rx 210: Read direction message, but no range.
2025-03-13T00:27:00.275Z,1741825620.275 [DAT](INFO): direction in FSK: [-0.109710,0.993743,0.020942]
2025-03-13T00:29:41.359Z,1741825781.359 [DAT](INFO): DAT read: Rx Time:00:29:40.7230

2025-03-13T00:29:41.360Z,1741825781.360 [DAT](INFO): Rx dataTimestamp_ set to:1741825781.359177
2025-03-13T00:29:41.889Z,1741825781.889 [DAT](INFO): DAT read: 00:29:40.7231 LVL= 12784, 12465, 12226, 21587, AGC= 73, IDX=  61,-0.02,-2.249, 3.044, 2.382,-2.731, PHS= 0.451,-0.536,-1.175, RAW=  67.0,  17.4, CAL=  69.0,  16.5, ROT=  81.0, -16.5

2025-03-13T00:29:41.890Z,1741825781.890 [DAT](INFO): got valid direction response:
 00:29:40.7231 LVL= 12784, 12465, 12226, 21587, AGC= 73, IDX=  61,-0.02,-2.249, 3.044, 2.382,-2.731, PHS= 0.451,-0.536,-1.175, RAW=  67.0,  17.4, CAL=  69.0,  16.5, ROT=  81.0, -16.5

2025-03-13T00:29:41.892Z,1741825781.892 [DAT](INFO): DAT read: $Error in header

2025-03-13T00:29:41.892Z,1741825781.892 [DAT](INFO): Received a bad header
2025-03-13T00:29:41.903Z,1741825781.903 [DAT](INFO): #Rx 211: Read direction message, but no range.
2025-03-13T00:29:41.905Z,1741825781.905 [DAT](INFO): direction in FSK: [0.149992,0.947015,0.284015]
2025-03-13T00:30:06.312Z,1741825806.312 [DAT](INFO): DAT read: Rx Time:00:30:05.6272

2025-03-13T00:30:06.313Z,1741825806.313 [DAT](INFO): Rx dataTimestamp_ set to:1741825806.312548
2025-03-13T00:30:06.822Z,1741825806.822 [DAT](INFO): DAT read: 00:30:05.6273 LVL= 24672, 32753, 32754, 32755, AGC= 82, IDX=  31,-0.03, 2.920, 1.927, 1.305, 2.276, PHS= 0.612,-0.377,-0.976, RAW=  68.1,  10.7, CAL=  70.1,   3.7, ROT=  79.9,  -3.7

2025-03-13T00:30:06.823Z,1741825806.823 [DAT](INFO): got valid direction response:
 00:30:05.6273 LVL= 24672, 32753, 32754, 32755, AGC= 82, IDX=  31,-0.03, 2.920, 1.927, 1.305, 2.276, PHS= 0.612,-0.377,-0.976, RAW=  68.1,  10.7, CAL=  70.1,   3.7, ROT=  79.9,  -3.7

2025-03-13T00:30:06.824Z,1741825806.824 [DAT](INFO): DAT read: $Error in header

2025-03-13T00:30:06.824Z,1741825806.824 [DAT](INFO): Received a bad header
2025-03-13T00:30:06.835Z,1741825806.835 [DAT](INFO): #Rx 212: Read direction message, but no range.
2025-03-13T00:30:06.836Z,1741825806.836 [DAT](INFO): direction in FSK: [0.175001,0.982451,0.064532]
2025-03-13T00:31:08.594Z,1741825868.594 [DAT](INFO): DAT read: Rx Time:00:31:07.8716

2025-03-13T00:31:08.596Z,1741825868.596 [DAT](INFO): Rx dataTimestamp_ set to:1741825868.594765
2025-03-13T00:31:09.102Z,1741825869.102 [DAT](INFO): DAT read: 00:31:07.8716 LVL= 32752, 32753, 32754, 32755, AGC= 79, IDX= 417,-0.37, 1.003,-0.370,-0.679, 0.171, PHS= 0.801,-0.568,-0.854, RAW=  80.7,   8.2, CAL=  81.4,  -0.7, ROT=  68.6,   0.7

2025-03-13T00:31:09.105Z,1741825869.105 [DAT](INFO): got valid direction response:
 00:31:07.8716 LVL= 32752, 32753, 32754, 32755, AGC= 79, IDX= 417,-0.37, 1.003,-0.370,-0.679, 0.171, PHS= 0.801,-0.568,-0.854, RAW=  80.7,   8.2, CAL=  81.4,  -0.7, ROT=  68.6,   0.7

2025-03-13T00:31:09.106Z,1741825869.106 [DAT](INFO): DAT read: $Error in header

2025-03-13T00:31:09.106Z,1741825869.106 [DAT](INFO): Received a bad header
2025-03-13T00:31:09.119Z,1741825869.119 [DAT](INFO): #Rx 213: Read direction message, but no range.
2025-03-13T00:31:09.121Z,1741825869.121 [DAT](INFO): direction in FSK: [0.364850,0.930986,-0.012217]
2025-03-13T00:32:10.870Z,1741825930.870 [DAT](INFO): DAT read: Rx Time:00:32:10.1100

2025-03-13T00:32:10.872Z,1741825930.872 [DAT](INFO): Rx dataTimestamp_ set to:1741825930.870820
2025-03-13T00:32:11.378Z,1741825931.378 [DAT](INFO): DAT read: 00:32:10.1100 LVL= 19440, 25537, 19554, 29827, AGC= 63, IDX= 358, 0.39, 1.922, 0.829, 0.096, 1.100, PHS= 0.790,-0.299,-1.009, RAW=  66.9,   6.6, CAL=  69.8,  -2.1, ROT=  80.2,   2.1

2025-03-13T00:32:11.379Z,1741825931.379 [DAT](INFO): got valid direction response:
 00:32:10.1100 LVL= 19440, 25537, 19554, 29827, AGC= 63, IDX= 358, 0.39, 1.922, 0.829, 0.096, 1.100, PHS= 0.790,-0.299,-1.009, RAW=  66.9,   6.6, CAL=  69.8,  -2.1, ROT=  80.2,   2.1

2025-03-13T00:32:11.380Z,1741825931.380 [DAT](INFO): DAT read: $Error in header

2025-03-13T00:32:11.380Z,1741825931.380 [DAT](INFO): Received a bad header
2025-03-13T00:32:11.393Z,1741825931.393 [DAT](INFO): #Rx 214: Read direction message, but no range.
2025-03-13T00:32:11.394Z,1741825931.394 [DAT](INFO): direction in FSK: [0.170095,0.984746,-0.036644]
2025-03-13T00:33:13.132Z,1741825993.132 [DAT](INFO): DAT read: Rx Time:00:33:12.3522

2025-03-13T00:33:13.133Z,1741825993.133 [DAT](INFO): Rx dataTimestamp_ set to:1741825993.132484
2025-03-13T00:33:13.641Z,1741825993.641 [DAT](INFO): DAT read: 00:33:12.3522 LVL= 24560, 23073, 16354, 26739, AGC= 73, IDX= 383, 0.35, 1.900, 0.454, 0.000, 0.750, PHS= 1.119,-0.323,-0.754, RAW=  77.3,  -0.5, CAL=  80.6,  -9.0, ROT=  69.4,   9.0

2025-03-13T00:33:13.642Z,1741825993.642 [DAT](INFO): got valid direction response:
 00:33:12.3522 LVL= 24560, 23073, 16354, 26739, AGC= 73, IDX= 383, 0.35, 1.900, 0.454, 0.000, 0.750, PHS= 1.119,-0.323,-0.754, RAW=  77.3,  -0.5, CAL=  80.6,  -9.0, ROT=  69.4,   9.0

2025-03-13T00:33:13.642Z,1741825993.642 [DAT](INFO): DAT read: bearing request

2025-03-13T00:33:13.642Z,1741825993.642 [DAT](INFO): received a bearing request message
2025-03-13T00:33:13.643Z,1741825993.643 [DAT](INFO): DAT read: Tx time:00:33:13.9550

2025-03-13T00:33:13.644Z,1741825993.644 [DAT](INFO): Ping request sent.
2025-03-13T00:33:13.644Z,1741825993.644 [DAT](INFO): transmitted an acoustic signal
2025-03-13T00:33:13.644Z,1741825993.644 [DAT](INFO): #Rx 215: Read direction message, but no range.
2025-03-13T00:33:13.645Z,1741825993.645 [DAT](INFO): direction in FSK: [0.347510,0.924535,-0.156434]
2025-03-13T00:33:13.645Z,1741825993.645 [DAT](INFO): publishing transmit ping time
2025-03-13T00:33:13.646Z,1741825993.646 [DAT](INFO): publishing range request flag
2025-03-13T00:33:13.649Z,1741825993.649 [DAT](INFO): publishing transmit ping time
2025-03-13T00:33:13.649Z,1741825993.649 [DAT](INFO): publishing range request flag
2025-03-13T00:33:50.448Z,1741826030.448 [DAT](INFO): DAT read: Rx Time:00:33:49.6955

2025-03-13T00:33:50.449Z,1741826030.449 [DAT](INFO): Rx dataTimestamp_ set to:1741826030.448419
2025-03-13T00:33:50.960Z,1741826030.960 [DAT](INFO): DAT read: 00:33:49.6956 LVL= 32752, 32753, 32754, 32755, AGC= 76, IDX= 163,-0.22,-1.707,-2.649, 2.997,-2.372, PHS= 0.634,-0.304,-0.918, RAW=  66.9,   8.7, CAL=  69.1,   0.2, ROT=  80.9,  -0.2

2025-03-13T00:33:50.961Z,1741826030.961 [DAT](INFO): got valid direction response:
 00:33:49.6956 LVL= 32752, 32753, 32754, 32755, AGC= 76, IDX= 163,-0.22,-1.707,-2.649, 2.997,-2.372, PHS= 0.634,-0.304,-0.918, RAW=  66.9,   8.7, CAL=  69.1,   0.2, ROT=  80.9,  -0.2

2025-03-13T00:33:50.962Z,1741826030.962 [DAT](INFO): DAT read: $Error in header

2025-03-13T00:33:50.963Z,1741826030.963 [DAT](INFO): Received a bad header
2025-03-13T00:33:50.976Z,1741826030.976 [DAT](INFO): #Rx 216: Read direction message, but no range.
2025-03-13T00:33:50.977Z,1741826030.977 [DAT](INFO): direction in FSK: [0.158157,0.987408,0.003491]
2025-03-13T00:34:27.768Z,1741826067.768 [DAT](INFO): DAT read: Rx Time:00:34:27.0350

2025-03-13T00:34:27.769Z,1741826067.769 [DAT](INFO): Rx dataTimestamp_ set to:1741826067.768462
2025-03-13T00:34:28.277Z,1741826068.277 [DAT](INFO): DAT read: 00:34:27.0350 LVL= 14864, 17393, 15042, 23571, AGC= 74, IDX= 366,-0.21,-1.282,-2.765, 2.949,-2.271, PHS= 0.958,-0.520,-1.067, RAW=  74.9,   7.0, CAL=  76.7,  -1.8, ROT=  73.3,   1.8

2025-03-13T00:34:28.278Z,1741826068.278 [DAT](INFO): got valid direction response:
 00:34:27.0350 LVL= 14864, 17393, 15042, 23571, AGC= 74, IDX= 366,-0.21,-1.282,-2.765, 2.949,-2.271, PHS= 0.958,-0.520,-1.067, RAW=  74.9,   7.0, CAL=  76.7,  -1.8, ROT=  73.3,   1.8

2025-03-13T00:34:28.278Z,1741826068.278 [DAT](INFO): DAT read: bearing request

2025-03-13T00:34:28.278Z,1741826068.278 [DAT](INFO): received a bearing request message
2025-03-13T00:34:28.279Z,1741826068.279 [DAT](INFO): DAT read: Tx time:00:34:28.6378

2025-03-13T00:34:28.280Z,1741826068.280 [DAT](INFO): Ping request sent.
2025-03-13T00:34:28.280Z,1741826068.280 [DAT](INFO): transmitted an acoustic signal
2025-03-13T00:34:28.280Z,1741826068.280 [DAT](INFO): #Rx 217: Read direction message, but no range.
2025-03-13T00:34:28.281Z,1741826068.281 [DAT](INFO): direction in FSK: [0.287219,0.957350,-0.031411]
2025-03-13T00:34:28.281Z,1741826068.281 [DAT](INFO): publishing transmit ping time
2025-03-13T00:34:28.282Z,1741826068.282 [DAT](INFO): publishing range request flag
2025-03-13T00:34:28.285Z,1741826068.285 [DAT](INFO): publishing transmit ping time
2025-03-13T00:34:28.285Z,1741826068.285 [DAT](INFO): publishing range request flag
2025-03-13T00:34:52.725Z,1741826092.725 [DAT](INFO): DAT read: Rx Time:00:34:51.9388

2025-03-13T00:34:52.726Z,1741826092.726 [DAT](INFO): Rx dataTimestamp_ set to:1741826092.725678
2025-03-13T00:34:53.250Z,1741826093.250 [DAT](INFO): DAT read: 00:34:51.9388 LVL= 28880, 32753, 32754, 32755, AGC= 75, IDX= 411, 0.14,-1.330,-2.634, 3.058,-2.345, PHS= 0.984,-0.316,-0.884, RAW=  72.7,   2.6, CAL=  76.0,  -6.1, ROT=  74.0,   6.1

2025-03-13T00:34:53.253Z,1741826093.253 [DAT](INFO): got valid direction response:
 00:34:51.9388 LVL= 28880, 32753, 32754, 32755, AGC= 75, IDX= 411, 0.14,-1.330,-2.634, 3.058,-2.345, PHS= 0.984,-0.316,-0.884, RAW=  72.7,   2.6, CAL=  76.0,  -6.1, ROT=  74.0,   6.1

2025-03-13T00:34:53.257Z,1741826093.257 [DAT](INFO): DAT read: $Error in header

2025-03-13T00:34:53.258Z,1741826093.258 [DAT](INFO): Received a bad header
2025-03-13T00:34:53.273Z,1741826093.273 [DAT](INFO): #Rx 218: Read direction message, but no range.
2025-03-13T00:34:53.296Z,1741826093.296 [DAT](INFO): direction in FSK: [0.274077,0.955819,-0.106264]
2025-03-13T00:36:57.036Z,1741826217.036 [DAT](INFO): DAT read: Rx Time:00:36:56.4184

2025-03-13T00:36:57.037Z,1741826217.037 [DAT](INFO): Rx dataTimestamp_ set to:1741826217.036500
2025-03-13T00:36:57.798Z,1741826217.798 [DAT](INFO): DAT read: 00:36:56.4184 LVL= 20960, 21201, 20370, 30979, AGC= 75, IDX= 242, 0.06,-2.100, 2.774, 2.452, 3.021, PHS= 1.132,-0.274,-0.573, RAW=  80.5,  -3.7, CAL=  83.7, -11.7, ROT=  66.3,  11.7

2025-03-13T00:36:57.799Z,1741826217.799 [DAT](INFO): got valid direction response:
 00:36:56.4184 LVL= 20960, 21201, 20370, 30979, AGC= 75, IDX= 242, 0.06,-2.100, 2.774, 2.452, 3.021, PHS= 1.132,-0.274,-0.573, RAW=  80.5,  -3.7, CAL=  83.7, -11.7, ROT=  66.3,  11.7

2025-03-13T00:36:57.800Z,1741826217.800 [DAT](INFO): DAT read: $Error in header

2025-03-13T00:36:57.800Z,1741826217.800 [DAT](INFO): Received a bad header
2025-03-13T00:36:57.812Z,1741826217.812 [DAT](INFO): #Rx 219: Read direction message, but no range.
2025-03-13T00:36:57.813Z,1741826217.813 [DAT](INFO): direction in FSK: [0.393596,0.896638,-0.202787]
2025-03-13T00:37:21.992Z,1741826241.992 [DAT](INFO): DAT read: Rx Time:00:37:21.3063

2025-03-13T00:37:21.993Z,1741826241.993 [DAT](INFO): Rx dataTimestamp_ set to:1741826241.992488
2025-03-13T00:37:22.512Z,1741826242.512 [DAT](INFO): DAT read: 00:37:21.3063 LVL= 24560, 32753, 32754, 32755, AGC= 81, IDX= 382, 0.27,-0.956,-2.224,-2.750,-1.652, PHS= 0.664,-0.599,-1.102, RAW=  74.0,  13.1, CAL=  75.4,   8.2, ROT=  74.6,  -8.2

2025-03-13T00:37:22.515Z,1741826242.515 [DAT](INFO): got valid direction response:
 00:37:21.3063 LVL= 24560, 32753, 32754, 32755, AGC= 81, IDX= 382, 0.27,-0.956,-2.224,-2.750,-1.652, PHS= 0.664,-0.599,-1.102, RAW=  74.0,  13.1, CAL=  75.4,   8.2, ROT=  74.6,  -8.2

2025-03-13T00:37:22.522Z,1741826242.522 [DAT](INFO): DAT read: $Error in header

2025-03-13T00:37:22.523Z,1741826242.523 [DAT](INFO): Received a bad header
2025-03-13T00:37:22.544Z,1741826242.544 [DAT](INFO): #Rx 220: Read direction message, but no range.
2025-03-13T00:37:22.570Z,1741826242.570 [DAT](INFO): direction in FSK: [0.262841,0.954239,0.142629]
2025-03-13T00:37:59.323Z,1741826279.323 [DAT](INFO): DAT read: 00:37:58.6589 LVL= 27120, 32753, 32754, 32755, AGC= 74, IDX= 478, 0.42,-2.135, 2.743, 2.349,-3.130, PHS= 0.964,-0.436,-0.808, RAW=  78.5,   3.5, CAL=  80.7,  -5.1, ROT=  69.3,   5.1

2025-03-13T00:37:59.324Z,1741826279.324 [DAT](INFO): got valid direction response:
 00:37:58.6589 LVL= 27120, 32753, 32754, 32755, AGC= 74, IDX= 478, 0.42,-2.135, 2.743, 2.349,-3.130, PHS= 0.964,-0.436,-0.808, RAW=  78.5,   3.5, CAL=  80.7,  -5.1, ROT=  69.3,   5.1

2025-03-13T00:37:59.325Z,1741826279.325 [DAT](INFO): DAT read: Rx Time:00:37:58.6589

2025-03-13T00:37:59.325Z,1741826279.325 [DAT](INFO): Rx dataTimestamp_ set to:1741826279.324897
2025-03-13T00:37:59.326Z,1741826279.326 [DAT](INFO): DAT read: $Low SNR acquisition

2025-03-13T00:37:59.326Z,1741826279.326 [DAT](INFO): Received low SNR in chirp
2025-03-13T00:37:59.344Z,1741826279.344 [DAT](INFO): #Rx 221: Read direction message, but no range.
2025-03-13T00:37:59.346Z,1741826279.346 [DAT](INFO): direction in FSK: [0.352075,0.931741,-0.088894]
2025-03-13T00:38:36.624Z,1741826316.624 [DAT](INFO): DAT read: Rx Time:00:38:35.9913

2025-03-13T00:38:36.625Z,1741826316.625 [DAT](INFO): Rx dataTimestamp_ set to:1741826316.624515
2025-03-13T00:38:37.181Z,1741826317.181 [DAT](INFO): DAT read: 00:38:35.9913 LVL= 32752, 32753, 32754, 32755, AGC= 82, IDX= 285, 0.02, 2.888, 1.345, 0.987, 2.009, PHS= 0.848,-0.691,-1.026, RAW=  80.3,  10.1, CAL=  81.0,   2.2, ROT=  69.0,  -2.2

2025-03-13T00:38:37.188Z,1741826317.188 [DAT](INFO): got valid direction response:
 00:38:35.9913 LVL= 32752, 32753, 32754, 32755, AGC= 82, IDX= 285, 0.02, 2.888, 1.345, 0.987, 2.009, PHS= 0.848,-0.691,-1.026, RAW=  80.3,  10.1, CAL=  81.0,   2.2, ROT=  69.0,  -2.2

2025-03-13T00:38:37.189Z,1741826317.189 [DAT](INFO): DAT read: $Error in header

2025-03-13T00:38:37.190Z,1741826317.190 [DAT](INFO): Received a bad header
2025-03-13T00:38:37.204Z,1741826317.204 [DAT](INFO): #Rx 222: Read direction message, but no range.
2025-03-13T00:38:37.207Z,1741826317.207 [DAT](INFO): direction in FSK: [0.358104,0.932892,0.038388]
2025-03-13T00:39:01.606Z,1741826341.606 [DAT](INFO): DAT read: Rx Time:00:39:00.8970

2025-03-13T00:39:01.608Z,1741826341.608 [DAT](INFO): Rx dataTimestamp_ set to:1741826341.607460
2025-03-13T00:39:02.114Z,1741826342.114 [DAT](INFO): DAT read: 00:39:00.8970 LVL= 28752, 29425, 32754, 32755, AGC= 64, IDX=  33, 0.05, 1.173,-0.121,-0.601, 0.224, PHS= 0.917,-0.372,-0.830, RAW=  75.4,   3.7, CAL=  78.0,  -5.0, ROT=  72.0,   5.0

2025-03-13T00:39:02.115Z,1741826342.115 [DAT](INFO): got valid direction response:
 00:39:00.8970 LVL= 28752, 29425, 32754, 32755, AGC= 64, IDX=  33, 0.05, 1.173,-0.121,-0.601, 0.224, PHS= 0.917,-0.372,-0.830, RAW=  75.4,   3.7, CAL=  78.0,  -5.0, ROT=  72.0,   5.0

2025-03-13T00:39:02.116Z,1741826342.116 [DAT](INFO): DAT read: $Error in header

2025-03-13T00:39:02.116Z,1741826342.116 [DAT](INFO): Received a bad header
2025-03-13T00:39:02.127Z,1741826342.127 [DAT](INFO): #Rx 223: Read direction message, but no range.
2025-03-13T00:39:02.128Z,1741826342.128 [DAT](INFO): direction in FSK: [0.307841,0.947437,-0.087156]
2025-03-13T00:39:26.584Z,1741826366.584 [DAT](INFO): DAT read: Rx Time:00:39:25.7914

2025-03-13T00:39:26.585Z,1741826366.585 [DAT](INFO): Rx dataTimestamp_ set to:1741826366.584515
2025-03-13T00:39:27.096Z,1741826367.096 [DAT](INFO): DAT read: 00:39:25.7914 LVL= 32752, 27553, 28754, 32755, AGC= 72, IDX= 462, 0.19, 2.443, 1.342, 0.738, 1.551, PHS= 0.861,-0.236,-0.817, RAW=  70.1,   2.6, CAL=  73.7,  -6.2, ROT=  76.3,   6.2

2025-03-13T00:39:27.097Z,1741826367.097 [DAT](INFO): got valid direction response:
 00:39:25.7914 LVL= 32752, 27553, 28754, 32755, AGC= 72, IDX= 462, 0.19, 2.443, 1.342, 0.738, 1.551, PHS= 0.861,-0.236,-0.817, RAW=  70.1,   2.6, CAL=  73.7,  -6.2, ROT=  76.3,   6.2

2025-03-13T00:39:27.097Z,1741826367.097 [DAT](INFO): DAT read: $Error in header

2025-03-13T00:39:27.098Z,1741826367.098 [DAT](INFO): Received a bad header
2025-03-13T00:39:27.111Z,1741826367.111 [DAT](INFO): #Rx 224: Read direction message, but no range.
2025-03-13T00:39:27.112Z,1741826367.112 [DAT](INFO): direction in FSK: [0.235453,0.965867,-0.107999]
2025-03-13T00:39:51.308Z,1741826391.308 [DAT](INFO): DAT read: Rx Time:00:39:50.6976

2025-03-13T00:39:51.309Z,1741826391.309 [DAT](INFO): Rx dataTimestamp_ set to:1741826391.308509
2025-03-13T00:39:52.085Z,1741826392.085 [DAT](INFO): DAT read: 00:39:50.6976 LVL= 32752, 32753, 32754, 32755, AGC= 75, IDX=  56, 0.43, 0.309,-1.122,-1.620,-0.543, PHS= 0.821,-0.606,-1.081, RAW=  76.1,  10.1, CAL=  77.3,   2.4, ROT=  72.7,  -2.4

2025-03-13T00:39:52.092Z,1741826392.092 [DAT](INFO): got valid direction response:
 00:39:50.6976 LVL= 32752, 32753, 32754, 32755, AGC= 75, IDX=  56, 0.43, 0.309,-1.122,-1.620,-0.543, PHS= 0.821,-0.606,-1.081, RAW=  76.1,  10.1, CAL=  77.3,   2.4, ROT=  72.7,  -2.4

2025-03-13T00:39:52.094Z,1741826392.094 [DAT](INFO): DAT read: $Error in header

2025-03-13T00:39:52.095Z,1741826392.095 [DAT](INFO): Received a bad header
2025-03-13T00:39:52.140Z,1741826392.140 [DAT](INFO): #Rx 225: Read direction message, but no range.
2025-03-13T00:39:52.144Z,1741826392.144 [DAT](INFO): direction in FSK: [0.297114,0.953923,0.041876]
2025-03-13T00:40:03.924Z,1741826403.924 [DAT](INFO): DAT read: Rx Time:00:40:03.1450

2025-03-13T00:40:03.925Z,1741826403.925 [DAT](INFO): Rx dataTimestamp_ set to:1741826403.924615
2025-03-13T00:40:04.438Z,1741826404.438 [DAT](INFO): DAT read: 00:40:03.1450 LVL= 27248, 32753, 32754, 32755, AGC= 76, IDX= 457,-0.12, 0.662,-0.774,-1.089,-0.309, PHS= 0.940,-0.492,-0.784, RAW=  80.9,   4.2, CAL=  82.4,  -4.4, ROT=  67.6,   4.4

2025-03-13T00:40:04.469Z,1741826404.469 [DAT](INFO): got valid direction response:
 00:40:03.1450 LVL= 27248, 32753, 32754, 32755, AGC= 76, IDX= 457,-0.12, 0.662,-0.774,-1.089,-0.309, PHS= 0.940,-0.492,-0.784, RAW=  80.9,   4.2, CAL=  82.4,  -4.4, ROT=  67.6,   4.4

2025-03-13T00:40:04.471Z,1741826404.471 [DAT](INFO): DAT read: $Error in header

2025-03-13T00:40:04.483Z,1741826404.483 [DAT](INFO): Received a bad header
2025-03-13T00:40:04.496Z,1741826404.496 [DAT](INFO): #Rx 226: Read direction message, but no range.
2025-03-13T00:40:04.497Z,1741826404.497 [DAT](INFO): direction in FSK: [0.379947,0.921821,-0.076719]
2025-03-13T00:40:28.633Z,1741826428.633 [DAT](INFO): DAT read: Rx Time:00:40:28.0298

2025-03-13T00:40:28.633Z,1741826428.633 [DAT](INFO): Rx dataTimestamp_ set to:1741826428.633192
2025-03-13T00:40:29.402Z,1741826429.402 [DAT](INFO): DAT read: 00:40:28.0298 LVL= 32752, 32753, 32754, 32755, AGC= 84, IDX= 325,-0.47,-0.840,-2.348,-2.498,-2.023, PHS= 1.152,-0.353,-0.479, RAW=  86.0,  -4.1, CAL=  88.0, -11.8, ROT=  62.0,  11.8

2025-03-13T00:40:29.405Z,1741826429.405 [DAT](INFO): got valid direction response:
 00:40:28.0298 LVL= 32752, 32753, 32754, 32755, AGC= 84, IDX= 325,-0.47,-0.840,-2.348,-2.498,-2.023, PHS= 1.152,-0.353,-0.479, RAW=  86.0,  -4.1, CAL=  88.0, -11.8, ROT=  62.0,  11.8

2025-03-13T00:40:29.407Z,1741826429.407 [DAT](INFO): DAT read: $Error in header

2025-03-13T00:40:29.409Z,1741826429.409 [DAT](INFO): Received a bad header
2025-03-13T00:40:29.424Z,1741826429.424 [DAT](INFO): #Rx 227: Read direction message, but no range.
2025-03-13T00:40:29.427Z,1741826429.427 [DAT](INFO): direction in FSK: [0.459550,0.864289,-0.204496]
2025-03-13T00:40:41.245Z,1741826441.245 [DAT](INFO): DAT read: Rx Time:00:40:40.4750

2025-03-13T00:40:41.246Z,1741826441.246 [DAT](INFO): Rx dataTimestamp_ set to:1741826441.245226
2025-03-13T00:40:41.754Z,1741826441.754 [DAT](INFO): DAT read: 00:40:40.4750 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 433,-0.48, 2.724, 0.892, 0.742, 1.718, PHS= 0.975,-0.853,-0.980, RAW=  86.7,   9.1, CAL=  86.4,   0.5, ROT=  63.6,  -0.5

2025-03-13T00:40:41.755Z,1741826441.755 [DAT](INFO): got valid direction response:
 00:40:40.4750 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 433,-0.48, 2.724, 0.892, 0.742, 1.718, PHS= 0.975,-0.853,-0.980, RAW=  86.7,   9.1, CAL=  86.4,   0.5, ROT=  63.6,  -0.5

2025-03-13T00:40:41.756Z,1741826441.756 [DAT](INFO): DAT read: $Error in header

2025-03-13T00:40:41.756Z,1741826441.756 [DAT](INFO): Received a bad header
2025-03-13T00:40:41.767Z,1741826441.767 [DAT](INFO): #Rx 228: Read direction message, but no range.
2025-03-13T00:40:41.768Z,1741826441.768 [DAT](INFO): direction in FSK: [0.444618,0.895678,0.008727]
2025-03-13T00:41:30.910Z,1741826490.910 [DAT](INFO): DAT read: Rx Time:00:41:30.2830

2025-03-13T00:41:30.912Z,1741826490.912 [DAT](INFO): Rx dataTimestamp_ set to:1741826490.910862
2025-03-13T00:41:31.676Z,1741826491.676 [DAT](INFO): DAT read: 00:41:30.2830 LVL=  6832,  8385,  7906, 12819, AGC= 67, IDX=  35,-0.22,-2.528, 2.431, 1.962, 2.936, PHS= 0.789,-0.531,-0.978, RAW=  75.9,   9.1, CAL=  77.1,   0.4, ROT=  72.9,  -0.4

2025-03-13T00:41:31.678Z,1741826491.678 [DAT](INFO): got valid direction response:
 00:41:30.2830 LVL=  6832,  8385,  7906, 12819, AGC= 67, IDX=  35,-0.22,-2.528, 2.431, 1.962, 2.936, PHS= 0.789,-0.531,-0.978, RAW=  75.9,   9.1, CAL=  77.1,   0.4, ROT=  72.9,  -0.4

2025-03-13T00:41:31.684Z,1741826491.684 [DAT](INFO): DAT read: $Error in header

2025-03-13T00:41:31.685Z,1741826491.685 [DAT](INFO): Received a bad header
2025-03-13T00:41:31.701Z,1741826491.701 [DAT](INFO): #Rx 229: Read direction message, but no range.
2025-03-13T00:41:31.704Z,1741826491.704 [DAT](INFO): direction in FSK: [0.294033,0.955770,0.006981]
2025-03-13T00:41:55.860Z,1741826515.860 [DAT](INFO): DAT read: Rx Time:00:41:55.1669

2025-03-13T00:41:55.861Z,1741826515.861 [DAT](INFO): Rx dataTimestamp_ set to:1741826515.860531
2025-03-13T00:41:56.373Z,1741826516.373 [DAT](INFO): DAT read: 00:41:55.1669 LVL= 18976, 19313, 32754, 31923, AGC= 70, IDX= 327,-0.40, 0.999,-0.552,-1.054, 0.036, PHS= 0.932,-0.615,-1.094, RAW=  76.9,   8.5, CAL=  78.1,  -0.4, ROT=  71.9,   0.4

2025-03-13T00:41:56.374Z,1741826516.374 [DAT](INFO): got valid direction response:
 00:41:55.1669 LVL= 18976, 19313, 32754, 31923, AGC= 70, IDX= 327,-0.40, 0.999,-0.552,-1.054, 0.036, PHS= 0.932,-0.615,-1.094, RAW=  76.9,   8.5, CAL=  78.1,  -0.4, ROT=  71.9,   0.4

2025-03-13T00:41:56.375Z,1741826516.375 [DAT](INFO): DAT read: $Error in header

2025-03-13T00:41:56.375Z,1741826516.375 [DAT](INFO): Received a bad header
2025-03-13T00:41:56.396Z,1741826516.396 [DAT](INFO): #Rx 230: Read direction message, but no range.
2025-03-13T00:41:56.397Z,1741826516.397 [DAT](INFO): direction in FSK: [0.310669,0.950493,-0.006981]
2025-03-13T00:42:33.185Z,1741826553.185 [DAT](INFO): DAT read: Rx Time:00:42:32.5256

2025-03-13T00:42:33.185Z,1741826553.185 [DAT](INFO): Rx dataTimestamp_ set to:1741826553.185126
2025-03-13T00:42:33.699Z,1741826553.699 [DAT](INFO): DAT read: 00:42:32.5257 LVL= 32208, 32753, 32754, 32755, AGC= 67, IDX=  52,-0.36, 0.182,-1.257,-1.661,-0.845, PHS= 0.997,-0.439,-0.819, RAW=  78.5,   3.2, CAL=  80.7,  -5.4, ROT=  69.3,   5.4

2025-03-13T00:42:33.700Z,1741826553.700 [DAT](INFO): got valid direction response:
 00:42:32.5257 LVL= 32208, 32753, 32754, 32755, AGC= 67, IDX=  52,-0.36, 0.182,-1.257,-1.661,-0.845, PHS= 0.997,-0.439,-0.819, RAW=  78.5,   3.2, CAL=  80.7,  -5.4, ROT=  69.3,   5.4

2025-03-13T00:42:33.701Z,1741826553.701 [DAT](INFO): DAT read: $Error in header

2025-03-13T00:42:33.701Z,1741826553.701 [DAT](INFO): Received a bad header
2025-03-13T00:42:33.715Z,1741826553.715 [DAT](INFO): #Rx 231: Read direction message, but no range.
2025-03-13T00:42:33.716Z,1741826553.716 [DAT](INFO): direction in FSK: [0.351906,0.931293,-0.094108]
2025-03-13T00:42:58.157Z,1741826578.157 [DAT](INFO): DAT read: Rx Time:00:42:57.4140

2025-03-13T00:42:58.158Z,1741826578.158 [DAT](INFO): Rx dataTimestamp_ set to:1741826578.157424
2025-03-13T00:42:58.674Z,1741826578.674 [DAT](INFO): DAT read: 00:42:57.4141 LVL= 32752, 32753, 32754, 32755, AGC= 82, IDX= 356,-0.44, 0.670,-1.022,-1.107,-0.365, PHS= 1.004,-0.684,-0.746, RAW=  88.2,   5.0, CAL=  88.3,  -3.4, ROT=  61.7,   3.4

2025-03-13T00:42:58.677Z,1741826578.677 [DAT](INFO): got valid direction response:
 00:42:57.4141 LVL= 32752, 32753, 32754, 32755, AGC= 82, IDX= 356,-0.44, 0.670,-1.022,-1.107,-0.365, PHS= 1.004,-0.684,-0.746, RAW=  88.2,   5.0, CAL=  88.3,  -3.4, ROT=  61.7,   3.4

2025-03-13T00:42:58.679Z,1741826578.679 [DAT](INFO): DAT read: $Error in header

2025-03-13T00:42:58.680Z,1741826578.680 [DAT](INFO): Received a bad header
2025-03-13T00:42:58.692Z,1741826578.692 [DAT](INFO): #Rx 232: Read direction message, but no range.
2025-03-13T00:42:58.696Z,1741826578.696 [DAT](INFO): direction in FSK: [0.473254,0.878928,-0.059306]
2025-03-13T00:43:35.492Z,1741826615.492 [DAT](INFO): DAT read: Rx Time:00:43:34.7631

2025-03-13T00:43:35.493Z,1741826615.493 [DAT](INFO): Rx dataTimestamp_ set to:1741826615.492106
2025-03-13T00:43:35.998Z,1741826615.998 [DAT](INFO): DAT read: 00:43:34.7632 LVL= 15856, 31169, 28146, 32755, AGC= 79, IDX= 465,-0.36, 0.332,-1.506,-1.913,-0.876, PHS= 1.177,-0.657,-1.041, RAW=  80.7,   5.1, CAL=  82.1,  -3.6, ROT=  67.9,   3.6

2025-03-13T00:43:35.999Z,1741826615.999 [DAT](INFO): got valid direction response:
 00:43:34.7632 LVL= 15856, 31169, 28146, 32755, AGC= 79, IDX= 465,-0.36, 0.332,-1.506,-1.913,-0.876, PHS= 1.177,-0.657,-1.041, RAW=  80.7,   5.1, CAL=  82.1,  -3.6, ROT=  67.9,   3.6

2025-03-13T00:43:36.000Z,1741826616.000 [DAT](INFO): DAT read: $Error in header

2025-03-13T00:43:36.000Z,1741826616.000 [DAT](INFO): Received a bad header
2025-03-13T00:43:36.012Z,1741826616.012 [DAT](INFO): #Rx 233: Read direction message, but no range.
2025-03-13T00:43:36.015Z,1741826616.015 [DAT](INFO): direction in FSK: [0.375482,0.924700,-0.062791]
2025-03-13T00:44:12.812Z,1741826652.812 [DAT](INFO): DAT read: Rx Time:00:44:12.0993

2025-03-13T00:44:12.813Z,1741826652.813 [DAT](INFO): Rx dataTimestamp_ set to:1741826652.812443
2025-03-13T00:44:13.328Z,1741826653.328 [DAT](INFO): DAT read: 00:44:12.0993 LVL= 14160, 26641, 23538, 32755, AGC= 77, IDX= 324,-0.01, 1.780,-0.056,-0.334, 0.854, PHS= 0.895,-0.937,-1.192, RAW=  83.6,  12.5, CAL=  83.9,   7.1, ROT=  66.1,  -7.1

2025-03-13T00:44:13.329Z,1741826653.329 [DAT](INFO): got valid direction response:
 00:44:12.0993 LVL= 14160, 26641, 23538, 32755, AGC= 77, IDX= 324,-0.01, 1.780,-0.056,-0.334, 0.854, PHS= 0.895,-0.937,-1.192, RAW=  83.6,  12.5, CAL=  83.9,   7.1, ROT=  66.1,  -7.1

2025-03-13T00:44:13.330Z,1741826653.330 [DAT](INFO): DAT read: $Error in header

2025-03-13T00:44:13.330Z,1741826653.330 [DAT](INFO): Received a bad header
2025-03-13T00:44:13.344Z,1741826653.344 [DAT](INFO): #Rx 234: Read direction message, but no range.
2025-03-13T00:44:13.346Z,1741826653.346 [DAT](INFO): direction in FSK: [0.402035,0.907243,0.123601]
2025-03-13T00:44:50.174Z,1741826690.174 [DAT](INFO): DAT read: Rx Time:00:44:49.4541

2025-03-13T00:44:50.176Z,1741826690.176 [DAT](INFO): Rx dataTimestamp_ set to:1741826690.174713
2025-03-13T00:44:50.682Z,1741826690.682 [DAT](INFO): DAT read: 00:44:49.4541 LVL= 15600, 27249, 22002, 32755, AGC= 79, IDX=  12,-0.48, 1.230,-0.393,-0.772, 0.329, PHS= 0.869,-0.749,-1.105, RAW=  80.3,  10.8, CAL=  81.0,   3.7, ROT=  69.0,  -3.7

2025-03-13T00:44:50.683Z,1741826690.683 [DAT](INFO): got valid direction response:
 00:44:49.4541 LVL= 15600, 27249, 22002, 32755, AGC= 79, IDX=  12,-0.48, 1.230,-0.393,-0.772, 0.329, PHS= 0.869,-0.749,-1.105, RAW=  80.3,  10.8, CAL=  81.0,   3.7, ROT=  69.0,  -3.7

2025-03-13T00:44:50.684Z,1741826690.684 [DAT](INFO): DAT read: $Error in header

2025-03-13T00:44:50.684Z,1741826690.684 [DAT](INFO): Received a bad header
2025-03-13T00:44:50.696Z,1741826690.696 [DAT](INFO): #Rx 235: Read direction message, but no range.
2025-03-13T00:44:50.697Z,1741826690.697 [DAT](INFO): direction in FSK: [0.357621,0.931634,0.064532]
2025-03-13T00:45:52.434Z,1741826752.434 [DAT](INFO): DAT read: Rx Time:00:45:51.6964

2025-03-13T00:45:52.436Z,1741826752.436 [DAT](INFO): Rx dataTimestamp_ set to:1741826752.434803
2025-03-13T00:45:52.950Z,1741826752.950 [DAT](INFO): DAT read: 00:45:51.6965 LVL= 25376, 32753, 32754, 32755, AGC= 80, IDX= 393, 0.07, 3.038, 1.472, 0.958, 2.211, PHS= 0.796,-0.766,-1.257, RAW=  76.8,  13.2, CAL=  78.0,   8.3, ROT=  72.0,  -8.3

2025-03-13T00:45:52.958Z,1741826752.958 [DAT](INFO): got valid direction response:
 00:45:51.6965 LVL= 25376, 32753, 32754, 32755, AGC= 80, IDX= 393, 0.07, 3.038, 1.472, 0.958, 2.211, PHS= 0.796,-0.766,-1.257, RAW=  76.8,  13.2, CAL=  78.0,   8.3, ROT=  72.0,  -8.3

2025-03-13T00:45:52.972Z,1741826752.972 [DAT](INFO): DAT read: $Error in header

2025-03-13T00:45:52.973Z,1741826752.973 [DAT](INFO): Received a bad header
2025-03-13T00:45:52.983Z,1741826752.983 [DAT](INFO): #Rx 236: Read direction message, but no range.
2025-03-13T00:45:52.985Z,1741826752.985 [DAT](INFO): direction in FSK: [0.305780,0.941095,0.144356]
2025-03-13T00:46:04.788Z,1741826764.788 [DAT](INFO): DAT read: Rx Time:00:46:04.1390

2025-03-13T00:46:04.789Z,1741826764.789 [DAT](INFO): Rx dataTimestamp_ set to:1741826764.788606
2025-03-13T00:46:05.309Z,1741826765.309 [DAT](INFO): DAT read: 00:46:04.1390 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 407, 0.30, 2.188, 0.651, 0.459, 1.413, PHS= 0.744,-0.789,-0.958, RAW=  84.8,  12.3, CAL=  84.9,   6.8, ROT=  65.1,  -6.8

2025-03-13T00:46:05.310Z,1741826765.310 [DAT](INFO): got valid direction response:
 00:46:04.1390 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 407, 0.30, 2.188, 0.651, 0.459, 1.413, PHS= 0.744,-0.789,-0.958, RAW=  84.8,  12.3, CAL=  84.9,   6.8, ROT=  65.1,  -6.8

2025-03-13T00:46:05.310Z,1741826765.310 [DAT](INFO): DAT read: $Error in header

2025-03-13T00:46:05.311Z,1741826765.311 [DAT](INFO): Received a bad header
2025-03-13T00:46:05.323Z,1741826765.323 [DAT](INFO): #Rx 237: Read direction message, but no range.
2025-03-13T00:46:05.325Z,1741826765.325 [DAT](INFO): direction in FSK: [0.418074,0.900663,0.118404]
2025-03-13T00:46:54.716Z,1741826814.716 [DAT](INFO): DAT read: Rx Time:00:46:53.9358

2025-03-13T00:46:54.717Z,1741826814.717 [DAT](INFO): Rx dataTimestamp_ set to:1741826814.716589
2025-03-13T00:46:55.226Z,1741826815.226 [DAT](INFO): DAT read: 00:46:53.9358 LVL= 20448, 30145, 24882, 32723, AGC= 69, IDX= 438, 0.25, 0.735,-0.804,-0.999,-0.423, PHS= 1.127,-0.408,-0.580, RAW=  84.8,  -1.7, CAL=  86.7,  -9.7, ROT=  63.3,   9.7

2025-03-13T00:46:55.227Z,1741826815.227 [DAT](INFO): got valid direction response:
 00:46:53.9358 LVL= 20448, 30145, 24882, 32723, AGC= 69, IDX= 438, 0.25, 0.735,-0.804,-0.999,-0.423, PHS= 1.127,-0.408,-0.580, RAW=  84.8,  -1.7, CAL=  86.7,  -9.7, ROT=  63.3,   9.7

2025-03-13T00:46:55.228Z,1741826815.228 [DAT](INFO): DAT read: $Error in header

2025-03-13T00:46:55.228Z,1741826815.228 [DAT](INFO): Received a bad header
2025-03-13T00:46:55.240Z,1741826815.240 [DAT](INFO): #Rx 238: Read direction message, but no range.
2025-03-13T00:46:55.241Z,1741826815.241 [DAT](INFO): direction in FSK: [0.442895,0.880599,-0.168489]
2025-03-13T00:47:19.671Z,1741826839.671 [DAT](INFO): DAT read: Rx Time:00:47:18.8284

2025-03-13T00:47:19.672Z,1741826839.672 [DAT](INFO): Rx dataTimestamp_ set to:1741826839.671528
2025-03-13T00:47:20.193Z,1741826840.193 [DAT](INFO): DAT read: 00:47:18.8284 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 404, 0.33, 0.439,-1.290,-1.507,-0.407, PHS= 0.816,-0.910,-1.103, RAW=  84.7,  13.0, CAL=  84.9,   8.2, ROT=  65.1,  -8.2

2025-03-13T00:47:20.196Z,1741826840.196 [DAT](INFO): got valid direction response:
 00:47:18.8284 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 404, 0.33, 0.439,-1.290,-1.507,-0.407, PHS= 0.816,-0.910,-1.103, RAW=  84.7,  13.0, CAL=  84.9,   8.2, ROT=  65.1,  -8.2

2025-03-13T00:47:20.198Z,1741826840.198 [DAT](INFO): DAT read: $Error in header

2025-03-13T00:47:20.198Z,1741826840.198 [DAT](INFO): Received a bad header
2025-03-13T00:47:20.212Z,1741826840.212 [DAT](INFO): #Rx 239: Read direction message, but no range.
2025-03-13T00:47:20.214Z,1741826840.214 [DAT](INFO): direction in FSK: [0.416731,0.897771,0.142629]
2025-03-13T00:48:34.292Z,1741826914.292 [DAT](INFO): DAT read: Rx Time:00:48:33.5530

2025-03-13T00:48:34.293Z,1741826914.293 [DAT](INFO): Rx dataTimestamp_ set to:1741826914.292432
2025-03-13T00:48:34.802Z,1741826914.802 [DAT](INFO): DAT read: 00:48:33.5530 LVL= 16576, 29025, 29970, 32755, AGC= 78, IDX= 185, 0.33,-2.754, 1.983, 1.661, 2.820, PHS= 0.678,-0.864,-1.162, RAW=  81.3,  15.6, CAL=  82.0,  13.0, ROT=  68.0, -13.0

2025-03-13T00:48:34.803Z,1741826914.803 [DAT](INFO): got valid direction response:
 00:48:33.5530 LVL= 16576, 29025, 29970, 32755, AGC= 78, IDX= 185, 0.33,-2.754, 1.983, 1.661, 2.820, PHS= 0.678,-0.864,-1.162, RAW=  81.3,  15.6, CAL=  82.0,  13.0, ROT=  68.0, -13.0

2025-03-13T00:48:34.805Z,1741826914.805 [DAT](INFO): DAT read: $Error in header

2025-03-13T00:48:34.805Z,1741826914.805 [DAT](INFO): Received a bad header
2025-03-13T00:48:34.820Z,1741826914.820 [DAT](INFO): #Rx 240: Read direction message, but no range.
2025-03-13T00:48:34.823Z,1741826914.823 [DAT](INFO): direction in FSK: [0.365005,0.903420,0.224951]
2025-03-13T00:48:59.250Z,1741826939.250 [DAT](INFO): DAT read: Rx Time:00:48:58.4430

2025-03-13T00:48:59.252Z,1741826939.252 [DAT](INFO): Rx dataTimestamp_ set to:1741826939.251435
2025-03-13T00:48:59.770Z,1741826939.770 [DAT](INFO): DAT read: 00:48:58.4430 LVL= 29888, 32753, 32754, 32755, AGC= 79, IDX= 379, 0.11, 2.322, 0.863, 0.556, 1.433, PHS= 0.858,-0.597,-0.882, RAW=  81.2,   7.7, CAL=  82.0,  -1.1, ROT=  68.0,   1.1

2025-03-13T00:48:59.789Z,1741826939.789 [DAT](INFO): got valid direction response:
 00:48:58.4430 LVL= 29888, 32753, 32754, 32755, AGC= 79, IDX= 379, 0.11, 2.322, 0.863, 0.556, 1.433, PHS= 0.858,-0.597,-0.882, RAW=  81.2,   7.7, CAL=  82.0,  -1.1, ROT=  68.0,   1.1

2025-03-13T00:48:59.791Z,1741826939.791 [DAT](INFO): DAT read: $Error in header

2025-03-13T00:48:59.796Z,1741826939.796 [DAT](INFO): Received a bad header
2025-03-13T00:48:59.817Z,1741826939.817 [DAT](INFO): #Rx 241: Read direction message, but no range.
2025-03-13T00:48:59.841Z,1741826939.841 [DAT](INFO): direction in FSK: [0.374538,0.927013,-0.019197]
2025-03-13T00:49:23.952Z,1741826963.952 [DAT](INFO): DAT read: Rx Time:00:49:23.3501

2025-03-13T00:49:23.953Z,1741826963.953 [DAT](INFO): Rx dataTimestamp_ set to:1741826963.952585
2025-03-13T00:49:24.714Z,1741826964.714 [DAT](INFO): DAT read: 00:49:23.3501 LVL= 22512, 20337, 18738, 24211, AGC= 65, IDX=  45,-0.23,-1.522,-3.060, 2.875,-2.491, PHS= 0.938,-0.596,-0.921, RAW=  80.6,   6.8, CAL=  81.6,  -2.0, ROT=  68.4,   2.0

2025-03-13T00:49:24.716Z,1741826964.716 [DAT](INFO): got valid direction response:
 00:49:23.3501 LVL= 22512, 20337, 18738, 24211, AGC= 65, IDX=  45,-0.23,-1.522,-3.060, 2.875,-2.491, PHS= 0.938,-0.596,-0.921, RAW=  80.6,   6.8, CAL=  81.6,  -2.0, ROT=  68.4,   2.0

2025-03-13T00:49:24.716Z,1741826964.716 [DAT](INFO): DAT read: $Error in header

2025-03-13T00:49:24.717Z,1741826964.717 [DAT](INFO): Received a bad header
2025-03-13T00:49:24.727Z,1741826964.727 [DAT](INFO): #Rx 242: Read direction message, but no range.
2025-03-13T00:49:24.729Z,1741826964.729 [DAT](INFO): direction in FSK: [0.367900,0.929210,-0.034899]
2025-03-13T00:49:36.566Z,1741826976.566 [DAT](INFO): DAT read: Rx Time:00:49:35.7955

2025-03-13T00:49:36.567Z,1741826976.567 [DAT](INFO): Rx dataTimestamp_ set to:1741826976.566314
2025-03-13T00:49:37.074Z,1741826977.074 [DAT](INFO): DAT read: 00:49:35.7955 LVL= 30112, 32753, 32754, 32755, AGC= 80, IDX= 440,-0.10,-1.873, 2.683, 2.611,-2.685, PHS= 0.781,-0.943,-0.991, RAW=  88.6,  13.1, CAL=  88.2,   8.5, ROT=  61.8,  -8.5

2025-03-13T00:49:37.075Z,1741826977.075 [DAT](INFO): got valid direction response:
 00:49:35.7955 LVL= 30112, 32753, 32754, 32755, AGC= 80, IDX= 440,-0.10,-1.873, 2.683, 2.611,-2.685, PHS= 0.781,-0.943,-0.991, RAW=  88.6,  13.1, CAL=  88.2,   8.5, ROT=  61.8,  -8.5

2025-03-13T00:49:37.076Z,1741826977.076 [DAT](INFO): DAT read: $Error in header

2025-03-13T00:49:37.076Z,1741826977.076 [DAT](INFO): Received a bad header
2025-03-13T00:49:37.087Z,1741826977.087 [DAT](INFO): #Rx 243: Read direction message, but no range.
2025-03-13T00:49:37.088Z,1741826977.088 [DAT](INFO): direction in FSK: [0.467360,0.871623,0.147809]
2025-03-13T00:50:01.284Z,1741827001.284 [DAT](INFO): DAT read: Rx Time:00:50:00.6875

2025-03-13T00:50:01.285Z,1741827001.285 [DAT](INFO): Rx dataTimestamp_ set to:1741827001.284478
2025-03-13T00:50:02.046Z,1741827002.046 [DAT](INFO): DAT read: 00:50:00.6875 LVL= 11664, 17169, 17170, 22803, AGC= 69, IDX= 399, 0.11, 0.516,-0.715,-1.152,-0.308, PHS= 0.793,-0.435,-0.848, RAW=  76.0,   6.7, CAL=  77.7,  -2.1, ROT=  72.3,   2.1

2025-03-13T00:50:02.048Z,1741827002.048 [DAT](INFO): got valid direction response:
 00:50:00.6875 LVL= 11664, 17169, 17170, 22803, AGC= 69, IDX= 399, 0.11, 0.516,-0.715,-1.152,-0.308, PHS= 0.793,-0.435,-0.848, RAW=  76.0,   6.7, CAL=  77.7,  -2.1, ROT=  72.3,   2.1

2025-03-13T00:50:02.048Z,1741827002.048 [DAT](INFO): DAT read: $Error in header

2025-03-13T00:50:02.049Z,1741827002.049 [DAT](INFO): Received a bad header
2025-03-13T00:50:02.063Z,1741827002.063 [DAT](INFO): #Rx 244: Read direction message, but no range.
2025-03-13T00:50:02.064Z,1741827002.064 [DAT](INFO): direction in FSK: [0.303829,0.952022,-0.036644]
2025-03-13T00:50:26.241Z,1741827026.241 [DAT](INFO): DAT read: Rx Time:00:50:25.5933

2025-03-13T00:50:26.242Z,1741827026.242 [DAT](INFO): Rx dataTimestamp_ set to:1741827026.241158
2025-03-13T00:50:26.756Z,1741827026.756 [DAT](INFO): DAT read: 00:50:25.5933 LVL= 16848, 20529, 14322, 23459, AGC= 76, IDX=  34, 0.18,-2.807, 2.074, 1.687, 2.565, PHS= 0.881,-0.518,-0.882, RAW=  78.7,   6.5, CAL=  80.1,  -2.3, ROT=  69.9,   2.3

2025-03-13T00:50:26.757Z,1741827026.757 [DAT](INFO): got valid direction response:
 00:50:25.5933 LVL= 16848, 20529, 14322, 23459, AGC= 76, IDX=  34, 0.18,-2.807, 2.074, 1.687, 2.565, PHS= 0.881,-0.518,-0.882, RAW=  78.7,   6.5, CAL=  80.1,  -2.3, ROT=  69.9,   2.3

2025-03-13T00:50:26.757Z,1741827026.757 [DAT](INFO): DAT read: bearing request

2025-03-13T00:50:26.758Z,1741827026.758 [DAT](INFO): received a bearing request message
2025-03-13T00:50:26.758Z,1741827026.758 [DAT](INFO): DAT read: Tx time:00:50:27.1961

2025-03-13T00:50:26.759Z,1741827026.759 [DAT](INFO): Ping request sent.
2025-03-13T00:50:26.759Z,1741827026.759 [DAT](INFO): transmitted an acoustic signal
2025-03-13T00:50:26.759Z,1741827026.759 [DAT](INFO): #Rx 245: Read direction message, but no range.
2025-03-13T00:50:26.760Z,1741827026.760 [DAT](INFO): direction in FSK: [0.343383,0.938338,-0.040132]
2025-03-13T00:50:26.760Z,1741827026.760 [DAT](INFO): publishing transmit ping time
2025-03-13T00:50:26.761Z,1741827026.761 [DAT](INFO): publishing range request flag
2025-03-13T00:50:26.768Z,1741827026.768 [DAT](INFO): publishing transmit ping time
2025-03-13T00:50:26.768Z,1741827026.768 [DAT](INFO): publishing range request flag
2025-03-13T00:51:03.556Z,1741827063.556 [DAT](INFO): DAT read: Rx Time:00:51:02.9339

2025-03-13T00:51:03.557Z,1741827063.557 [DAT](INFO): Rx dataTimestamp_ set to:1741827063.556566
2025-03-13T00:51:04.318Z,1741827064.318 [DAT](INFO): DAT read: 00:51:02.9339 LVL= 21120, 21201, 17570, 31027, AGC= 70, IDX=  39,-0.49,-2.341, 2.454, 2.302, 2.941, PHS= 0.970,-0.514,-0.642, RAW=  85.9,   2.4, CAL=  86.8,  -5.9, ROT=  63.2,   5.9

2025-03-13T00:51:04.327Z,1741827064.327 [DAT](INFO): got valid direction response:
 00:51:02.9339 LVL= 21120, 21201, 17570, 31027, AGC= 70, IDX=  39,-0.49,-2.341, 2.454, 2.302, 2.941, PHS= 0.970,-0.514,-0.642, RAW=  85.9,   2.4, CAL=  86.8,  -5.9, ROT=  63.2,   5.9

2025-03-13T00:51:04.328Z,1741827064.328 [DAT](INFO): DAT read: $Error in header

2025-03-13T00:51:04.328Z,1741827064.328 [DAT](INFO): Received a bad header
2025-03-13T00:51:04.339Z,1741827064.339 [DAT](INFO): #Rx 246: Read direction message, but no range.
2025-03-13T00:51:04.341Z,1741827064.341 [DAT](INFO): direction in FSK: [0.448489,0.887858,-0.102793]
2025-03-13T00:51:28.516Z,1741827088.516 [DAT](INFO): DAT read: Rx Time:00:51:27.8329

2025-03-13T00:51:28.517Z,1741827088.517 [DAT](INFO): Rx dataTimestamp_ set to:1741827088.516600
2025-03-13T00:51:29.035Z,1741827089.035 [DAT](INFO): DAT read: 00:51:27.8329 LVL= 23152, 32753, 32754, 32755, AGC= 74, IDX= 452, 0.06, 2.271, 0.676, 0.595, 1.428, PHS= 0.813,-0.779,-0.837, RAW=  88.2,   9.9, CAL=  87.8,   2.3, ROT=  62.2,  -2.3

2025-03-13T00:51:29.042Z,1741827089.042 [DAT](INFO): got valid direction response:
 00:51:27.8329 LVL= 23152, 32753, 32754, 32755, AGC= 74, IDX= 452, 0.06, 2.271, 0.676, 0.595, 1.428, PHS= 0.813,-0.779,-0.837, RAW=  88.2,   9.9, CAL=  87.8,   2.3, ROT=  62.2,  -2.3

2025-03-13T00:51:29.047Z,1741827089.047 [DAT](INFO): DAT read: $Error in header

2025-03-13T00:51:29.048Z,1741827089.048 [DAT](INFO): Received a bad header
2025-03-13T00:51:29.060Z,1741827089.060 [DAT](INFO): #Rx 247: Read direction message, but no range.
2025-03-13T00:51:29.063Z,1741827089.063 [DAT](INFO): direction in FSK: [0.466011,0.883868,0.040132]
2025-03-13T00:52:18.444Z,1741827138.444 [DAT](INFO): DAT read: Rx Time:00:52:17.6284

2025-03-13T00:52:18.445Z,1741827138.445 [DAT](INFO): Rx dataTimestamp_ set to:1741827138.444462
2025-03-13T00:52:18.954Z,1741827138.954 [DAT](INFO): DAT read: 00:52:17.6285 LVL= 32752, 32753, 32754, 32755, AGC= 81, IDX= 423, 0.15,-0.707,-2.439,-2.712,-1.373, PHS= 0.635,-1.093,-1.343, RAW=  83.3,  18.8, CAL=  83.9,  19.5, ROT=  66.1, -19.5

2025-03-13T00:52:18.955Z,1741827138.955 [DAT](INFO): got valid direction response:
 00:52:17.6285 LVL= 32752, 32753, 32754, 32755, AGC= 81, IDX= 423, 0.15,-0.707,-2.439,-2.712,-1.373, PHS= 0.635,-1.093,-1.343, RAW=  83.3,  18.8, CAL=  83.9,  19.5, ROT=  66.1, -19.5

2025-03-13T00:52:18.956Z,1741827138.956 [DAT](INFO): DAT read: $Error in header

2025-03-13T00:52:18.956Z,1741827138.956 [DAT](INFO): Received a bad header
2025-03-13T00:52:18.967Z,1741827138.967 [DAT](INFO): #Rx 248: Read direction message, but no range.
2025-03-13T00:52:18.968Z,1741827138.968 [DAT](INFO): direction in FSK: [0.381903,0.861814,0.333807]
2025-03-13T00:52:43.156Z,1741827163.156 [DAT](INFO): DAT read: Rx Time:00:52:42.5177

2025-03-13T00:52:43.157Z,1741827163.157 [DAT](INFO): Rx dataTimestamp_ set to:1741827163.156535
2025-03-13T00:52:43.928Z,1741827163.928 [DAT](INFO): DAT read: 00:52:42.5177 LVL= 28960, 32753, 32754, 32755, AGC= 84, IDX= 349,-0.36, 2.718, 1.238, 0.598, 2.072, PHS= 0.614,-0.861,-1.478, RAW=  73.3,  18.1, CAL=  74.9,  17.9, ROT=  75.1, -17.9

2025-03-13T00:52:43.936Z,1741827163.936 [DAT](INFO): got valid direction response:
 00:52:42.5177 LVL= 28960, 32753, 32754, 32755, AGC= 84, IDX= 349,-0.36, 2.718, 1.238, 0.598, 2.072, PHS= 0.614,-0.861,-1.478, RAW=  73.3,  18.1, CAL=  74.9,  17.9, ROT=  75.1, -17.9

2025-03-13T00:52:43.937Z,1741827163.937 [DAT](INFO): DAT read: $Error in header

2025-03-13T00:52:43.938Z,1741827163.938 [DAT](INFO): Received a bad header
2025-03-13T00:52:43.952Z,1741827163.952 [DAT](INFO): #Rx 249: Read direction message, but no range.
2025-03-13T00:52:43.955Z,1741827163.955 [DAT](INFO): direction in FSK: [0.244686,0.919598,0.307357]
2025-03-13T00:53:20.465Z,1741827200.465 [DAT](INFO): DAT read: Rx Time:00:53:19.8706

2025-03-13T00:53:20.466Z,1741827200.466 [DAT](INFO): Rx dataTimestamp_ set to:1741827200.465356
2025-03-13T00:53:21.233Z,1741827201.233 [DAT](INFO): DAT read: 00:53:19.8706 LVL= 22448, 32753, 32754, 32755, AGC= 77, IDX=   4, 0.19, 1.011,-0.779,-0.981, 0.457, PHS= 0.523,-1.263,-1.442, RAW=  85.3,  22.3, CAL=  85.2,  29.9, ROT=  64.8, -29.9

2025-03-13T00:53:21.236Z,1741827201.236 [DAT](INFO): got valid direction response:
 00:53:19.8706 LVL= 22448, 32753, 32754, 32755, AGC= 77, IDX=   4, 0.19, 1.011,-0.779,-0.981, 0.457, PHS= 0.523,-1.263,-1.442, RAW=  85.3,  22.3, CAL=  85.2,  29.9, ROT=  64.8, -29.9

2025-03-13T00:53:21.237Z,1741827201.237 [DAT](INFO): DAT read: bearing request

2025-03-13T00:53:21.238Z,1741827201.238 [DAT](INFO): received a bearing request message
2025-03-13T00:53:21.247Z,1741827201.247 [DAT](INFO): DAT read: Tx time:00:53:21.4734

2025-03-13T00:53:21.248Z,1741827201.248 [DAT](INFO): Ping request sent.
2025-03-13T00:53:21.248Z,1741827201.248 [DAT](INFO): transmitted an acoustic signal
2025-03-13T00:53:21.249Z,1741827201.249 [DAT](INFO): #Rx 250: Read direction message, but no range.
2025-03-13T00:53:21.252Z,1741827201.252 [DAT](INFO): direction in FSK: [0.369107,0.784392,0.498488]
2025-03-13T00:53:21.253Z,1741827201.253 [DAT](INFO): publishing transmit ping time
2025-03-13T00:53:21.254Z,1741827201.254 [DAT](INFO): publishing range request flag
2025-03-13T00:53:21.274Z,1741827201.274 [DAT](INFO): publishing transmit ping time
2025-03-13T00:53:21.274Z,1741827201.274 [DAT](INFO): publishing range request flag
2025-03-13T00:53:33.078Z,1741827213.078 [DAT](INFO): DAT read: Rx Time:00:53:32.3140

2025-03-13T00:53:33.078Z,1741827213.078 [DAT](INFO): Rx dataTimestamp_ set to:1741827213.077862
2025-03-13T00:53:33.588Z,1741827213.588 [DAT](INFO): DAT read: 00:53:32.3140 LVL= 12640, 22865, 20962, 32659, AGC= 73, IDX= 140, 0.07,-1.937, 2.760, 2.890,-2.981, PHS= 1.013,-0.569,-0.416, RAW=  95.0,  -0.4, CAL=  94.4,  -8.1, ROT=  55.6,   8.1

2025-03-13T00:53:33.589Z,1741827213.589 [DAT](INFO): got valid direction response:
 00:53:32.3140 LVL= 12640, 22865, 20962, 32659, AGC= 73, IDX= 140, 0.07,-1.937, 2.760, 2.890,-2.981, PHS= 1.013,-0.569,-0.416, RAW=  95.0,  -0.4, CAL=  94.4,  -8.1, ROT=  55.6,   8.1

2025-03-13T00:53:33.590Z,1741827213.590 [DAT](INFO): DAT read: $Error in header

2025-03-13T00:53:33.590Z,1741827213.590 [DAT](INFO): Received a bad header
2025-03-13T00:53:33.603Z,1741827213.603 [DAT](INFO): #Rx 251: Read direction message, but no range.
2025-03-13T00:53:33.604Z,1741827213.604 [DAT](INFO): direction in FSK: [0.559331,0.816882,-0.140901]
2025-03-13T00:54:10.392Z,1741827250.392 [DAT](INFO): DAT read: Rx Time:00:54:09.7147

2025-03-13T00:54:10.393Z,1741827250.393 [DAT](INFO): Rx dataTimestamp_ set to:1741827250.392346
2025-03-13T00:54:10.902Z,1741827250.902 [DAT](INFO): DAT read: 00:54:09.7148 LVL= 25664, 19857, 18402, 18931, AGC= 64, IDX=   9, 0.04, 0.499,-0.982,-1.299,-0.375, PHS= 0.843,-0.634,-0.928, RAW=  81.1,   8.8, CAL=  81.6,  -0.1, ROT=  68.4,   0.1

2025-03-13T00:54:10.903Z,1741827250.903 [DAT](INFO): got valid direction response:
 00:54:09.7148 LVL= 25664, 19857, 18402, 18931, AGC= 64, IDX=   9, 0.04, 0.499,-0.982,-1.299,-0.375, PHS= 0.843,-0.634,-0.928, RAW=  81.1,   8.8, CAL=  81.6,  -0.1, ROT=  68.4,   0.1

2025-03-13T00:54:10.908Z,1741827250.908 [DAT](INFO): DAT read: $Error in header

2025-03-13T00:54:10.908Z,1741827250.908 [DAT](INFO): Received a bad header
2025-03-13T00:54:10.920Z,1741827250.920 [DAT](INFO): #Rx 252: Read direction message, but no range.
2025-03-13T00:54:10.921Z,1741827250.921 [DAT](INFO): direction in FSK: [0.368124,0.929775,-0.001745]
2025-03-13T00:54:22.745Z,1741827262.745 [DAT](INFO): DAT read: Rx Time:00:54:22.1636

2025-03-13T00:54:22.745Z,1741827262.745 [DAT](INFO): Rx dataTimestamp_ set to:1741827262.745064
2025-03-13T00:54:23.511Z,1741827263.511 [DAT](INFO): DAT read: 00:54:22.1636 LVL= 27920, 32753, 32754, 32755, AGC= 73, IDX= 474,-0.12,-2.920, 1.745, 1.487, 2.742, PHS= 0.591,-1.024,-1.259, RAW=  83.3,  18.9, CAL=  83.8,  19.7, ROT=  66.2, -19.7

2025-03-13T00:54:23.512Z,1741827263.512 [DAT](INFO): got valid direction response:
 00:54:22.1636 LVL= 27920, 32753, 32754, 32755, AGC= 73, IDX= 474,-0.12,-2.920, 1.745, 1.487, 2.742, PHS= 0.591,-1.024,-1.259, RAW=  83.3,  18.9, CAL=  83.8,  19.7, ROT=  66.2, -19.7

2025-03-13T00:54:23.513Z,1741827263.513 [DAT](INFO): DAT read: $Error in header

2025-03-13T00:54:23.513Z,1741827263.513 [DAT](INFO): Received a bad header
2025-03-13T00:54:23.528Z,1741827263.528 [DAT](INFO): #Rx 253: Read direction message, but no range.
2025-03-13T00:54:23.529Z,1741827263.529 [DAT](INFO): direction in FSK: [0.379926,0.861408,0.337095]
2025-03-13T00:54:35.344Z,1741827275.344 [DAT](INFO): DAT read: Rx Time:00:54:34.6045

2025-03-13T00:54:35.345Z,1741827275.345 [DAT](INFO): Rx dataTimestamp_ set to:1741827275.344546
2025-03-13T00:54:35.854Z,1741827275.854 [DAT](INFO): DAT read: 00:54:34.6045 LVL= 12096, 17649, 16370, 25379, AGC= 73, IDX= 393, 0.21,-1.224,-2.661,-2.964,-2.462, PHS= 1.207,-0.226,-0.505, RAW=  81.2,  -6.0, CAL=  84.7, -13.9, ROT=  65.3,  13.9

2025-03-13T00:54:35.860Z,1741827275.860 [DAT](INFO): got valid direction response:
 00:54:34.6045 LVL= 12096, 17649, 16370, 25379, AGC= 73, IDX= 393, 0.21,-1.224,-2.661,-2.964,-2.462, PHS= 1.207,-0.226,-0.505, RAW=  81.2,  -6.0, CAL=  84.7, -13.9, ROT=  65.3,  13.9

2025-03-13T00:54:35.863Z,1741827275.863 [DAT](INFO): DAT read: $Error in header

2025-03-13T00:54:35.871Z,1741827275.871 [DAT](INFO): Received a bad header
2025-03-13T00:54:35.884Z,1741827275.884 [DAT](INFO): #Rx 254: Read direction message, but no range.
2025-03-13T00:54:35.886Z,1741827275.886 [DAT](INFO): direction in FSK: [0.405630,0.881904,-0.240228]
2025-03-13T00:55:00.330Z,1741827300.330 [DAT](INFO): DAT read: Rx Time:00:54:59.5058

2025-03-13T00:55:00.331Z,1741827300.331 [DAT](INFO): Rx dataTimestamp_ set to:1741827300.330536
2025-03-13T00:55:00.846Z,1741827300.846 [DAT](INFO): DAT read: 00:54:59.5058 LVL= 15344, 23537, 20834, 32755, AGC= 77, IDX= 499,-0.02, 0.054,-1.468,-1.823,-1.399, PHS= 1.422,-0.097,-0.429, RAW=  80.3, -10.5, CAL=  84.8, -18.0, ROT=  65.2,  18.0

2025-03-13T00:55:00.853Z,1741827300.853 [DAT](INFO): got valid direction response:
 00:54:59.5058 LVL= 15344, 23537, 20834, 32755, AGC= 77, IDX= 499,-0.02, 0.054,-1.468,-1.823,-1.399, PHS= 1.422,-0.097,-0.429, RAW=  80.3, -10.5, CAL=  84.8, -18.0, ROT=  65.2,  18.0

2025-03-13T00:55:00.859Z,1741827300.859 [DAT](INFO): DAT read: $Error in header

2025-03-13T00:55:00.860Z,1741827300.860 [DAT](INFO): Received a bad header
2025-03-13T00:55:00.872Z,1741827300.872 [DAT](INFO): #Rx 255: Read direction message, but no range.
2025-03-13T00:55:00.923Z,1741827300.923 [DAT](INFO): direction in FSK: [0.398923,0.863348,-0.309017]
2025-03-13T00:55:12.685Z,1741827312.685 [DAT](INFO): DAT read: Rx Time:00:55:11.9569

2025-03-13T00:55:12.685Z,1741827312.685 [DAT](INFO): Rx dataTimestamp_ set to:1741827312.685010
2025-03-13T00:55:13.206Z,1741827313.206 [DAT](INFO): DAT read: 00:55:11.9569 LVL= 29616, 32753, 32754, 32755, AGC= 71, IDX= 485, 0.39,-1.931, 2.842, 2.497,-2.931, PHS= 0.968,-0.537,-0.859, RAW=  80.5,   5.1, CAL=  81.9,  -3.6, ROT=  68.1,   3.6

2025-03-13T00:55:13.209Z,1741827313.209 [DAT](INFO): got valid direction response:
 00:55:11.9569 LVL= 29616, 32753, 32754, 32755, AGC= 71, IDX= 485, 0.39,-1.931, 2.842, 2.497,-2.931, PHS= 0.968,-0.537,-0.859, RAW=  80.5,   5.1, CAL=  81.9,  -3.6, ROT=  68.1,   3.6

2025-03-13T00:55:13.210Z,1741827313.210 [DAT](INFO): DAT read: $Error in header

2025-03-13T00:55:13.211Z,1741827313.211 [DAT](INFO): Received a bad header
2025-03-13T00:55:13.224Z,1741827313.224 [DAT](INFO): #Rx 256: Read direction message, but no range.
2025-03-13T00:55:13.226Z,1741827313.226 [DAT](INFO): direction in FSK: [0.372252,0.926005,-0.062791]
2025-03-13T00:55:37.647Z,1741827337.647 [DAT](INFO): DAT read: Rx Time:00:55:36.8448

2025-03-13T00:55:37.648Z,1741827337.648 [DAT](INFO): Rx dataTimestamp_ set to:1741827337.647552
2025-03-13T00:55:38.164Z,1741827338.164 [DAT](INFO): DAT read: 00:55:36.8448 LVL= 30448, 32753, 32754, 32755, AGC= 73, IDX= 353, 0.06, 0.781,-0.937,-1.057,-0.069, PHS= 0.819,-0.895,-0.992, RAW=  87.3,  12.1, CAL=  87.1,   6.4, ROT=  62.9,  -6.4

2025-03-13T00:55:38.166Z,1741827338.166 [DAT](INFO): got valid direction response:
 00:55:36.8448 LVL= 30448, 32753, 32754, 32755, AGC= 73, IDX= 353, 0.06, 0.781,-0.937,-1.057,-0.069, PHS= 0.819,-0.895,-0.992, RAW=  87.3,  12.1, CAL=  87.1,   6.4, ROT=  62.9,  -6.4

2025-03-13T00:55:38.168Z,1741827338.168 [DAT](INFO): DAT read: $Error in header

2025-03-13T00:55:38.169Z,1741827338.169 [DAT](INFO): Received a bad header
2025-03-13T00:55:38.188Z,1741827338.188 [DAT](INFO): #Rx 257: Read direction message, but no range.
2025-03-13T00:55:38.191Z,1741827338.191 [DAT](INFO): direction in FSK: [0.452706,0.884665,0.111469]
2025-03-13T00:55:41.739Z,1741827341.739 [BPC1](INFO): Calculating totals. Valid battery stick count: 50. Valid reserve battery stick count: 5.
2025-03-13T00:55:41.742Z,1741827341.742 [BPC1](FAULT): Failed to receive data from 3 sticks prior to timeout. Will not retry this scan cycle. Missing stick IDs are: 19, 21, 24.
2025-03-13T00:56:14.948Z,1741827374.948 [DAT](INFO): DAT read: Rx Time:00:56:14.1993

2025-03-13T00:56:14.949Z,1741827374.949 [DAT](INFO): Rx dataTimestamp_ set to:1741827374.948519
2025-03-13T00:56:15.469Z,1741827375.469 [DAT](INFO): DAT read: 00:56:14.1993 LVL= 32752, 32753, 32754, 32755, AGC= 75, IDX=  36, 0.10,-2.730, 1.693, 1.942, 2.940, PHS= 0.583,-1.274,-1.002, RAW=  97.8,  19.0, CAL=  96.1,  21.0, ROT=  53.9, -21.0

2025-03-13T00:56:15.472Z,1741827375.472 [DAT](INFO): got valid direction response:
 00:56:14.1993 LVL= 32752, 32753, 32754, 32755, AGC= 75, IDX=  36, 0.10,-2.730, 1.693, 1.942, 2.940, PHS= 0.583,-1.274,-1.002, RAW=  97.8,  19.0, CAL=  96.1,  21.0, ROT=  53.9, -21.0

2025-03-13T00:56:15.474Z,1741827375.474 [DAT](INFO): DAT read: $Error in header

2025-03-13T00:56:15.475Z,1741827375.475 [DAT](INFO): Received a bad header
2025-03-13T00:56:15.492Z,1741827375.492 [DAT](INFO): #Rx 258: Read direction message, but no range.
2025-03-13T00:56:15.495Z,1741827375.495 [DAT](INFO): direction in FSK: [0.550062,0.754324,0.358368]
2025-03-13T00:57:04.639Z,1741827424.639 [DAT](INFO): DAT read: Rx Time:00:57:03.9974

2025-03-13T00:57:04.640Z,1741827424.640 [DAT](INFO): Rx dataTimestamp_ set to:1741827424.639640
2025-03-13T00:57:05.407Z,1741827425.407 [DAT](INFO): DAT read: 00:57:03.9974 LVL= 18544, 21841, 18562, 27187, AGC= 72, IDX= 463, 0.15,-0.103,-1.721,-1.841,-1.319, PHS= 1.184,-0.430,-0.526, RAW=  87.1,  -2.8, CAL=  88.6, -10.6, ROT=  61.4,  10.6

2025-03-13T00:57:05.418Z,1741827425.418 [DAT](INFO): got valid direction response:
 00:57:03.9974 LVL= 18544, 21841, 18562, 27187, AGC= 72, IDX= 463, 0.15,-0.103,-1.721,-1.841,-1.319, PHS= 1.184,-0.430,-0.526, RAW=  87.1,  -2.8, CAL=  88.6, -10.6, ROT=  61.4,  10.6

2025-03-13T00:57:05.427Z,1741827425.427 [DAT](INFO): DAT read: $Error in header

2025-03-13T00:57:05.428Z,1741827425.428 [DAT](INFO): Received a bad header
2025-03-13T00:57:05.439Z,1741827425.439 [DAT](INFO): #Rx 259: Read direction message, but no range.
2025-03-13T00:57:05.441Z,1741827425.441 [DAT](INFO): direction in FSK: [0.470523,0.863000,-0.183951]
2025-03-13T00:57:30.114Z,1741827450.114 [DAT](INFO): DAT read: Rx Time:00:57:29.3343

2025-03-13T00:57:30.115Z,1741827450.115 [DAT](INFO): Rx dataTimestamp_ set to:1741827450.114546
2025-03-13T00:57:30.633Z,1741827450.633 [DAT](INFO): DAT read: 00:57:29.3343 LVL= 31504, 32753, 32754, 32755, AGC= 80, IDX= 358,-0.46, 1.655, 0.095,-0.268, 0.877, PHS= 0.747,-0.809,-1.148, RAW=  80.3,  13.7, CAL=  81.1,   9.4, ROT=  68.9,  -9.4

2025-03-13T00:57:30.640Z,1741827450.640 [DAT](INFO): got valid direction response:
 00:57:29.3343 LVL= 31504, 32753, 32754, 32755, AGC= 80, IDX= 358,-0.46, 1.655, 0.095,-0.268, 0.877, PHS= 0.747,-0.809,-1.148, RAW=  80.3,  13.7, CAL=  81.1,   9.4, ROT=  68.9,  -9.4

2025-03-13T00:57:30.642Z,1741827450.642 [DAT](INFO): DAT read: $Error in header

2025-03-13T00:57:30.643Z,1741827450.643 [DAT](INFO): Received a bad header
2025-03-13T00:57:30.661Z,1741827450.661 [DAT](INFO): #Rx 260: Read direction message, but no range.
2025-03-13T00:57:30.668Z,1741827450.668 [DAT](INFO): direction in FSK: [0.355163,0.920426,0.163326]
2025-03-13T00:57:42.479Z,1741827462.479 [DAT](INFO): DAT read: Rx Time:00:57:41.7837

2025-03-13T00:57:42.480Z,1741827462.480 [DAT](INFO): Rx dataTimestamp_ set to:1741827462.479048
2025-03-13T00:57:42.989Z,1741827462.989 [DAT](INFO): DAT read: 00:57:41.7837 LVL= 23216, 32753, 32754, 32755, AGC= 80, IDX= 474, 0.48, 0.684,-0.893,-1.177, 0.058, PHS= 0.595,-0.978,-1.238, RAW=  82.4,  18.4, CAL=  83.1,  18.7, ROT=  66.9, -18.7

2025-03-13T00:57:42.990Z,1741827462.990 [DAT](INFO): got valid direction response:
 00:57:41.7837 LVL= 23216, 32753, 32754, 32755, AGC= 80, IDX= 474, 0.48, 0.684,-0.893,-1.177, 0.058, PHS= 0.595,-0.978,-1.238, RAW=  82.4,  18.4, CAL=  83.1,  18.7, ROT=  66.9, -18.7

2025-03-13T00:57:42.990Z,1741827462.990 [DAT](INFO): DAT read: $Error in header

2025-03-13T00:57:42.991Z,1741827462.991 [DAT](INFO): Received a bad header
2025-03-13T00:57:43.004Z,1741827463.004 [DAT](INFO): #Rx 261: Read direction message, but no range.
2025-03-13T00:57:43.005Z,1741827463.005 [DAT](INFO): direction in FSK: [0.371626,0.871264,0.320613]
2025-03-13T00:58:07.434Z,1741827487.434 [DAT](INFO): DAT read: Rx Time:00:58:06.6896

2025-03-13T00:58:07.436Z,1741827487.436 [DAT](INFO): Rx dataTimestamp_ set to:1741827487.435059
2025-03-13T00:58:07.947Z,1741827487.947 [DAT](INFO): DAT read: 00:58:06.6896 LVL= 23344, 32753, 32754, 32755, AGC= 83, IDX=  14, 0.02,-1.085,-2.692,-2.831,-1.990, PHS= 0.873,-0.729,-0.845, RAW=  86.5,   8.5, CAL=  86.4,  -0.3, ROT=  63.6,   0.3

2025-03-13T00:58:07.951Z,1741827487.951 [DAT](INFO): got valid direction response:
 00:58:06.6896 LVL= 23344, 32753, 32754, 32755, AGC= 83, IDX=  14, 0.02,-1.085,-2.692,-2.831,-1.990, PHS= 0.873,-0.729,-0.845, RAW=  86.5,   8.5, CAL=  86.4,  -0.3, ROT=  63.6,   0.3

2025-03-13T00:58:07.953Z,1741827487.953 [DAT](INFO): DAT read: $Error in header

2025-03-13T00:58:07.953Z,1741827487.953 [DAT](INFO): Received a bad header
2025-03-13T00:58:07.973Z,1741827487.973 [DAT](INFO): #Rx 262: Read direction message, but no range.
2025-03-13T00:58:07.976Z,1741827487.976 [DAT](INFO): direction in FSK: [0.444629,0.895699,-0.005236]
2025-03-13T00:58:41.395Z,1741827521.395 [Waterlinked](ERROR): only read 0 of 1 data item for altitude. Device response::BD,       +0..00
2025-03-13T00:59:22.048Z,1741827562.048 [DAT](INFO): DAT read: Rx Time:00:59:21.3829

2025-03-13T00:59:22.049Z,1741827562.049 [DAT](INFO): Rx dataTimestamp_ set to:1741827562.047918
2025-03-13T00:59:22.558Z,1741827562.558 [DAT](INFO): DAT read: 00:59:21.3830 LVL= 29392, 32753, 32754, 32755, AGC= 82, IDX= 402,-0.32,-1.743, 2.753, 2.532,-2.231, PHS= 0.457,-1.326,-1.524, RAW=  84.8,  24.1, CAL=  84.7,  35.4, ROT=  65.3, -35.4

2025-03-13T00:59:22.559Z,1741827562.559 [DAT](INFO): got valid direction response:
 00:59:21.3830 LVL= 29392, 32753, 32754, 32755, AGC= 82, IDX= 402,-0.32,-1.743, 2.753, 2.532,-2.231, PHS= 0.457,-1.326,-1.524, RAW=  84.8,  24.1, CAL=  84.7,  35.4, ROT=  65.3, -35.4

2025-03-13T00:59:22.560Z,1741827562.560 [DAT](INFO): DAT read: $Error in header

2025-03-13T00:59:22.560Z,1741827562.560 [DAT](INFO): Received a bad header
2025-03-13T00:59:22.573Z,1741827562.573 [DAT](INFO): #Rx 263: Read direction message, but no range.
2025-03-13T00:59:22.574Z,1741827562.574 [DAT](INFO): direction in FSK: [0.340615,0.740550,0.579281]
2025-03-13T00:59:34.412Z,1741827574.412 [DAT](INFO): DAT read: Rx Time:00:59:33.8276

2025-03-13T00:59:34.413Z,1741827574.413 [DAT](INFO): Rx dataTimestamp_ set to:1741827574.412390
2025-03-13T00:59:35.180Z,1741827575.180 [DAT](INFO): DAT read: 00:59:33.8276 LVL= 32752, 32753, 32754, 32755, AGC= 77, IDX= 439,-0.07,-2.450, 2.335, 2.143, 2.998, PHS= 0.804,-0.690,-0.859, RAW=  84.7,   9.4, CAL=  84.7,   1.1, ROT=  65.3,  -1.1

2025-03-13T00:59:35.201Z,1741827575.201 [DAT](INFO): got valid direction response:
 00:59:33.8276 LVL= 32752, 32753, 32754, 32755, AGC= 77, IDX= 439,-0.07,-2.450, 2.335, 2.143, 2.998, PHS= 0.804,-0.690,-0.859, RAW=  84.7,   9.4, CAL=  84.7,   1.1, ROT=  65.3,  -1.1

2025-03-13T00:59:35.203Z,1741827575.203 [DAT](INFO): DAT read: $Error in header

2025-03-13T00:59:35.208Z,1741827575.208 [DAT](INFO): Received a bad header
2025-03-13T00:59:35.220Z,1741827575.220 [DAT](INFO): #Rx 264: Read direction message, but no range.
2025-03-13T00:59:35.224Z,1741827575.224 [DAT](INFO): direction in FSK: [0.417790,0.908341,0.019197]
2025-03-13T00:59:59.371Z,1741827599.371 [DAT](INFO): DAT read: Rx Time:00:59:58.7346

2025-03-13T00:59:59.372Z,1741827599.372 [DAT](INFO): Rx dataTimestamp_ set to:1741827599.371110
2025-03-13T01:00:00.130Z,1741827600.130 [DAT](INFO): DAT read: 00:59:58.7346 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX=  39, 0.40, 0.034,-1.644,-1.756,-0.684, PHS= 0.687,-0.987,-1.076, RAW=  87.4,  15.8, CAL=  87.3,  13.7, ROT=  62.7, -13.7

2025-03-13T01:00:00.131Z,1741827600.131 [DAT](INFO): got valid direction response:
 00:59:58.7346 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX=  39, 0.40, 0.034,-1.644,-1.756,-0.684, PHS= 0.687,-0.987,-1.076, RAW=  87.4,  15.8, CAL=  87.3,  13.7, ROT=  62.7, -13.7

2025-03-13T01:00:00.132Z,1741827600.132 [DAT](INFO): DAT read: $Error in header

2025-03-13T01:00:00.132Z,1741827600.132 [DAT](INFO): Received a bad header
2025-03-13T01:00:00.143Z,1741827600.143 [DAT](INFO): #Rx 265: Read direction message, but no range.
2025-03-13T01:00:00.144Z,1741827600.144 [DAT](INFO): direction in FSK: [0.445601,0.863335,0.236838]
2025-03-13T01:00:11.976Z,1741827611.976 [DAT](INFO): DAT read: Rx Time:01:00:11.1849

2025-03-13T01:00:11.977Z,1741827611.977 [DAT](INFO): Rx dataTimestamp_ set to:1741827611.976439
2025-03-13T01:00:12.499Z,1741827612.499 [DAT](INFO): DAT read: 01:00:11.1849 LVL= 31920, 32753, 32754, 32755, AGC= 77, IDX= 470,-0.32,-1.867, 2.807, 2.666,-2.818, PHS= 0.920,-0.686,-0.804, RAW=  86.5,   6.9, CAL=  86.6,  -1.8, ROT=  63.4,   1.8

2025-03-13T01:00:12.502Z,1741827612.502 [DAT](INFO): got valid direction response:
 01:00:11.1849 LVL= 31920, 32753, 32754, 32755, AGC= 77, IDX= 470,-0.32,-1.867, 2.807, 2.666,-2.818, PHS= 0.920,-0.686,-0.804, RAW=  86.5,   6.9, CAL=  86.6,  -1.8, ROT=  63.4,   1.8

2025-03-13T01:00:12.512Z,1741827612.512 [DAT](INFO): DAT read: $Error in header

2025-03-13T01:00:12.513Z,1741827612.513 [DAT](INFO): Received a bad header
2025-03-13T01:00:12.528Z,1741827612.528 [DAT](INFO): #Rx 266: Read direction message, but no range.
2025-03-13T01:00:12.530Z,1741827612.530 [DAT](INFO): direction in FSK: [0.447538,0.893713,-0.031411]
2025-03-13T01:00:36.691Z,1741827636.691 [DAT](INFO): DAT read: Rx Time:01:00:36.0758

2025-03-13T01:00:36.692Z,1741827636.692 [DAT](INFO): Rx dataTimestamp_ set to:1741827636.691569
2025-03-13T01:00:37.459Z,1741827637.459 [DAT](INFO): DAT read: 01:00:36.0758 LVL= 12016, 16305, 18802, 25219, AGC= 73, IDX= 385, 0.28,-0.282,-1.922,-1.974,-1.120, PHS= 0.806,-0.829,-0.858, RAW=  89.1,  10.7, CAL=  88.6,   3.8, ROT=  61.4,  -3.8

2025-03-13T01:00:37.479Z,1741827637.479 [DAT](INFO): got valid direction response:
 01:00:36.0758 LVL= 12016, 16305, 18802, 25219, AGC= 73, IDX= 385, 0.28,-0.282,-1.922,-1.974,-1.120, PHS= 0.806,-0.829,-0.858, RAW=  89.1,  10.7, CAL=  88.6,   3.8, ROT=  61.4,  -3.8

2025-03-13T01:00:37.484Z,1741827637.484 [DAT](INFO): DAT read: $Error in header

2025-03-13T01:00:37.484Z,1741827637.484 [DAT](INFO): Received a bad header
2025-03-13T01:00:37.495Z,1741827637.495 [DAT](INFO): #Rx 267: Read direction message, but no range.
2025-03-13T01:00:37.496Z,1741827637.496 [DAT](INFO): direction in FSK: [0.477639,0.876053,0.066274]
2025-03-13T01:00:49.300Z,1741827649.300 [DAT](INFO): DAT read: Rx Time:01:00:48.5181

2025-03-13T01:00:49.301Z,1741827649.301 [DAT](INFO): Rx dataTimestamp_ set to:1741827649.300515
2025-03-13T01:00:49.818Z,1741827649.818 [DAT](INFO): DAT read: 01:00:48.5181 LVL= 26672, 32753, 32754, 32755, AGC= 81, IDX= 430, 0.09,-1.671, 3.009, 2.936,-2.410, PHS= 0.708,-0.891,-0.941, RAW=  88.5,  13.7, CAL=  88.1,   9.7, ROT=  61.9,  -9.7

2025-03-13T01:00:49.825Z,1741827649.825 [DAT](INFO): got valid direction response:
 01:00:48.5181 LVL= 26672, 32753, 32754, 32755, AGC= 81, IDX= 430, 0.09,-1.671, 3.009, 2.936,-2.410, PHS= 0.708,-0.891,-0.941, RAW=  88.5,  13.7, CAL=  88.1,   9.7, ROT=  61.9,  -9.7

2025-03-13T01:00:49.827Z,1741827649.827 [DAT](INFO): DAT read: $Error in header

2025-03-13T01:00:49.833Z,1741827649.833 [DAT](INFO): Received a bad header
2025-03-13T01:00:49.856Z,1741827649.856 [DAT](INFO): #Rx 268: Read direction message, but no range.
2025-03-13T01:00:49.859Z,1741827649.859 [DAT](INFO): direction in FSK: [0.464278,0.869516,0.168489]
2025-03-13T01:01:01.650Z,1741827661.650 [DAT](INFO): DAT read: Rx Time:01:01:00.9677

2025-03-13T01:01:01.652Z,1741827661.652 [DAT](INFO): Rx dataTimestamp_ set to:1741827661.650598
2025-03-13T01:01:02.158Z,1741827662.158 [DAT](INFO): DAT read: 01:01:00.9677 LVL= 14464, 23185, 23314, 32755, AGC= 72, IDX= 486, 0.41, 0.156,-1.545,-1.633,-0.661, PHS= 0.786,-0.911,-0.976, RAW=  88.1,  12.7, CAL=  87.8,   7.6, ROT=  62.2,  -7.6

2025-03-13T01:01:02.159Z,1741827662.159 [DAT](INFO): got valid direction response:
 01:01:00.9677 LVL= 14464, 23185, 23314, 32755, AGC= 72, IDX= 486, 0.41, 0.156,-1.545,-1.633,-0.661, PHS= 0.786,-0.911,-0.976, RAW=  88.1,  12.7, CAL=  87.8,   7.6, ROT=  62.2,  -7.6

2025-03-13T01:01:02.160Z,1741827662.160 [DAT](INFO): DAT read: $Error in header

2025-03-13T01:01:02.160Z,1741827662.160 [DAT](INFO): Received a bad header
2025-03-13T01:01:02.172Z,1741827662.172 [DAT](INFO): #Rx 269: Read direction message, but no range.
2025-03-13T01:01:02.173Z,1741827662.173 [DAT](INFO): direction in FSK: [0.462290,0.876810,0.132256]
2025-03-13T01:01:14.250Z,1741827674.250 [DAT](INFO): DAT read: Rx Time:01:01:13.4177

2025-03-13T01:01:14.251Z,1741827674.251 [DAT](INFO): Rx dataTimestamp_ set to:1741827674.250543
2025-03-13T01:01:14.767Z,1741827674.767 [DAT](INFO): DAT read: 01:01:13.4177 LVL= 10400, 14993, 15474, 22403, AGC= 72, IDX= 482, 0.05,-2.331, 2.370, 2.331, 3.098, PHS= 0.823,-0.755,-0.771, RAW=  89.5,   8.9, CAL=  88.9,   0.3, ROT=  61.1,  -0.3

2025-03-13T01:01:14.781Z,1741827674.781 [DAT](INFO): got valid direction response:
 01:01:13.4177 LVL= 10400, 14993, 15474, 22403, AGC= 72, IDX= 482, 0.05,-2.331, 2.370, 2.331, 3.098, PHS= 0.823,-0.755,-0.771, RAW=  89.5,   8.9, CAL=  88.9,   0.3, ROT=  61.1,  -0.3

2025-03-13T01:01:14.782Z,1741827674.782 [DAT](INFO): DAT read: $Error in header

2025-03-13T01:01:14.782Z,1741827674.782 [DAT](INFO): Received a bad header
2025-03-13T01:01:14.796Z,1741827674.796 [DAT](INFO): #Rx 270: Read direction message, but no range.
2025-03-13T01:01:14.797Z,1741827674.797 [DAT](INFO): direction in FSK: [0.483276,0.875452,0.005236]
2025-03-13T01:01:26.596Z,1741827686.596 [DAT](INFO): DAT read: Rx Time:01:01:25.8722

2025-03-13T01:01:26.597Z,1741827686.597 [DAT](INFO): Rx dataTimestamp_ set to:1741827686.596527
2025-03-13T01:01:27.114Z,1741827687.114 [DAT](INFO): DAT read: 01:01:25.8723 LVL= 26416, 32753, 32754, 32755, AGC= 81, IDX=  45, 0.46,-0.747,-2.459,-2.633,-1.358, PHS= 0.580,-1.128,-1.279, RAW=  85.8,  19.9, CAL=  85.9,  22.5, ROT=  64.1, -22.5

2025-03-13T01:01:27.121Z,1741827687.121 [DAT](INFO): got valid direction response:
 01:01:25.8723 LVL= 26416, 32753, 32754, 32755, AGC= 81, IDX=  45, 0.46,-0.747,-2.459,-2.633,-1.358, PHS= 0.580,-1.128,-1.279, RAW=  85.8,  19.9, CAL=  85.9,  22.5, ROT=  64.1, -22.5

2025-03-13T01:01:27.123Z,1741827687.123 [DAT](INFO): DAT read: $Error in header

2025-03-13T01:01:27.124Z,1741827687.124 [DAT](INFO): Received a bad header
2025-03-13T01:01:27.137Z,1741827687.137 [DAT](INFO): #Rx 271: Read direction message, but no range.
2025-03-13T01:01:27.140Z,1741827687.140 [DAT](INFO): direction in FSK: [0.403552,0.831083,0.382683]
2025-03-13T01:01:38.945Z,1741827698.945 [DAT](INFO): DAT read: Rx Time:01:01:38.3218

2025-03-13T01:01:38.946Z,1741827698.946 [DAT](INFO): Rx dataTimestamp_ set to:1741827698.945018
2025-03-13T01:01:39.706Z,1741827699.706 [DAT](INFO): DAT read: 01:01:38.3218 LVL= 20016, 32561, 32754, 32755, AGC= 74, IDX= 469, 0.16,-1.433,-2.901, 3.104,-2.393, PHS= 0.928,-0.535,-0.790, RAW=  82.1,   5.0, CAL=  83.3,  -3.6, ROT=  66.7,   3.6

2025-03-13T01:01:39.707Z,1741827699.707 [DAT](INFO): got valid direction response:
 01:01:38.3218 LVL= 20016, 32561, 32754, 32755, AGC= 74, IDX= 469, 0.16,-1.433,-2.901, 3.104,-2.393, PHS= 0.928,-0.535,-0.790, RAW=  82.1,   5.0, CAL=  83.3,  -3.6, ROT=  66.7,   3.6

2025-03-13T01:01:39.708Z,1741827699.708 [DAT](INFO): DAT read: $Error in header

2025-03-13T01:01:39.708Z,1741827699.708 [DAT](INFO): Received a bad header
2025-03-13T01:01:39.721Z,1741827699.721 [DAT](INFO): #Rx 272: Read direction message, but no range.
2025-03-13T01:01:39.722Z,1741827699.722 [DAT](INFO): direction in FSK: [0.394765,0.916634,-0.062791]
2025-03-13T01:02:03.896Z,1741827723.896 [DAT](INFO): DAT read: Rx Time:01:02:03.2099

2025-03-13T01:02:03.897Z,1741827723.897 [DAT](INFO): Rx dataTimestamp_ set to:1741827723.896432
2025-03-13T01:02:04.407Z,1741827724.407 [DAT](INFO): DAT read: 01:02:03.2099 LVL= 11584, 21233, 18370, 32755, AGC= 75, IDX= 355, 0.41, 1.855, 0.266,-0.158, 0.937, PHS= 0.887,-0.698,-1.099, RAW=  79.0,  10.0, CAL=  79.9,   2.1, ROT=  70.1,  -2.1

2025-03-13T01:02:04.409Z,1741827724.409 [DAT](INFO): got valid direction response:
 01:02:03.2099 LVL= 11584, 21233, 18370, 32755, AGC= 75, IDX= 355, 0.41, 1.855, 0.266,-0.158, 0.937, PHS= 0.887,-0.698,-1.099, RAW=  79.0,  10.0, CAL=  79.9,   2.1, ROT=  70.1,  -2.1

2025-03-13T01:02:04.410Z,1741827724.410 [DAT](INFO): DAT read: $Error in header

2025-03-13T01:02:04.410Z,1741827724.410 [DAT](INFO): Received a bad header
2025-03-13T01:02:04.424Z,1741827724.424 [DAT](INFO): #Rx 273: Read direction message, but no range.
2025-03-13T01:02:04.425Z,1741827724.425 [DAT](INFO): direction in FSK: [0.340151,0.939657,0.036644]
2025-03-13T01:02:16.270Z,1741827736.270 [DAT](INFO): DAT read: Rx Time:01:02:15.6566

2025-03-13T01:02:16.271Z,1741827736.271 [DAT](INFO): Rx dataTimestamp_ set to:1741827736.270277
2025-03-13T01:02:17.030Z,1741827737.030 [DAT](INFO): DAT read: 01:02:15.6567 LVL= 11312, 14833, 15858, 21043, AGC= 70, IDX= 446,-0.02, 1.274,-0.555,-0.488, 0.224, PHS= 1.019,-0.805,-0.716, RAW=  92.5,   5.7, CAL=  91.8,  -2.7, ROT=  58.2,   2.7

2025-03-13T01:02:17.032Z,1741827737.032 [DAT](INFO): got valid direction response:
 01:02:15.6567 LVL= 11312, 14833, 15858, 21043, AGC= 70, IDX= 446,-0.02, 1.274,-0.555,-0.488, 0.224, PHS= 1.019,-0.805,-0.716, RAW=  92.5,   5.7, CAL=  91.8,  -2.7, ROT=  58.2,   2.7

2025-03-13T01:02:17.033Z,1741827737.033 [DAT](INFO): DAT read: $Error in header

2025-03-13T01:02:17.033Z,1741827737.033 [DAT](INFO): Received a bad header
2025-03-13T01:02:17.047Z,1741827737.047 [DAT](INFO): #Rx 274: Read direction message, but no range.
2025-03-13T01:02:17.048Z,1741827737.048 [DAT](INFO): direction in FSK: [0.526371,0.848949,-0.047106]
2025-03-13T01:02:28.871Z,1741827748.871 [DAT](INFO): DAT read: Rx Time:01:02:28.1091

2025-03-13T01:02:28.873Z,1741827748.873 [DAT](INFO): Rx dataTimestamp_ set to:1741827748.871800
2025-03-13T01:02:29.392Z,1741827749.392 [DAT](INFO): DAT read: 01:02:28.1091 LVL= 23776, 26257, 23746, 32755, AGC= 80, IDX=   7, 0.08, 0.484,-1.087,-1.156,-0.322, PHS= 0.774,-0.792,-0.838, RAW=  88.6,  10.8, CAL=  88.1,   3.9, ROT=  61.9,  -3.9

2025-03-13T01:02:29.394Z,1741827749.394 [DAT](INFO): got valid direction response:
 01:02:28.1091 LVL= 23776, 26257, 23746, 32755, AGC= 80, IDX=   7, 0.08, 0.484,-1.087,-1.156,-0.322, PHS= 0.774,-0.792,-0.838, RAW=  88.6,  10.8, CAL=  88.1,   3.9, ROT=  61.9,  -3.9

2025-03-13T01:02:29.396Z,1741827749.396 [DAT](INFO): DAT read: $Error in header

2025-03-13T01:02:29.397Z,1741827749.397 [DAT](INFO): Received a bad header
2025-03-13T01:02:29.412Z,1741827749.412 [DAT](INFO): #Rx 275: Read direction message, but no range.
2025-03-13T01:02:29.414Z,1741827749.414 [DAT](INFO): direction in FSK: [0.469921,0.880084,0.068015]
2025-03-13T01:02:41.226Z,1741827761.226 [DAT](INFO): DAT read: Rx Time:01:02:40.5644

2025-03-13T01:02:41.227Z,1741827761.227 [DAT](INFO): Rx dataTimestamp_ set to:1741827761.226246
2025-03-13T01:02:41.747Z,1741827761.747 [DAT](INFO): DAT read: 01:02:40.5644 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX=   6, 0.42,-1.538,-3.104,-3.063,-2.515, PHS= 0.946,-0.616,-0.552, RAW=  92.1,   2.9, CAL=  91.8,  -5.2, ROT=  58.2,   5.2

2025-03-13T01:02:41.749Z,1741827761.749 [DAT](INFO): got valid direction response:
 01:02:40.5644 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX=   6, 0.42,-1.538,-3.104,-3.063,-2.515, PHS= 0.946,-0.616,-0.552, RAW=  92.1,   2.9, CAL=  91.8,  -5.2, ROT=  58.2,   5.2

2025-03-13T01:02:41.750Z,1741827761.750 [DAT](INFO): DAT read: $Error in header

2025-03-13T01:02:41.750Z,1741827761.750 [DAT](INFO): Received a bad header
2025-03-13T01:02:41.763Z,1741827761.763 [DAT](INFO): #Rx 276: Read direction message, but no range.
2025-03-13T01:02:41.765Z,1741827761.765 [DAT](INFO): direction in FSK: [0.524787,0.846395,-0.090633]
2025-03-13T01:02:53.820Z,1741827773.820 [DAT](INFO): DAT read: Rx Time:01:02:53.0151

2025-03-13T01:02:53.821Z,1741827773.821 [DAT](INFO): Rx dataTimestamp_ set to:1741827773.820529
2025-03-13T01:02:54.333Z,1741827774.333 [DAT](INFO): DAT read: 01:02:53.0151 LVL= 13440, 19137, 17858, 28227, AGC= 71, IDX= 473,-0.12, 1.893, 0.137, 0.134, 1.051, PHS= 0.811,-0.941,-0.921, RAW=  90.6,  12.0, CAL=  89.9,   6.5, ROT=  60.1,  -6.5

2025-03-13T01:02:54.335Z,1741827774.335 [DAT](INFO): got valid direction response:
 01:02:53.0151 LVL= 13440, 19137, 17858, 28227, AGC= 71, IDX= 473,-0.12, 1.893, 0.137, 0.134, 1.051, PHS= 0.811,-0.941,-0.921, RAW=  90.6,  12.0, CAL=  89.9,   6.5, ROT=  60.1,  -6.5

2025-03-13T01:02:54.336Z,1741827774.336 [DAT](INFO): DAT read: $Error in header

2025-03-13T01:02:54.336Z,1741827774.336 [DAT](INFO): Received a bad header
2025-03-13T01:02:54.352Z,1741827774.352 [DAT](INFO): #Rx 277: Read direction message, but no range.
2025-03-13T01:02:54.353Z,1741827774.353 [DAT](INFO): direction in FSK: [0.495283,0.861324,0.113203]
2025-03-13T01:04:20.822Z,1741827860.822 [DAT](INFO): DAT read: Rx Time:01:04:20.1447

2025-03-13T01:04:20.824Z,1741827860.824 [DAT](INFO): Rx dataTimestamp_ set to:1741827860.822675
2025-03-13T01:04:21.338Z,1741827861.338 [DAT](INFO): DAT read: 01:04:20.1447 LVL=  6192,  9377,  8818, 13571, AGC= 69, IDX= 252, 0.07, 1.294,-0.586,-0.087, 0.273, PHS= 0.990,-0.886,-0.364, RAW= 105.6,   3.1, CAL= 102.8,  -4.4, ROT=  47.2,   4.4

2025-03-13T01:04:21.343Z,1741827861.343 [DAT](INFO): got valid direction response:
 01:04:20.1447 LVL=  6192,  9377,  8818, 13571, AGC= 69, IDX= 252, 0.07, 1.294,-0.586,-0.087, 0.273, PHS= 0.990,-0.886,-0.364, RAW= 105.6,   3.1, CAL= 102.8,  -4.4, ROT=  47.2,   4.4

2025-03-13T01:04:21.365Z,1741827861.365 [DAT](INFO): DAT read: $Error in header

2025-03-13T01:04:21.365Z,1741827861.365 [DAT](INFO): Received a bad header
2025-03-13T01:04:21.380Z,1741827861.380 [DAT](INFO): #Rx 278: Read direction message, but no range.
2025-03-13T01:04:21.384Z,1741827861.384 [DAT](INFO): direction in FSK: [0.677439,0.731567,-0.076719]
2025-03-13T01:04:33.420Z,1741827873.420 [DAT](INFO): DAT read: Rx Time:01:04:32.5929

2025-03-13T01:04:33.421Z,1741827873.421 [DAT](INFO): Rx dataTimestamp_ set to:1741827873.420428
2025-03-13T01:04:33.949Z,1741827873.949 [DAT](INFO): DAT read: 01:04:32.5929 LVL= 23264, 32753, 28434, 32755, AGC= 79, IDX= 486, 0.28, 0.916,-0.442,-0.803, 0.574, PHS= 0.311,-1.043,-1.380, RAW=  79.1,  25.7, CAL=  80.2,  39.7, ROT=  69.8, -39.7

2025-03-13T01:04:33.960Z,1741827873.960 [DAT](INFO): got valid direction response:
 01:04:32.5929 LVL= 23264, 32753, 28434, 32755, AGC= 79, IDX= 486, 0.28, 0.916,-0.442,-0.803, 0.574, PHS= 0.311,-1.043,-1.380, RAW=  79.1,  25.7, CAL=  80.2,  39.7, ROT=  69.8, -39.7

2025-03-13T01:04:33.962Z,1741827873.962 [DAT](INFO): DAT read: $Error in header

2025-03-13T01:04:33.962Z,1741827873.962 [DAT](INFO): Received a bad header
2025-03-13T01:04:33.980Z,1741827873.980 [DAT](INFO): #Rx 279: Read direction message, but no range.
2025-03-13T01:04:33.983Z,1741827873.983 [DAT](INFO): direction in FSK: [0.265672,0.722076,0.638768]
2025-03-13T01:04:45.771Z,1741827885.771 [DAT](INFO): DAT read: Rx Time:01:04:45.0471

2025-03-13T01:04:45.772Z,1741827885.772 [DAT](INFO): Rx dataTimestamp_ set to:1741827885.771428
2025-03-13T01:04:46.278Z,1741827886.278 [DAT](INFO): DAT read: 01:04:45.0471 LVL= 29232, 32753, 32754, 32755, AGC= 73, IDX= 510,-0.02,-0.726,-2.637,-2.479,-1.874, PHS= 1.116,-0.790,-0.609, RAW=  94.9,   3.1, CAL=  94.0,  -4.9, ROT=  56.0,   4.9

2025-03-13T01:04:46.279Z,1741827886.279 [DAT](INFO): got valid direction response:
 01:04:45.0471 LVL= 29232, 32753, 32754, 32755, AGC= 73, IDX= 510,-0.02,-0.726,-2.637,-2.479,-1.874, PHS= 1.116,-0.790,-0.609, RAW=  94.9,   3.1, CAL=  94.0,  -4.9, ROT=  56.0,   4.9

2025-03-13T01:04:46.280Z,1741827886.280 [DAT](INFO): DAT read: $Error in header

2025-03-13T01:04:46.280Z,1741827886.280 [DAT](INFO): Received a bad header
2025-03-13T01:04:46.291Z,1741827886.291 [DAT](INFO): #Rx 280: Read direction message, but no range.
2025-03-13T01:04:46.293Z,1741827886.293 [DAT](INFO): direction in FSK: [0.557149,0.826008,-0.085417]
2025-03-13T01:04:58.127Z,1741827898.127 [DAT](INFO): DAT read: Rx Time:01:04:57.4961

2025-03-13T01:04:58.129Z,1741827898.129 [DAT](INFO): Rx dataTimestamp_ set to:1741827898.127536
2025-03-13T01:04:58.889Z,1741827898.889 [DAT](INFO): DAT read: 01:04:57.4961 LVL= 12624, 18721, 17426, 28051, AGC= 68, IDX= 480, 0.17, 1.472,-0.373,-0.251, 0.583, PHS= 0.858,-0.983,-0.838, RAW=  94.0,  10.9, CAL=  92.8,   4.5, ROT=  57.2,  -4.5

2025-03-13T01:04:58.890Z,1741827898.890 [DAT](INFO): got valid direction response:
 01:04:57.4961 LVL= 12624, 18721, 17426, 28051, AGC= 68, IDX= 480, 0.17, 1.472,-0.373,-0.251, 0.583, PHS= 0.858,-0.983,-0.838, RAW=  94.0,  10.9, CAL=  92.8,   4.5, ROT=  57.2,  -4.5

2025-03-13T01:04:58.891Z,1741827898.891 [DAT](INFO): DAT read: $Error in header

2025-03-13T01:04:58.891Z,1741827898.891 [DAT](INFO): Received a bad header
2025-03-13T01:04:58.903Z,1741827898.903 [DAT](INFO): #Rx 281: Read direction message, but no range.
2025-03-13T01:04:58.905Z,1741827898.905 [DAT](INFO): direction in FSK: [0.540038,0.837975,0.078459]
2025-03-13T01:05:48.036Z,1741827948.036 [DAT](INFO): DAT read: Rx Time:01:05:47.2912

2025-03-13T01:05:48.037Z,1741827948.037 [DAT](INFO): Rx dataTimestamp_ set to:1741827948.036460
2025-03-13T01:05:48.554Z,1741827948.554 [DAT](INFO): DAT read: 01:05:47.2912 LVL= 27504, 32753, 32754, 32755, AGC= 78, IDX= 430,-0.00, 1.350,-0.401,-0.265, 0.353, PHS= 0.966,-0.781,-0.622, RAW=  94.7,   5.3, CAL=  93.6,  -2.9, ROT=  56.4,   2.9

2025-03-13T01:05:48.562Z,1741827948.562 [DAT](INFO): got valid direction response:
 01:05:47.2912 LVL= 27504, 32753, 32754, 32755, AGC= 78, IDX= 430,-0.00, 1.350,-0.401,-0.265, 0.353, PHS= 0.966,-0.781,-0.622, RAW=  94.7,   5.3, CAL=  93.6,  -2.9, ROT=  56.4,   2.9

2025-03-13T01:05:48.568Z,1741827948.568 [DAT](INFO): DAT read: $Error in header

2025-03-13T01:05:48.568Z,1741827948.568 [DAT](INFO): Received a bad header
2025-03-13T01:05:48.604Z,1741827948.604 [DAT](INFO): #Rx 282: Read direction message, but no range.
2025-03-13T01:05:48.607Z,1741827948.607 [DAT](INFO): direction in FSK: [0.552683,0.831855,-0.050593]
2025-03-13T01:06:14.204Z,1741827974.204 [CTD_Seabird](ERROR): Failed to parse device response: 89.17,9.577.00
2025-03-13T01:06:25.366Z,1741827985.366 [DAT](INFO): DAT read: Rx Time:01:06:24.6281

2025-03-13T01:06:25.368Z,1741827985.368 [DAT](INFO): Rx dataTimestamp_ set to:1741827985.366846
2025-03-13T01:06:25.873Z,1741827985.873 [DAT](INFO): DAT read: 01:06:24.6281 LVL= 14320, 21233, 26610, 32755, AGC= 76, IDX= 349, 0.03, 0.840,-1.041,-0.831,-0.077, PHS= 0.886,-0.991,-0.759, RAW=  96.5,   9.8, CAL=  94.9,   2.6, ROT=  55.1,  -2.6

2025-03-13T01:06:25.874Z,1741827985.874 [DAT](INFO): got valid direction response:
 01:06:24.6281 LVL= 14320, 21233, 26610, 32755, AGC= 76, IDX= 349, 0.03, 0.840,-1.041,-0.831,-0.077, PHS= 0.886,-0.991,-0.759, RAW=  96.5,   9.8, CAL=  94.9,   2.6, ROT=  55.1,  -2.6

2025-03-13T01:06:25.875Z,1741827985.875 [DAT](INFO): DAT read: bearing request

2025-03-13T01:06:25.875Z,1741827985.875 [DAT](INFO): received a bearing request message
2025-03-13T01:06:25.876Z,1741827985.876 [DAT](INFO): DAT read: Tx time:01:06:26.2309

2025-03-13T01:06:25.876Z,1741827985.876 [DAT](INFO): Ping request sent.
2025-03-13T01:06:25.876Z,1741827985.876 [DAT](INFO): transmitted an acoustic signal
2025-03-13T01:06:25.876Z,1741827985.876 [DAT](INFO): #Rx 283: Read direction message, but no range.
2025-03-13T01:06:25.877Z,1741827985.877 [DAT](INFO): direction in FSK: [0.571557,0.819308,0.045363]
2025-03-13T01:06:25.878Z,1741827985.878 [DAT](INFO): publishing transmit ping time
2025-03-13T01:06:25.878Z,1741827985.878 [DAT](INFO): publishing range request flag
2025-03-13T01:06:25.890Z,1741827985.890 [DAT](INFO): publishing transmit ping time
2025-03-13T01:06:25.891Z,1741827985.891 [DAT](INFO): publishing range request flag
2025-03-13T01:06:50.350Z,1741828010.350 [DAT](INFO): DAT read: Rx Time:01:06:49.5332

2025-03-13T01:06:50.365Z,1741828010.365 [DAT](INFO): Rx dataTimestamp_ set to:1741828010.350669
2025-03-13T01:06:50.873Z,1741828010.873 [DAT](INFO): DAT read: 01:06:49.5333 LVL= 22144, 27633, 27746, 32755, AGC= 62, IDX= 122, 0.10,-1.047,-2.724,-2.710,-2.282, PHS= 1.205,-0.469,-0.431, RAW=  91.1,  -3.7, CAL=  91.8, -11.2, ROT=  58.2,  11.2

2025-03-13T01:06:50.880Z,1741828010.880 [DAT](INFO): got valid direction response:
 01:06:49.5333 LVL= 22144, 27633, 27746, 32755, AGC= 62, IDX= 122, 0.10,-1.047,-2.724,-2.710,-2.282, PHS= 1.205,-0.469,-0.431, RAW=  91.1,  -3.7, CAL=  91.8, -11.2, ROT=  58.2,  11.2

2025-03-13T01:06:50.881Z,1741828010.881 [DAT](INFO): DAT read: $Error in header

2025-03-13T01:06:50.882Z,1741828010.882 [DAT](INFO): Received a bad header
2025-03-13T01:06:50.900Z,1741828010.900 [DAT](INFO): #Rx 284: Read direction message, but no range.
2025-03-13T01:06:50.902Z,1741828010.902 [DAT](INFO): direction in FSK: [0.516920,0.833707,-0.194234]
2025-03-13T01:07:09.553Z,1741828029.553 [sci2_noyo_optim:SurfaceComms] Running Loop=1
2025-03-13T01:07:09.553Z,1741828029.553 [sci2_noyo_optim:SurfaceComms](DEBUG): Aggregate::initialize sci2_noyo_optim:SurfaceComms
2025-03-13T01:07:09.553Z,1741828029.553 [sci2_noyo_optim:SurfaceComms:A] Running Loop=1
2025-03-13T01:07:09.553Z,1741828029.553 [sci2_noyo_optim:SurfaceComms:A] Stopped
2025-03-13T01:07:09.553Z,1741828029.553 [sci2_noyo_optim:SurfaceComms:B] Running Loop=1
2025-03-13T01:07:09.554Z,1741828029.554 [sci2_noyo_optim:SurfaceComms:B](DEBUG): Aggregate::initialize sci2_noyo_optim:SurfaceComms:B
2025-03-13T01:07:09.966Z,1741828029.966 [sci2_noyo_optim:Lap:Dive] Stopped
2025-03-13T01:07:09.966Z,1741828029.966 [sci2_noyo_optim:Lap:Dive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Lap:Dive
2025-03-13T01:07:09.967Z,1741828029.967 [sci2_noyo_optim:Lap:Dive:A] Stopped
2025-03-13T01:07:09.967Z,1741828029.967 [sci2_noyo_optim:Lap:Dive:A](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Lap:Dive:A
2025-03-13T01:07:09.972Z,1741828029.972 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow] Stopped
2025-03-13T01:07:09.972Z,1741828029.972 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepthSlow
2025-03-13T01:07:09.972Z,1741828029.972 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:A.SetSpeed] Stopped
2025-03-13T01:07:09.972Z,1741828029.972 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:A.SetSpeed](DEBUG): Uninitialize.
2025-03-13T01:07:09.972Z,1741828029.972 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:B] Stopped
2025-03-13T01:07:09.972Z,1741828029.972 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:C.Buoyancy] Stopped
2025-03-13T01:07:09.972Z,1741828029.972 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-03-13T01:07:09.972Z,1741828029.972 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:D.Pitch] Stopped
2025-03-13T01:07:09.975Z,1741828029.975 [sci2_noyo_optim:NeedComms] Running Loop=1
2025-03-13T01:07:09.975Z,1741828029.975 [sci2_noyo_optim:NeedComms](DEBUG): Aggregate::initialize sci2_noyo_optim:NeedComms
2025-03-13T01:07:09.975Z,1741828029.975 [sci2_noyo_optim:NeedComms:B.GoToSurface] Running Loop=1
2025-03-13T01:07:09.976Z,1741828029.976 [sci2_noyo_optim:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-03-13T01:07:09.976Z,1741828029.976 [sci2_noyo_optim:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-03-13T01:07:09.976Z,1741828029.976 [sci2_noyo_optim:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-03-13T01:07:09.977Z,1741828029.977 [sci2_noyo_optim:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-03-13T01:07:09.977Z,1741828029.977 [sci2_noyo_optim:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-03-13T01:07:09.977Z,1741828029.977 [sci2_noyo_optim:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-03-13T01:07:09.979Z,1741828029.979 [sci2_noyo_optim:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-03-13T01:07:09.981Z,1741828029.981 [sci2_noyo_optim:NeedComms:A] Running Loop=1
2025-03-13T01:07:09.988Z,1741828029.988 [sci2_noyo_optim:NeedComms:A](INFO): last time_fix was:  1741824428.000000 second since 1970/01/01T00:00:00Z 
2025-03-13T01:07:09.988Z,1741828029.988 [sci2_noyo_optim:NeedComms:A] Stopped
2025-03-13T01:07:15.050Z,1741828035.050 [DAT](INFO): DAT read: Rx Time:01:07:14.4208

2025-03-13T01:07:15.052Z,1741828035.052 [DAT](INFO): Rx dataTimestamp_ set to:1741828035.050574
2025-03-13T01:07:15.818Z,1741828035.818 [DAT](INFO): DAT read: 01:07:14.4209 LVL= 28400, 32753, 32754, 32755, AGC= 80, IDX= 372,-0.19, 3.054, 1.302, 1.268, 1.867, PHS= 1.157,-0.592,-0.603, RAW=  89.7,   0.4, CAL=  90.2,  -7.5, ROT=  59.8,   7.5

2025-03-13T01:07:15.864Z,1741828035.864 [DAT](INFO): got valid direction response:
 01:07:14.4209 LVL= 28400, 32753, 32754, 32755, AGC= 80, IDX= 372,-0.19, 3.054, 1.302, 1.268, 1.867, PHS= 1.157,-0.592,-0.603, RAW=  89.7,   0.4, CAL=  90.2,  -7.5, ROT=  59.8,   7.5

2025-03-13T01:07:15.864Z,1741828035.864 [DAT](INFO): DAT read: $Error in header

2025-03-13T01:07:15.865Z,1741828035.865 [DAT](INFO): Received a bad header
2025-03-13T01:07:15.876Z,1741828035.876 [DAT](INFO): #Rx 285: Read direction message, but no range.
2025-03-13T01:07:15.877Z,1741828035.877 [DAT](INFO): direction in FSK: [0.498717,0.856881,-0.130526]
2025-03-13T01:07:36.725Z,1741828056.725 [sci2_noyo_optim:DiveCmd:MaintainDepth] Running Loop=1
2025-03-13T01:07:36.725Z,1741828056.725 [sci2_noyo_optim:DiveCmd:MaintainDepth](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepth
2025-03-13T01:07:36.725Z,1741828056.725 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive] Running Loop=1
2025-03-13T01:07:36.726Z,1741828056.726 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive
2025-03-13T01:07:36.726Z,1741828056.726 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive] Running Loop=1
2025-03-13T01:07:36.726Z,1741828056.726 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive
2025-03-13T01:07:36.726Z,1741828056.726 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass] Running Loop=1
2025-03-13T01:07:36.726Z,1741828056.726 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass](DEBUG): Initialize.
2025-03-13T01:07:36.726Z,1741828056.726 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed] Running Loop=1
2025-03-13T01:07:36.726Z,1741828056.726 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed](DEBUG): Initialize.
2025-03-13T01:07:36.726Z,1741828056.726 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:B.Pitch] Running Loop=1
2025-03-13T01:07:36.726Z,1741828056.726 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:B.Pitch](DEBUG): Initialize.
2025-03-13T01:07:52.612Z,1741828072.612 [DAT](INFO): DAT read: Rx Time:01:07:51.7713

2025-03-13T01:07:52.613Z,1741828072.613 [DAT](INFO): Rx dataTimestamp_ set to:1741828072.612415
2025-03-13T01:07:53.132Z,1741828073.132 [DAT](INFO): DAT read: 01:07:51.7714 LVL= 17440, 19585, 14642, 24211, AGC= 72, IDX= 494,-0.48,-0.818,-2.471,-2.751,-1.739, PHS= 0.890,-0.759,-1.015, RAW=  82.9,   9.9, CAL=  83.2,   2.0, ROT=  66.8,  -2.0

2025-03-13T01:07:53.135Z,1741828073.135 [DAT](INFO): got valid direction response:
 01:07:51.7714 LVL= 17440, 19585, 14642, 24211, AGC= 72, IDX= 494,-0.48,-0.818,-2.471,-2.751,-1.739, PHS= 0.890,-0.759,-1.015, RAW=  82.9,   9.9, CAL=  83.2,   2.0, ROT=  66.8,  -2.0

2025-03-13T01:07:53.145Z,1741828073.145 [DAT](INFO): DAT read: $Error in header

2025-03-13T01:07:53.145Z,1741828073.145 [DAT](INFO): Received a bad header
2025-03-13T01:07:53.159Z,1741828073.159 [DAT](INFO): #Rx 286: Read direction message, but no range.
2025-03-13T01:07:53.160Z,1741828073.160 [DAT](INFO): direction in FSK: [0.393702,0.918575,0.034899]
2025-03-13T01:11:10.014Z,1741828270.014 [sci2_noyo_optim:Lap:DepthByLap:Wpt1:A.Waypoint](IMPORTANT): Reached waypoint: 36.797020,-121.866699
2025-03-13T01:11:10.014Z,1741828270.014 [sci2_noyo_optim:Lap:DepthByLap:Wpt1:A.Waypoint] Stopped
2025-03-13T01:11:10.014Z,1741828270.014 [sci2_noyo_optim:Lap:DepthByLap:Wpt1:A.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-03-13T01:11:10.015Z,1741828270.015 [sci2_noyo_optim:Lap:DepthByLap:Wpt1](INFO): Completed sci2_noyo_optim:Lap:DepthByLap:Wpt1
2025-03-13T01:11:10.015Z,1741828270.015 [sci2_noyo_optim:Lap:DepthByLap:Wpt1] Stopped
2025-03-13T01:11:10.015Z,1741828270.015 [sci2_noyo_optim:Lap:DepthByLap:Wpt1](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Lap:DepthByLap:Wpt1
2025-03-13T01:11:10.015Z,1741828270.015 [sci2_noyo_optim:Lap:DepthByLap:Wpt2] Running Loop=1
2025-03-13T01:11:10.015Z,1741828270.015 [sci2_noyo_optim:Lap:DepthByLap:Wpt2](DEBUG): Aggregate::initialize sci2_noyo_optim:Lap:DepthByLap:Wpt2
2025-03-13T01:11:10.015Z,1741828270.015 [sci2_noyo_optim:Lap:DepthByLap:Wpt2:A.Waypoint] Running Loop=1
2025-03-13T01:11:10.015Z,1741828270.015 [sci2_noyo_optim:Lap:DepthByLap:Wpt2:A.Waypoint](DEBUG): Initialize WaypointComponent.
2025-03-13T01:11:10.016Z,1741828270.016 [sci2_noyo_optim:Lap:DepthByLap:Wpt2:A.Waypoint](IMPORTANT): Navigating to waypoint: 36.796879,-121.880051
2025-03-13T01:13:39.288Z,1741828419.288 [sci2_noyo_optim:NeedComms:C] Running Loop=1
2025-03-13T01:13:39.788Z,1741828419.788 [Waterlinked](INFO): Powering down
2025-03-13T01:13:39.919Z,1741828419.919 [Radio_Surface](INFO): Powering up
2025-03-13T01:13:46.144Z,1741828426.144 [DataOverHttps](INFO): Radio surface powered ON.
2025-03-13T01:14:16.264Z,1741828456.264 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T01:14:18.352Z,1741828458.352 [DAT](INFO): DAT read: Rx Time:01:14:17.7250

2025-03-13T01:14:18.353Z,1741828458.353 [DAT](INFO): Rx dataTimestamp_ set to:1741828458.352465
2025-03-13T01:14:19.115Z,1741828459.115 [DAT](INFO): DAT read: 01:14:17.7250 LVL= 28960, 22353, 27122, 32755, AGC= 85, IDX= 447, 0.01, 0.918, 1.990,-0.049, 1.630, PHS=-0.743, 0.333,-1.682, RAW= 357.8,  22.9, CAL=   3.1,  38.9, ROT= 146.9, -38.9

2025-03-13T01:14:19.117Z,1741828459.117 [DAT](INFO): got valid direction response:
 01:14:17.7250 LVL= 28960, 22353, 27122, 32755, AGC= 85, IDX= 447, 0.01, 0.918, 1.990,-0.049, 1.630, PHS=-0.743, 0.333,-1.682, RAW= 357.8,  22.9, CAL=   3.1,  38.9, ROT= 146.9, -38.9

2025-03-13T01:14:19.118Z,1741828459.118 [DAT](INFO): DAT read: $Error in header

2025-03-13T01:14:19.118Z,1741828459.118 [DAT](INFO): Received a bad header
2025-03-13T01:14:19.131Z,1741828459.131 [DAT](INFO): #Rx 287: Read direction message, but no range.
2025-03-13T01:14:19.132Z,1741828459.132 [DAT](INFO): direction in FSK: [-0.651949,0.425000,0.627963]
2025-03-13T01:14:51.404Z,1741828491.404 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T01:15:26.544Z,1741828526.544 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T01:15:27.606Z,1741828527.606 [NAL9602](INFO): SBD MO Status=2, MOMSN=18523, MT Status=2, MTMSN=0
2025-03-13T01:15:27.606Z,1741828527.606 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-03-13T01:15:45.429Z,1741828545.429 [DAT](INFO): DAT read: Rx Time:01:15:44.7617

2025-03-13T01:15:45.429Z,1741828545.429 [DAT](INFO): Rx dataTimestamp_ set to:1741828545.428839
2025-03-13T01:15:45.947Z,1741828545.947 [DAT](INFO): DAT read: 01:15:44.7618 LVL= 32752, 32753, 32754, 32755, AGC= 91, IDX= 299, 0.16,-1.347,-1.739,-2.991,-2.088, PHS= 0.711, 0.322,-0.907, RAW=  43.3,  -1.7, CAL=  50.2, -12.0, ROT=  99.8,  12.0

2025-03-13T01:15:45.952Z,1741828545.952 [DAT](INFO): got valid direction response:
 01:15:44.7618 LVL= 32752, 32753, 32754, 32755, AGC= 91, IDX= 299, 0.16,-1.347,-1.739,-2.991,-2.088, PHS= 0.711, 0.322,-0.907, RAW=  43.3,  -1.7, CAL=  50.2, -12.0, ROT=  99.8,  12.0

2025-03-13T01:15:45.953Z,1741828545.953 [DAT](INFO): DAT read: $Error in header

2025-03-13T01:15:45.953Z,1741828545.953 [DAT](INFO): Received a bad header
2025-03-13T01:15:45.968Z,1741828545.968 [DAT](INFO): #Rx 288: Read direction message, but no range.
2025-03-13T01:15:45.969Z,1741828545.969 [DAT](INFO): direction in FSK: [-0.166490,0.963874,-0.207912]
2025-03-13T01:16:01.696Z,1741828561.696 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T01:16:17.720Z,1741828577.720 [CTD_Seabird](ERROR): Failed to parse device response: .74
2025-03-13T01:16:23.016Z,1741828583.016 [DAT](INFO): DAT read: Rx Time:01:16:22.2162

2025-03-13T01:16:23.017Z,1741828583.017 [DAT](INFO): Rx dataTimestamp_ set to:1741828583.016479
2025-03-13T01:16:23.526Z,1741828583.526 [DAT](INFO): DAT read: 01:16:22.2162 LVL= 32752, 32753, 32754, 32755, AGC= 84, IDX= 500, 0.16,-1.090, 2.812,-1.420,-1.891, PHS= 0.770,-1.608, 0.467, RAW= 143.3,   3.4, CAL= 138.5,   0.0, ROT=  11.5,  -0.0

2025-03-13T01:16:23.527Z,1741828583.527 [DAT](INFO): got valid direction response:
 01:16:22.2162 LVL= 32752, 32753, 32754, 32755, AGC= 84, IDX= 500, 0.16,-1.090, 2.812,-1.420,-1.891, PHS= 0.770,-1.608, 0.467, RAW= 143.3,   3.4, CAL= 138.5,   0.0, ROT=  11.5,  -0.0

2025-03-13T01:16:23.528Z,1741828583.528 [DAT](INFO): DAT read: $Error in header

2025-03-13T01:16:23.528Z,1741828583.528 [DAT](INFO): Received a bad header
2025-03-13T01:16:23.539Z,1741828583.539 [DAT](INFO): #Rx 289: Read direction message, but no range.
2025-03-13T01:16:23.540Z,1741828583.540 [DAT](INFO): direction in FSK: [0.979925,0.199368,0.000000]
2025-03-13T01:16:36.836Z,1741828596.836 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T01:17:00.364Z,1741828620.364 [DAT](INFO): DAT read: Rx Time:01:16:59.5654

2025-03-13T01:17:00.365Z,1741828620.365 [DAT](INFO): Rx dataTimestamp_ set to:1741828620.364396
2025-03-13T01:17:00.874Z,1741828620.874 [DAT](INFO): DAT read: 01:16:59.5654 LVL= 26512, 30433, 20834, 32755, AGC= 86, IDX= 448, 0.27, 2.520, 1.843,-2.646, 2.893, PHS=-0.404,-1.077, 0.740, RAW= 188.5,   9.3, CAL= 188.4,  12.4, ROT= 321.6, -12.4

2025-03-13T01:17:00.876Z,1741828620.876 [DAT](INFO): got valid direction response:
 01:16:59.5654 LVL= 26512, 30433, 20834, 32755, AGC= 86, IDX= 448, 0.27, 2.520, 1.843,-2.646, 2.893, PHS=-0.404,-1.077, 0.740, RAW= 188.5,   9.3, CAL= 188.4,  12.4, ROT= 321.6, -12.4

2025-03-13T01:17:00.876Z,1741828620.876 [DAT](INFO): DAT read: bearing request

2025-03-13T01:17:00.877Z,1741828620.877 [DAT](INFO): received a bearing request message
2025-03-13T01:17:00.877Z,1741828620.877 [DAT](INFO): DAT read: Tx time:01:17:01.1682

2025-03-13T01:17:00.878Z,1741828620.878 [DAT](INFO): Ping request sent.
2025-03-13T01:17:00.878Z,1741828620.878 [DAT](INFO): transmitted an acoustic signal
2025-03-13T01:17:00.878Z,1741828620.878 [DAT](INFO): #Rx 290: Read direction message, but no range.
2025-03-13T01:17:00.880Z,1741828620.880 [DAT](INFO): direction in FSK: [0.765412,-0.606658,0.214735]
2025-03-13T01:17:00.880Z,1741828620.880 [DAT](INFO): publishing transmit ping time
2025-03-13T01:17:00.880Z,1741828620.880 [DAT](INFO): publishing range request flag
2025-03-13T01:17:00.884Z,1741828620.884 [DAT](INFO): publishing transmit ping time
2025-03-13T01:17:00.885Z,1741828620.885 [DAT](INFO): publishing range request flag
2025-03-13T01:17:11.900Z,1741828631.900 [DataOverHttps](INFO): Exceeded connection timeout, disconnecting.
2025-03-13T01:17:12.716Z,1741828632.716 [DAT](INFO): DAT read: Rx Time:01:17:12.0152

2025-03-13T01:17:12.717Z,1741828632.717 [DAT](INFO): Rx dataTimestamp_ set to:1741828632.716519
2025-03-13T01:17:13.226Z,1741828633.226 [DAT](INFO): DAT read: 01:17:12.0152 LVL= 32752, 31601, 30802, 32755, AGC= 91, IDX= 441,-0.25, 1.721,-0.492,-0.258,-0.373, PHS= 2.063,-0.146, 0.111, RAW=  96.1, -18.9, CAL=  96.4, -25.7, ROT=  53.6,  25.7

2025-03-13T01:17:13.227Z,1741828633.227 [DAT](INFO): got valid direction response:
 01:17:12.0152 LVL= 32752, 31601, 30802, 32755, AGC= 91, IDX= 441,-0.25, 1.721,-0.492,-0.258,-0.373, PHS= 2.063,-0.146, 0.111, RAW=  96.1, -18.9, CAL=  96.4, -25.7, ROT=  53.6,  25.7

2025-03-13T01:17:13.228Z,1741828633.228 [DAT](INFO): DAT read: $Error in header

2025-03-13T01:17:13.228Z,1741828633.228 [DAT](INFO): Received a bad header
2025-03-13T01:17:13.239Z,1741828633.239 [DAT](INFO): #Rx 291: Read direction message, but no range.
2025-03-13T01:17:13.240Z,1741828633.240 [DAT](INFO): direction in FSK: [0.534716,0.725271,-0.433659]
2025-03-13T01:17:24.708Z,1741828644.708 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003347
2025-03-13T01:17:33.653Z,1741828653.653 [NAL9602](IMPORTANT): SBD MO Status=0, MOMSN=18523, MT Status=1, MTMSN=1052
2025-03-13T01:17:33.653Z,1741828653.653 [NAL9602](INFO): Data available in MT queue
2025-03-13T01:17:34.380Z,1741828654.380 [NAL9602](INFO): Received command: sched asap "load Science/sci2_noyo_optim.tl;set sci2_noyo_optim.MissionTimeout 6 h;set sci2_noyo_optim.NeedCommsTime 60 min;set sci2_noyo_optim.Depth1 250 m;set sci2_noyo_optim.Depth2 280 m;set sci2_noyo_optim.Depth3 NaN m" 333kp 1 3
2025-03-13T01:17:34.412Z,1741828654.412 [CommandExec](IMPORTANT): got command schedule asap "load Science/sci2_noyo_optim.tl;set sci2_noyo_optim.MissionTimeout 6 h;set sci2_noyo_optim.NeedCommsTime 60 min;set sci2_noyo_optim.Depth1 250 m;set sci2_noyo_optim.Depth2 280 m;set sci2_noyo_optim.Depth3 NaN m" 333kp 1 3.000000
2025-03-13T01:17:34.412Z,1741828654.412 [CommandExec](IMPORTANT): Scheduling command #1 of 3 with id=333kp
2025-03-13T01:17:34.413Z,1741828654.413 [CommandExec](IMPORTANT): Scheduled #32 (#1 of 3 with id='333kp'): "load Science/sci2_noyo_optim.tl;set sci2_noyo_optim.MissionTimeout 6 h;set sci2_noyo_optim.NeedCommsTime 60 min;set sci2_noyo_optim.Depth1 250 m;set sci2_noyo_optim.Depth2 280 m;set sci2_noyo_optim.Depth3 NaN m", ASAP
2025-03-13T01:17:35.286Z,1741828655.286 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,011734.00,A,3647.98315,N,12152.15500,W,0.272,21.22,130325,,,A*4A
2025-03-13T01:17:35.289Z,1741828655.289 [NAL9602](INFO): GPS fix at 20250313T011734: (36.799719, -121.869250)
2025-03-13T01:17:35.301Z,1741828655.301 [UniversalFixResidualReporter](INFO): Fix residual: 12.2 %DT, over the last 2122.1 m. Residual distance 259.2 m at bearing 99.6 degrees. Fix at (36.7997, -121.8692) with 501.4 m made good.
2025-03-13T01:17:35.307Z,1741828655.307 [sci2_noyo_optim:NeedComms:C] Stopped
2025-03-13T01:17:35.308Z,1741828655.308 [sci2_noyo_optim:NeedComms:D] Running Loop=1
2025-03-13T01:17:36.131Z,1741828656.131 [sci2_noyo_optim:NeedComms:D] Stopped
2025-03-13T01:17:36.131Z,1741828656.131 [sci2_noyo_optim:NeedComms:E] Running Loop=1
2025-03-13T01:17:37.684Z,1741828657.684 [DAT](INFO): DAT read: Rx Time:01:17:36.9160

2025-03-13T01:17:37.685Z,1741828657.685 [DAT](INFO): Rx dataTimestamp_ set to:1741828657.684418
2025-03-13T01:17:38.118Z,1741828658.118 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,011737.00,A,3647.98214,N,12152.15410,W,1.011,21.22,130325,,,A*4F
2025-03-13T01:17:38.121Z,1741828658.121 [NAL9602](INFO): GPS fix at 20250313T011737: (36.799702, -121.869235)
2025-03-13T01:17:38.187Z,1741828658.187 [sci2_noyo_optim:NeedComms:E] Stopped
2025-03-13T01:17:38.188Z,1741828658.188 [sci2_noyo_optim:NeedComms](INFO): Completed sci2_noyo_optim:NeedComms
2025-03-13T01:17:38.188Z,1741828658.188 [sci2_noyo_optim:NeedComms] Stopped
2025-03-13T01:17:38.189Z,1741828658.189 [sci2_noyo_optim:NeedComms](DEBUG): Aggregate::uninitialize sci2_noyo_optim:NeedComms
2025-03-13T01:17:38.189Z,1741828658.189 [sci2_noyo_optim:NeedComms:B.GoToSurface] Stopped
2025-03-13T01:17:38.189Z,1741828658.189 [sci2_noyo_optim:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-03-13T01:17:38.197Z,1741828658.197 [DAT](INFO): DAT read: 01:17:36.9160 LVL= 32752, 32753, 32754, 32755, AGC= 80, IDX= 444,-0.21,-2.252, 3.122,-1.483,-2.300, PHS= 0.017,-0.888, 0.813, RAW= 177.9,   0.8, CAL= 178.0,  -2.1, ROT= 332.0,   2.1

2025-03-13T01:17:38.198Z,1741828658.198 [DAT](INFO): got valid direction response:
 01:17:36.9160 LVL= 32752, 32753, 32754, 32755, AGC= 80, IDX= 444,-0.21,-2.252, 3.122,-1.483,-2.300, PHS= 0.017,-0.888, 0.813, RAW= 177.9,   0.8, CAL= 178.0,  -2.1, ROT= 332.0,   2.1

2025-03-13T01:17:38.198Z,1741828658.198 [DAT](INFO): DAT read: bearing request

2025-03-13T01:17:38.199Z,1741828658.199 [DAT](INFO): received a bearing request message
2025-03-13T01:17:38.203Z,1741828658.203 [DAT](INFO): DAT read: Tx time:01:17:38.5188

2025-03-13T01:17:38.204Z,1741828658.204 [DAT](INFO): Ping request sent.
2025-03-13T01:17:38.204Z,1741828658.204 [DAT](INFO): transmitted an acoustic signal
2025-03-13T01:17:38.204Z,1741828658.204 [DAT](INFO): #Rx 292: Read direction message, but no range.
2025-03-13T01:17:38.205Z,1741828658.205 [DAT](INFO): direction in FSK: [0.882355,-0.469156,-0.036644]
2025-03-13T01:17:38.206Z,1741828658.206 [DAT](INFO): publishing transmit ping time
2025-03-13T01:17:38.206Z,1741828658.206 [DAT](INFO): publishing range request flag
2025-03-13T01:17:38.213Z,1741828658.213 [DAT](INFO): publishing transmit ping time
2025-03-13T01:17:38.213Z,1741828658.213 [DAT](INFO): publishing range request flag
2025-03-13T01:17:38.571Z,1741828658.571 [sci2_noyo_optim:SurfaceComms:B](INFO): Completed sci2_noyo_optim:SurfaceComms:B
2025-03-13T01:17:38.571Z,1741828658.571 [sci2_noyo_optim:SurfaceComms:B] Stopped
2025-03-13T01:17:38.571Z,1741828658.571 [sci2_noyo_optim:SurfaceComms:B](DEBUG): Aggregate::uninitialize sci2_noyo_optim:SurfaceComms:B
2025-03-13T01:17:38.572Z,1741828658.572 [sci2_noyo_optim:SurfaceComms:C] Running Loop=1
2025-03-13T01:17:38.942Z,1741828658.942 [ElevatorOffsetCalculator](INFO): Removing expired estimator for commanded vars: speed 1.00 m/s, pitch 30.00 deg, mass-position -26.00 mm.
2025-03-13T01:17:38.942Z,1741828658.942 [ElevatorOffsetCalculator](INFO): Removing expired estimator for commanded vars: speed 1.00 m/s, pitch 30.00 deg, mass-position 6.85 mm.
2025-03-13T01:17:38.985Z,1741828658.985 [sci2_noyo_optim:SurfaceComms:C] Stopped
2025-03-13T01:17:38.985Z,1741828658.985 [sci2_noyo_optim:SurfaceComms](INFO): Completed sci2_noyo_optim:SurfaceComms
2025-03-13T01:17:38.986Z,1741828658.986 [sci2_noyo_optim:SurfaceComms] Stopped
2025-03-13T01:17:38.986Z,1741828658.986 [sci2_noyo_optim:SurfaceComms](DEBUG): Aggregate::uninitialize sci2_noyo_optim:SurfaceComms
2025-03-13T01:17:39.358Z,1741828659.358 [sci2_noyo_optim:Lap:Dive] Running Loop=1
2025-03-13T01:17:39.359Z,1741828659.359 [sci2_noyo_optim:Lap:Dive](DEBUG): Aggregate::initialize sci2_noyo_optim:Lap:Dive
2025-03-13T01:17:39.359Z,1741828659.359 [sci2_noyo_optim:Lap:Dive:A] Running Loop=1
2025-03-13T01:17:39.359Z,1741828659.359 [sci2_noyo_optim:Lap:Dive:A](DEBUG): Aggregate::initialize sci2_noyo_optim:Lap:Dive:A
2025-03-13T01:17:39.365Z,1741828659.365 [sci2_noyo_optim:DiveCmd:InitialDive] Running Loop=1
2025-03-13T01:17:39.365Z,1741828659.365 [sci2_noyo_optim:DiveCmd:InitialDive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:InitialDive
2025-03-13T01:17:39.365Z,1741828659.365 [sci2_noyo_optim:DiveCmd:InitialDive:dive] Running Loop=1
2025-03-13T01:17:39.365Z,1741828659.365 [sci2_noyo_optim:DiveCmd:InitialDive:dive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:InitialDive:dive
2025-03-13T01:17:39.365Z,1741828659.365 [sci2_noyo_optim:DiveCmd:InitialDive:dive:A] Running Loop=1
2025-03-13T01:17:39.365Z,1741828659.365 [sci2_noyo_optim:DiveCmd:InitialDive:dive:B] Running Loop=1
2025-03-13T01:17:39.365Z,1741828659.365 [sci2_noyo_optim:DiveCmd:InitialDive:dive:C.Mass] Running Loop=1
2025-03-13T01:17:39.366Z,1741828659.366 [sci2_noyo_optim:DiveCmd:InitialDive:dive:C.Mass](DEBUG): Initialize.
2025-03-13T01:17:39.366Z,1741828659.366 [sci2_noyo_optim:DiveCmd:InitialDive:dive:D] Running Loop=1
2025-03-13T01:17:39.366Z,1741828659.366 [sci2_noyo_optim:DiveCmd:InitialDive:dive:D](INFO): Waiting for  1.000000 min while pumping down to neutral.
2025-03-13T01:17:39.366Z,1741828659.366 [sci2_noyo_optim:DiveCmd:InitialDive:dive:D] Stopped
2025-03-13T01:17:39.366Z,1741828659.366 [sci2_noyo_optim:DiveCmd:InitialDive:dive:E.Wait] Running Loop=1
2025-03-13T01:17:39.367Z,1741828659.367 [sci2_noyo_optim:DiveCmd:InitialDive:dive:E.Wait](DEBUG): Initialize Wait Component.
2025-03-13T01:18:10.397Z,1741828690.397 [NAL9602](INFO): Not Powering down - fast GPS
2025-03-13T01:18:39.817Z,1741828719.817 [sci2_noyo_optim:DiveCmd:InitialDive:dive:E.Wait](INFO): Done Waiting.
2025-03-13T01:18:39.817Z,1741828719.817 [sci2_noyo_optim:DiveCmd:InitialDive:dive:E.Wait] Stopped
2025-03-13T01:18:39.817Z,1741828719.817 [sci2_noyo_optim:DiveCmd:InitialDive:dive:E.Wait](DEBUG): Uninitialize Wait Component.
2025-03-13T01:18:39.817Z,1741828719.817 [sci2_noyo_optim:DiveCmd:InitialDive:dive:F] Running Loop=1
2025-03-13T01:18:40.024Z,1741828720.024 [DAT](INFO): DAT read: Rx Time:01:18:39.1771

2025-03-13T01:18:40.025Z,1741828720.025 [DAT](INFO): Rx dataTimestamp_ set to:1741828720.024500
2025-03-13T01:18:40.204Z,1741828720.204 [sci2_noyo_optim:DiveCmd:InitialDive:dive:F](INFO): Moving to  10.000000 m 
2025-03-13T01:18:40.204Z,1741828720.204 [sci2_noyo_optim:DiveCmd:InitialDive:dive:F] Stopped
2025-03-13T01:18:40.204Z,1741828720.204 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth] Running Loop=1
2025-03-13T01:18:40.204Z,1741828720.204 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth
2025-03-13T01:18:40.204Z,1741828720.204 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:A.SetSpeed] Running Loop=1
2025-03-13T01:18:40.204Z,1741828720.204 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:A.SetSpeed](DEBUG): Initialize.
2025-03-13T01:18:40.204Z,1741828720.204 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:B.Pitch] Running Loop=1
2025-03-13T01:18:40.205Z,1741828720.205 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:B.Pitch](DEBUG): Initialize.
2025-03-13T01:18:40.534Z,1741828720.534 [DAT](INFO): DAT read: 01:18:39.1771 LVL= 32752, 32753, 32754, 32755, AGC= 91, IDX= 305, 0.04,-3.123,-3.009,-1.654,-2.761, PHS=-0.393,-0.275, 1.103, RAW= 214.1,  -6.1, CAL= 213.8,  -9.9, ROT= 296.2,   9.9

2025-03-13T01:18:40.535Z,1741828720.535 [DAT](INFO): got valid direction response:
 01:18:39.1771 LVL= 32752, 32753, 32754, 32755, AGC= 91, IDX= 305, 0.04,-3.123,-3.009,-1.654,-2.761, PHS=-0.393,-0.275, 1.103, RAW= 214.1,  -6.1, CAL= 213.8,  -9.9, ROT= 296.2,   9.9

2025-03-13T01:18:40.536Z,1741828720.536 [DAT](INFO): DAT read: $Error in header

2025-03-13T01:18:40.536Z,1741828720.536 [DAT](INFO): Received a bad header
2025-03-13T01:18:40.547Z,1741828720.547 [DAT](INFO): #Rx 293: Read direction message, but no range.
2025-03-13T01:18:40.548Z,1741828720.548 [DAT](INFO): direction in FSK: [0.434932,-0.883898,-0.171929]
2025-03-13T01:18:44.960Z,1741828724.960 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.775185
2025-03-13T01:19:04.743Z,1741828744.743 [DAT](INFO): DAT read: Rx Time:01:19:04.0867

2025-03-13T01:19:04.750Z,1741828744.750 [DAT](INFO): Rx dataTimestamp_ set to:1741828744.748687
2025-03-13T01:19:05.308Z,1741828745.308 [DAT](INFO): DAT read: 01:19:04.0867 LVL= 29456, 26529, 24450, 32755, AGC= 90, IDX=  75, 0.37,-1.984,-2.039,-0.558,-1.737, PHS=-0.278,-0.329, 1.175, RAW= 208.3,  -7.7, CAL= 209.1, -11.9, ROT= 300.9,  11.9

2025-03-13T01:19:05.315Z,1741828745.315 [DAT](INFO): got valid direction response:
 01:19:04.0867 LVL= 29456, 26529, 24450, 32755, AGC= 90, IDX=  75, 0.37,-1.984,-2.039,-0.558,-1.737, PHS=-0.278,-0.329, 1.175, RAW= 208.3,  -7.7, CAL= 209.1, -11.9, ROT= 300.9,  11.9

2025-03-13T01:19:05.316Z,1741828745.316 [DAT](INFO): DAT read: $Error in header

2025-03-13T01:19:05.316Z,1741828745.316 [DAT](INFO): Received a bad header
2025-03-13T01:19:05.327Z,1741828745.327 [DAT](INFO): #Rx 294: Read direction message, but no range.
2025-03-13T01:19:05.329Z,1741828745.329 [DAT](INFO): direction in FSK: [0.502505,-0.839624,-0.206204]
2025-03-13T01:19:17.096Z,1741828757.096 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T01:19:17.346Z,1741828757.346 [DAT](INFO): DAT read: Rx Time:01:19:16.5400

2025-03-13T01:19:17.348Z,1741828757.348 [DAT](INFO): Rx dataTimestamp_ set to:1741828757.346691
2025-03-13T01:19:17.857Z,1741828757.857 [DAT](INFO): DAT read: 01:19:16.5400 LVL= 28656, 22513, 15778, 26611, AGC= 85, IDX= 508, 0.28,-1.351,-1.108, 0.238,-1.032, PHS=-0.350,-0.103, 1.266, RAW= 218.2, -10.8, CAL= 217.7, -15.2, ROT= 292.3,  15.2

2025-03-13T01:19:17.858Z,1741828757.858 [DAT](INFO): got valid direction response:
 01:19:16.5400 LVL= 28656, 22513, 15778, 26611, AGC= 85, IDX= 508, 0.28,-1.351,-1.108, 0.238,-1.032, PHS=-0.350,-0.103, 1.266, RAW= 218.2, -10.8, CAL= 217.7, -15.2, ROT= 292.3,  15.2

2025-03-13T01:19:17.859Z,1741828757.859 [DAT](INFO): DAT read: $Error in header

2025-03-13T01:19:17.860Z,1741828757.860 [DAT](INFO): Received a bad header
2025-03-13T01:19:17.872Z,1741828757.872 [DAT](INFO): #Rx 295: Read direction message, but no range.
2025-03-13T01:19:17.874Z,1741828757.874 [DAT](INFO): direction in FSK: [0.366181,-0.892843,-0.262189]
2025-03-13T01:19:20.108Z,1741828760.108 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-03-13T01:19:20.159Z,1741828760.159 [Radio_Surface](INFO): Powering down
2025-03-13T01:19:54.668Z,1741828794.668 [DAT](INFO): DAT read: Rx Time:01:19:53.9051

2025-03-13T01:19:54.669Z,1741828794.669 [DAT](INFO): Rx dataTimestamp_ set to:1741828794.668474
2025-03-13T01:19:55.197Z,1741828795.197 [DAT](INFO): DAT read: 01:19:53.9051 LVL= 24624, 27905, 24690, 32275, AGC= 89, IDX= 108, 0.38,-0.171,-0.232, 1.096, 0.084, PHS=-0.287,-0.343, 1.007, RAW= 207.9,  -5.8, CAL= 208.5,  -9.7, ROT= 301.5,   9.7

2025-03-13T01:19:55.202Z,1741828795.202 [DAT](INFO): got valid direction response:
 01:19:53.9051 LVL= 24624, 27905, 24690, 32275, AGC= 89, IDX= 108, 0.38,-0.171,-0.232, 1.096, 0.084, PHS=-0.287,-0.343, 1.007, RAW= 207.9,  -5.8, CAL= 208.5,  -9.7, ROT= 301.5,   9.7

2025-03-13T01:19:55.205Z,1741828795.205 [DAT](INFO): DAT read: $Error in header

2025-03-13T01:19:55.207Z,1741828795.207 [DAT](INFO): Received a bad header
2025-03-13T01:19:55.220Z,1741828795.220 [DAT](INFO): #Rx 296: Read direction message, but no range.
2025-03-13T01:19:55.223Z,1741828795.223 [DAT](INFO): direction in FSK: [0.515029,-0.840450,-0.168489]
2025-03-13T01:20:31.972Z,1741828831.972 [DAT](INFO): DAT read: Rx Time:01:20:31.1631

2025-03-13T01:20:31.973Z,1741828831.973 [DAT](INFO): Rx dataTimestamp_ set to:1741828831.972500
2025-03-13T01:20:32.506Z,1741828832.506 [DAT](INFO): DAT read: 01:20:31.1631 LVL= 32752, 32753, 32754, 32755, AGC= 88, IDX=  19,-0.16,-2.356,-2.181,-0.381,-1.733, PHS=-0.654,-0.475, 1.349, RAW= 214.6,  -2.3, CAL= 214.0,  -5.7, ROT= 296.0,   5.7

2025-03-13T01:20:32.536Z,1741828832.536 [DAT](INFO): got valid direction response:
 01:20:31.1631 LVL= 32752, 32753, 32754, 32755, AGC= 88, IDX=  19,-0.16,-2.356,-2.181,-0.381,-1.733, PHS=-0.654,-0.475, 1.349, RAW= 214.6,  -2.3, CAL= 214.0,  -5.7, ROT= 296.0,   5.7

2025-03-13T01:20:32.580Z,1741828832.580 [DAT](INFO): DAT read: $Error in header

2025-03-13T01:20:32.581Z,1741828832.581 [DAT](INFO): Received a bad header
2025-03-13T01:20:32.596Z,1741828832.596 [DAT](INFO): #Rx 297: Read direction message, but no range.
2025-03-13T01:20:32.600Z,1741828832.600 [DAT](INFO): direction in FSK: [0.436203,-0.894350,-0.099320]
2025-03-13T01:20:52.283Z,1741828852.283 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:B.Pitch] Stopped
2025-03-13T01:20:52.284Z,1741828852.284 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth](INFO): Completed sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth
2025-03-13T01:20:52.284Z,1741828852.284 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth] Stopped
2025-03-13T01:20:52.284Z,1741828852.284 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth
2025-03-13T01:20:52.284Z,1741828852.284 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:A.SetSpeed] Stopped
2025-03-13T01:20:52.284Z,1741828852.284 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:A.SetSpeed](DEBUG): Uninitialize.
2025-03-13T01:20:52.284Z,1741828852.284 [sci2_noyo_optim:DiveCmd:InitialDive:dive:H] Running Loop=1
2025-03-13T01:20:52.642Z,1741828852.642 [sci2_noyo_optim:DiveCmd:InitialDive:dive:H] Stopped
2025-03-13T01:20:52.644Z,1741828852.644 [sci2_noyo_optim:DiveCmd:InitialDive:dive](INFO): Completed sci2_noyo_optim:DiveCmd:InitialDive:dive
2025-03-13T01:20:52.644Z,1741828852.644 [sci2_noyo_optim:DiveCmd:InitialDive:dive] Stopped
2025-03-13T01:20:52.644Z,1741828852.644 [sci2_noyo_optim:DiveCmd:InitialDive:dive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:InitialDive:dive
2025-03-13T01:20:52.644Z,1741828852.644 [sci2_noyo_optim:DiveCmd:InitialDive:dive:A] Stopped
2025-03-13T01:20:52.644Z,1741828852.644 [sci2_noyo_optim:DiveCmd:InitialDive:dive:B] Stopped
2025-03-13T01:20:52.644Z,1741828852.644 [sci2_noyo_optim:DiveCmd:InitialDive:dive:C.Mass] Stopped
2025-03-13T01:20:52.644Z,1741828852.644 [sci2_noyo_optim:DiveCmd:InitialDive:dive:C.Mass](DEBUG): Uninitialize.
2025-03-13T01:20:52.644Z,1741828852.644 [sci2_noyo_optim:DiveCmd:InitialDive](INFO): Completed sci2_noyo_optim:DiveCmd:InitialDive
2025-03-13T01:20:53.074Z,1741828853.074 [sci2_noyo_optim:DiveCmd:SettleAtDepth] Running Loop=1
2025-03-13T01:20:53.074Z,1741828853.074 [sci2_noyo_optim:DiveCmd:SettleAtDepth](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:SettleAtDepth
2025-03-13T01:20:53.074Z,1741828853.074 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive] Running Loop=1
2025-03-13T01:20:53.074Z,1741828853.074 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:SettleAtDepth:dive
2025-03-13T01:20:53.074Z,1741828853.074 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:B.Pitch] Running Loop=1
2025-03-13T01:20:53.074Z,1741828853.074 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:B.Pitch](DEBUG): Initialize.
2025-03-13T01:20:53.075Z,1741828853.075 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:A] Running Loop=1
2025-03-13T01:20:53.076Z,1741828853.076 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:A](INFO): Reached  10.082540 m , settling for  3.000000 min 
2025-03-13T01:20:53.076Z,1741828853.076 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:A] Stopped
2025-03-13T01:20:53.076Z,1741828853.076 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:C.Wait] Running Loop=1
2025-03-13T01:20:53.076Z,1741828853.076 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:C.Wait](DEBUG): Initialize Wait Component.
2025-03-13T01:22:23.994Z,1741828943.994 [DAT](INFO): DAT read: Rx Time:01:22:23.2661

2025-03-13T01:22:23.995Z,1741828943.995 [DAT](INFO): Rx dataTimestamp_ set to:1741828943.994371
2025-03-13T01:22:24.509Z,1741828944.509 [DAT](INFO): DAT read: 01:22:23.2661 LVL= 10992, 11761,  8626, 13747, AGC= 77, IDX= 463,-0.18,-1.765,-1.605,-0.020,-1.045, PHS=-0.751,-0.587, 1.020, RAW= 214.8,   3.8, CAL= 213.9,   1.9, ROT= 296.1,  -1.9

2025-03-13T01:22:24.510Z,1741828944.510 [DAT](INFO): got valid direction response:
 01:22:23.2661 LVL= 10992, 11761,  8626, 13747, AGC= 77, IDX= 463,-0.18,-1.765,-1.605,-0.020,-1.045, PHS=-0.751,-0.587, 1.020, RAW= 214.8,   3.8, CAL= 213.9,   1.9, ROT= 296.1,  -1.9

2025-03-13T01:22:24.510Z,1741828944.510 [DAT](INFO): DAT read: $Error in header

2025-03-13T01:22:24.511Z,1741828944.511 [DAT](INFO): Received a bad header
2025-03-13T01:22:24.523Z,1741828944.523 [DAT](INFO): #Rx 298: Read direction message, but no range.
2025-03-13T01:22:24.525Z,1741828944.525 [DAT](INFO): direction in FSK: [0.439697,-0.897534,0.033155]
2025-03-13T01:22:33.072Z,1741828953.072 [sci2_noyo_optim:StandardEnvelopes:A.AltitudeEnvelope](IMPORTANT): Altitude envelope ACTIVE
2025-03-13T01:23:01.564Z,1741828981.564 [DAT](INFO): DAT read: Rx Time:01:23:00.7375

2025-03-13T01:23:01.565Z,1741828981.565 [DAT](INFO): Rx dataTimestamp_ set to:1741828981.564623
2025-03-13T01:23:02.075Z,1741828982.075 [DAT](INFO): DAT read: 01:23:00.7375 LVL= 17712, 11969,  4850,  5587, AGC= 74, IDX= 189,-0.11,-2.309,-2.071,-0.853,-1.977, PHS=-0.362,-0.121, 1.120, RAW= 218.7,  -9.3, CAL= 218.1, -13.5, ROT= 291.9,  13.5

2025-03-13T01:23:02.076Z,1741828982.076 [DAT](INFO): got valid direction response:
 01:23:00.7375 LVL= 17712, 11969,  4850,  5587, AGC= 74, IDX= 189,-0.11,-2.309,-2.071,-0.853,-1.977, PHS=-0.362,-0.121, 1.120, RAW= 218.7,  -9.3, CAL= 218.1, -13.5, ROT= 291.9,  13.5

2025-03-13T01:23:02.077Z,1741828982.077 [DAT](INFO): DAT read: $Error in header

2025-03-13T01:23:02.077Z,1741828982.077 [DAT](INFO): Received a bad header
2025-03-13T01:23:02.094Z,1741828982.094 [DAT](INFO): #Rx 299: Read direction message, but no range.
2025-03-13T01:23:02.112Z,1741828982.112 [DAT](INFO): direction in FSK: [0.362682,-0.902200,-0.233445]
2025-03-13T01:23:53.877Z,1741829033.877 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:C.Wait](INFO): Done Waiting.
2025-03-13T01:23:53.877Z,1741829033.877 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:C.Wait] Stopped
2025-03-13T01:23:53.877Z,1741829033.877 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:C.Wait](DEBUG): Uninitialize Wait Component.
2025-03-13T01:23:53.877Z,1741829033.877 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:D] Running Loop=1
2025-03-13T01:23:54.290Z,1741829034.290 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:D] Stopped
2025-03-13T01:23:54.291Z,1741829034.291 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive](INFO): Completed sci2_noyo_optim:DiveCmd:SettleAtDepth:dive
2025-03-13T01:23:54.291Z,1741829034.291 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive] Stopped
2025-03-13T01:23:54.291Z,1741829034.291 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:SettleAtDepth:dive
2025-03-13T01:23:54.291Z,1741829034.291 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:B.Pitch] Stopped
2025-03-13T01:23:54.295Z,1741829034.295 [sci2_noyo_optim:DiveCmd:SettleAtDepth](INFO): Completed sci2_noyo_optim:DiveCmd:SettleAtDepth
2025-03-13T01:24:28.576Z,1741829068.576 [DAT](INFO): DAT read: Rx Time:01:24:27.8203

2025-03-13T01:24:28.577Z,1741829068.577 [DAT](INFO): Rx dataTimestamp_ set to:1741829068.576448
2025-03-13T01:24:29.091Z,1741829069.091 [DAT](INFO): DAT read: 01:24:27.8204 LVL= 16224, 10929,  9122, 13043, AGC= 80, IDX= 244,-0.49, 1.170, 1.374, 2.851, 1.655, PHS=-0.516,-0.308, 1.192, RAW= 216.4,  -4.6, CAL= 215.7,  -8.2, ROT= 294.3,   8.2

2025-03-13T01:24:29.092Z,1741829069.092 [DAT](INFO): got valid direction response:
 01:24:27.8204 LVL= 16224, 10929,  9122, 13043, AGC= 80, IDX= 244,-0.49, 1.170, 1.374, 2.851, 1.655, PHS=-0.516,-0.308, 1.192, RAW= 216.4,  -4.6, CAL= 215.7,  -8.2, ROT= 294.3,   8.2

2025-03-13T01:24:29.092Z,1741829069.092 [DAT](INFO): DAT read: $Error in header

2025-03-13T01:24:29.093Z,1741829069.093 [DAT](INFO): Received a bad header
2025-03-13T01:24:29.103Z,1741829069.103 [DAT](INFO): #Rx 300: Read direction message, but no range.
2025-03-13T01:24:29.105Z,1741829069.105 [DAT](INFO): direction in FSK: [0.407307,-0.902085,-0.142629]
2025-03-13T01:28:50.116Z,1741829330.116 [DAT](INFO): DAT read: 01:28:49.3750 LVL= 10160, 10433,  7154, 12787, AGC= 78, IDX= 418, 0.18,-0.455,-0.122, 1.463, 0.232, PHS=-0.718,-0.381, 1.227, RAW= 219.3,  -1.4, CAL= 217.9,  -4.6, ROT= 292.1,   4.6

2025-03-13T01:28:50.121Z,1741829330.121 [DAT](INFO): got valid direction response:
 01:28:49.3750 LVL= 10160, 10433,  7154, 12787, AGC= 78, IDX= 418, 0.18,-0.455,-0.122, 1.463, 0.232, PHS=-0.718,-0.381, 1.227, RAW= 219.3,  -1.4, CAL= 217.9,  -4.6, ROT= 292.1,   4.6

2025-03-13T01:28:50.124Z,1741829330.124 [DAT](INFO): DAT read: Rx Time:01:28:49.3750

2025-03-13T01:28:50.126Z,1741829330.126 [DAT](INFO): Rx dataTimestamp_ set to:1741829330.124840
2025-03-13T01:28:50.129Z,1741829330.129 [DAT](INFO): DAT read: $Low SNR acquisition

2025-03-13T01:28:50.130Z,1741829330.130 [DAT](INFO): Received low SNR in chirp
2025-03-13T01:28:50.156Z,1741829330.156 [DAT](INFO): #Rx 301: Read direction message, but no range.
2025-03-13T01:28:50.157Z,1741829330.157 [DAT](INFO): direction in FSK: [0.375013,-0.923544,-0.080199]
2025-03-13T01:29:04.208Z,1741829344.208 [Waterlinked](ERROR): No DVL communication! Re-initializing
2025-03-13T01:29:04.208Z,1741829344.208 [Waterlinked] Communications Fault, FailCount= 1
2025-03-13T01:29:04.208Z,1741829344.208 [Waterlinked](ERROR): Communications Fault
2025-03-13T01:29:04.425Z,1741829344.425 [CBIT](ERROR): Communications Fault in component: Waterlinked
2025-03-13T01:29:04.712Z,1741829344.712 [Waterlinked](INFO): Powering down
2025-03-13T01:29:05.371Z,1741829345.371 [CBIT](INFO): Clearing failed state for component Waterlinked
2025-03-13T01:29:05.371Z,1741829345.371 [Waterlinked] No Fault, FailCount= 1
2025-03-13T01:29:15.052Z,1741829355.052 [DAT](INFO): DAT read: Rx Time:01:29:14.3824

2025-03-13T01:29:15.053Z,1741829355.053 [DAT](INFO): Rx dataTimestamp_ set to:1741829355.052645
2025-03-13T01:29:15.569Z,1741829355.569 [DAT](INFO): DAT read: 01:29:14.3824 LVL= 25040, 21201, 20354, 20147, AGC= 85, IDX=  26,-0.17, 1.797, 2.259, 2.880, 1.568, PHS= 0.198, 0.664, 1.308, RAW= 234.7, -38.5, CAL= 233.9, -41.7, ROT= 276.1,  41.7

2025-03-13T01:29:15.570Z,1741829355.570 [DAT](INFO): got valid direction response:
 01:29:14.3824 LVL= 25040, 21201, 20354, 20147, AGC= 85, IDX=  26,-0.17, 1.797, 2.259, 2.880, 1.568, PHS= 0.198, 0.664, 1.308, RAW= 234.7, -38.5, CAL= 233.9, -41.7, ROT= 276.1,  41.7

2025-03-13T01:29:15.570Z,1741829355.570 [DAT](INFO): DAT read: $Error in header

2025-03-13T01:29:15.571Z,1741829355.571 [DAT](INFO): Received a bad header
2025-03-13T01:29:15.596Z,1741829355.596 [DAT](INFO): #Rx 302: Read direction message, but no range.
2025-03-13T01:29:15.597Z,1741829355.597 [DAT](INFO): direction in FSK: [0.079341,-0.742411,-0.665230]
2025-03-13T01:31:07.263Z,1741829467.263 [DAT](INFO): DAT read: Rx Time:01:31:06.4833

2025-03-13T01:31:07.264Z,1741829467.264 [DAT](INFO): Rx dataTimestamp_ set to:1741829467.263557
2025-03-13T01:31:07.770Z,1741829467.770 [DAT](INFO): DAT read: 01:31:06.4833 LVL= 32752, 25265, 32754, 32755, AGC= 79, IDX= 444,-0.02, 0.887, 2.482, 2.412, 1.905, PHS=-1.049, 0.550, 0.503, RAW= 271.5,  -0.1, CAL= 270.1,  -4.0, ROT= 239.9,   4.0

2025-03-13T01:31:07.771Z,1741829467.771 [DAT](INFO): got valid direction response:
 01:31:06.4833 LVL= 32752, 25265, 32754, 32755, AGC= 79, IDX= 444,-0.02, 0.887, 2.482, 2.412, 1.905, PHS=-1.049, 0.550, 0.503, RAW= 271.5,  -0.1, CAL= 270.1,  -4.0, ROT= 239.9,   4.0

2025-03-13T01:31:07.772Z,1741829467.772 [DAT](INFO): DAT read: $Error in header

2025-03-13T01:31:07.772Z,1741829467.772 [DAT](INFO): Received a bad header
2025-03-13T01:31:07.786Z,1741829467.786 [DAT](INFO): #Rx 303: Read direction message, but no range.
2025-03-13T01:31:07.790Z,1741829467.790 [DAT](INFO): direction in FSK: [-0.500289,-0.863044,-0.069756]
2025-03-13T01:31:19.612Z,1741829479.612 [DAT](INFO): DAT read: Rx Time:01:31:18.9398

2025-03-13T01:31:19.613Z,1741829479.613 [DAT](INFO): Rx dataTimestamp_ set to:1741829479.612489
2025-03-13T01:31:20.129Z,1741829480.129 [DAT](INFO): DAT read: 01:31:18.9398 LVL= 17440, 14945, 12738, 17315, AGC= 84, IDX=  28, 0.28, 2.085,-2.785,-2.992, 2.717, PHS=-0.663, 0.755, 0.570, RAW= 276.9,  -9.9, CAL= 277.9, -17.0, ROT= 232.1,  17.0

2025-03-13T01:31:20.130Z,1741829480.130 [DAT](INFO): got valid direction response:
 01:31:18.9398 LVL= 17440, 14945, 12738, 17315, AGC= 84, IDX=  28, 0.28, 2.085,-2.785,-2.992, 2.717, PHS=-0.663, 0.755, 0.570, RAW= 276.9,  -9.9, CAL= 277.9, -17.0, ROT= 232.1,  17.0

2025-03-13T01:31:20.131Z,1741829480.131 [DAT](INFO): DAT read: $Error in header

2025-03-13T01:31:20.131Z,1741829480.131 [DAT](INFO): Received a bad header
2025-03-13T01:31:20.144Z,1741829480.144 [DAT](INFO): #Rx 304: Read direction message, but no range.
2025-03-13T01:31:20.145Z,1741829480.145 [DAT](INFO): direction in FSK: [-0.587444,-0.754605,-0.292372]
2025-03-13T01:31:44.567Z,1741829504.567 [DAT](INFO): DAT read: Rx Time:01:31:43.8521

2025-03-13T01:31:44.569Z,1741829504.569 [DAT](INFO): Rx dataTimestamp_ set to:1741829504.567772
2025-03-13T01:31:45.074Z,1741829505.074 [DAT](INFO): DAT read: 01:31:43.8522 LVL= 32752, 28897, 32754, 32755, AGC= 77, IDX=  69, 0.44,-2.978,-1.211,-1.142,-2.000, PHS=-1.009, 0.762, 0.854, RAW= 267.5,  -6.7, CAL= 266.1, -12.3, ROT= 243.9,  12.3

2025-03-13T01:31:45.075Z,1741829505.075 [DAT](INFO): got valid direction response:
 01:31:43.8522 LVL= 32752, 28897, 32754, 32755, AGC= 77, IDX=  69, 0.44,-2.978,-1.211,-1.142,-2.000, PHS=-1.009, 0.762, 0.854, RAW= 267.5,  -6.7, CAL= 266.1, -12.3, ROT= 243.9,  12.3

2025-03-13T01:31:45.076Z,1741829505.076 [DAT](INFO): DAT read: $Error in header

2025-03-13T01:31:45.076Z,1741829505.076 [DAT](INFO): Received a bad header
2025-03-13T01:31:45.087Z,1741829505.087 [DAT](INFO): #Rx 305: Read direction message, but no range.
2025-03-13T01:31:45.089Z,1741829505.089 [DAT](INFO): direction in FSK: [-0.429841,-0.877414,-0.213030]
2025-03-13T01:35:57.952Z,1741829757.952 [Waterlinked](ERROR): only read 0 of 1 data item for BIT error. Device response::TS,24052713084928, 0.0, +0.0,   0.0,1475.WI,    +0,    +0,    +0,    +0,V
2025-03-13T01:36:44.022Z,1741829804.022 [BPC1](INFO): Calculating totals. Valid battery stick count: 49. Valid reserve battery stick count: 5.
2025-03-13T01:36:44.025Z,1741829804.025 [BPC1](FAULT): Failed to receive data from 3 sticks prior to timeout. Will not retry this scan cycle. Missing stick IDs are: 19, 21, 24.
2025-03-13T01:40:54.751Z,1741830054.751 [Waterlinked](ERROR): only read -1 of 1 data item for altitude. Device response::BD,     
2025-03-13T01:43:48.819Z,1741830228.819 [GFScanner](IMPORTANT): Beginning ground fault scan
2025-03-13T01:43:49.579Z,1741830229.579 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2025-03-13T01:43:49.595Z,1741830229.595 [CTD_Seabird](INFO): some bad data, not updating bins
2025-03-13T01:43:51.584Z,1741830231.584 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2025-03-13T01:43:51.587Z,1741830231.587 [CTD_Seabird](INFO): some bad data, not updating bins
2025-03-13T01:43:52.588Z,1741830232.588 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2025-03-13T01:43:52.594Z,1741830232.594 [CTD_Seabird](INFO): some bad data, not updating bins
2025-03-13T01:43:53.955Z,1741830233.955 [GFScanner](IMPORTANT): No ground fault detected
mA:
CHAN A0 (Batt): 0.006520
CHAN A1 (24V): 0.019535
CHAN A2 (12V): 0.007500
CHAN A3 (5V): 0.003731
CHAN B0 (3.3V): 0.004570
CHAN B1 (3.15aV): 0.004292
CHAN B2 (3.15bV): 0.003506
CHAN B3 (GND): 0.002901
OPEN: 0.009005
Full Scale: +/- 1 mA
2025-03-13T01:44:16.510Z,1741830256.510 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow] Running Loop=1
2025-03-13T01:44:16.510Z,1741830256.510 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepthSlow
2025-03-13T01:44:16.511Z,1741830256.511 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:A.SetSpeed] Running Loop=1
2025-03-13T01:44:16.516Z,1741830256.516 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:A.SetSpeed](DEBUG): Initialize.
2025-03-13T01:44:16.516Z,1741830256.516 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:B] Running Loop=1
2025-03-13T01:44:16.516Z,1741830256.516 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:C.Buoyancy] Running Loop=1
2025-03-13T01:44:16.517Z,1741830256.517 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:C.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-03-13T01:44:16.517Z,1741830256.517 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:D.Pitch] Running Loop=1
2025-03-13T01:44:16.517Z,1741830256.517 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:D.Pitch](DEBUG): Initialize.
2025-03-13T01:44:16.532Z,1741830256.532 [sci2_noyo_optim:DiveCmd:MaintainDepth] Stopped
2025-03-13T01:44:16.532Z,1741830256.532 [sci2_noyo_optim:DiveCmd:MaintainDepth](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepth
2025-03-13T01:44:16.533Z,1741830256.533 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive] Stopped
2025-03-13T01:44:16.533Z,1741830256.533 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive
2025-03-13T01:44:16.534Z,1741830256.534 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive] Stopped
2025-03-13T01:44:16.534Z,1741830256.534 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive
2025-03-13T01:44:16.535Z,1741830256.535 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass] Stopped
2025-03-13T01:44:16.540Z,1741830256.540 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass](DEBUG): Uninitialize.
2025-03-13T01:44:16.540Z,1741830256.540 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed] Stopped
2025-03-13T01:44:16.540Z,1741830256.540 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed](DEBUG): Uninitialize.
2025-03-13T01:44:16.540Z,1741830256.540 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:B.Pitch] Stopped
2025-03-13T01:45:03.883Z,1741830303.883 [CTD_Seabird](ERROR): Failed to parse device response: 89.76,9.5396,
2025-03-13T01:51:03.587Z,1741830663.587 [Waterlinked](ERROR): only read 0 of 1 data item for BIT error. Device response::TS,24052713235533, 0.0, +0.0,   0.0,1475.0,,    +0,    +0,    +0,    +0,V
2025-03-13T01:51:14.507Z,1741830674.507 [sci2_noyo_optim:Lap:DepthByLap:Wpt2:A.Waypoint](IMPORTANT): Reached waypoint: 36.796879,-121.880051
2025-03-13T01:51:14.528Z,1741830674.528 [sci2_noyo_optim:Lap:DepthByLap:Wpt2:A.Waypoint] Stopped
2025-03-13T01:51:14.528Z,1741830674.528 [sci2_noyo_optim:Lap:DepthByLap:Wpt2:A.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-03-13T01:51:14.529Z,1741830674.529 [sci2_noyo_optim:Lap:DepthByLap:Wpt2](INFO): Completed sci2_noyo_optim:Lap:DepthByLap:Wpt2
2025-03-13T01:51:14.529Z,1741830674.529 [sci2_noyo_optim:Lap:DepthByLap:Wpt2] Stopped
2025-03-13T01:51:14.529Z,1741830674.529 [sci2_noyo_optim:Lap:DepthByLap:Wpt2](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Lap:DepthByLap:Wpt2
2025-03-13T01:51:14.529Z,1741830674.529 [sci2_noyo_optim:Lap:DepthByLap:Wpt3] Running Loop=1
2025-03-13T01:51:14.529Z,1741830674.529 [sci2_noyo_optim:Lap:DepthByLap:Wpt3](DEBUG): Aggregate::initialize sci2_noyo_optim:Lap:DepthByLap:Wpt3
2025-03-13T01:51:14.529Z,1741830674.529 [sci2_noyo_optim:Lap:DepthByLap:Wpt3:A.Waypoint] Running Loop=1
2025-03-13T01:51:14.529Z,1741830674.529 [sci2_noyo_optim:Lap:DepthByLap:Wpt3:A.Waypoint](DEBUG): Initialize WaypointComponent.
2025-03-13T01:53:08.609Z,1741830788.609 [sci2_noyo_optim](INFO): Timed out from 2025-03-12T22:53:08.3Z
2025-03-13T01:53:08.609Z,1741830788.609 [MissionManager](INFO): sci2_noyo_optim is completed.
2025-03-13T01:53:08.609Z,1741830788.609 [MissionManager](INFO): Uninitializing Mission sci2_noyo_optim
2025-03-13T01:53:08.609Z,1741830788.609 [sci2_noyo_optim] Stopped
2025-03-13T01:53:08.610Z,1741830788.610 [sci2_noyo_optim](DEBUG): Aggregate::uninitialize sci2_noyo_optim
2025-03-13T01:53:08.610Z,1741830788.610 [sci2_noyo_optim:Science] Stopped
2025-03-13T01:53:08.610Z,1741830788.610 [sci2_noyo_optim:Science](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science
2025-03-13T01:53:08.610Z,1741830788.610 [sci2_noyo_optim:Science:B] Stopped
2025-03-13T01:53:08.610Z,1741830788.610 [sci2_noyo_optim:Science:C] Stopped
2025-03-13T01:53:08.610Z,1741830788.610 [sci2_noyo_optim:Science:E] Stopped
2025-03-13T01:53:08.610Z,1741830788.610 [sci2_noyo_optim:Science:OceanCurrent] Stopped
2025-03-13T01:53:08.610Z,1741830788.610 [sci2_noyo_optim:Science:OceanCurrent](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:OceanCurrent
2025-03-13T01:53:08.610Z,1741830788.610 [sci2_noyo_optim:Science:OceanCurrent:A.] Stopped
2025-03-13T01:53:08.610Z,1741830788.610 [sci2_noyo_optim:StandardEnvelopes] Stopped
2025-03-13T01:53:08.610Z,1741830788.610 [sci2_noyo_optim:StandardEnvelopes](DEBUG): Aggregate::uninitialize sci2_noyo_optim:StandardEnvelopes
2025-03-13T01:53:08.610Z,1741830788.610 [sci2_noyo_optim:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-03-13T01:53:08.610Z,1741830788.610 [sci2_noyo_optim:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-03-13T01:53:08.611Z,1741830788.611 [sci2_noyo_optim:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-03-13T01:53:08.611Z,1741830788.611 [sci2_noyo_optim:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-03-13T01:53:08.611Z,1741830788.611 [sci2_noyo_optim:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-03-13T01:53:08.611Z,1741830788.611 [sci2_noyo_optim:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-03-13T01:53:08.611Z,1741830788.611 [sci2_noyo_optim:BackseatDriver] Stopped
2025-03-13T01:53:08.615Z,1741830788.615 [sci2_noyo_optim:BackseatDriver](DEBUG): Aggregate::uninitialize sci2_noyo_optim:BackseatDriver
2025-03-13T01:53:08.615Z,1741830788.615 [sci2_noyo_optim:BackseatDriver:A.BackseatDriver] Stopped
2025-03-13T01:53:08.615Z,1741830788.615 [sci2_noyo_optim:J] Stopped
2025-03-13T01:53:08.615Z,1741830788.615 [sci2_noyo_optim:PowerOnly] Stopped
2025-03-13T01:53:08.616Z,1741830788.616 [sci2_noyo_optim:PowerOnly](DEBUG): Aggregate::uninitialize sci2_noyo_optim:PowerOnly
2025-03-13T01:53:08.616Z,1741830788.616 [sci2_noyo_optim:PowerOnly:B] Stopped
2025-03-13T01:53:08.616Z,1741830788.616 [sci2_noyo_optim:PowerOnly:E.Wait] Stopped
2025-03-13T01:53:08.616Z,1741830788.616 [sci2_noyo_optim:PowerOnly:E.Wait](DEBUG): Uninitialize Wait Component.
2025-03-13T01:53:08.616Z,1741830788.616 [sci2_noyo_optim:L] Stopped
2025-03-13T01:53:08.616Z,1741830788.616 [sci2_noyo_optim:N] Stopped
2025-03-13T01:53:08.616Z,1741830788.616 [sci2_noyo_optim:O.Buoyancy] Stopped
2025-03-13T01:53:08.616Z,1741830788.616 [sci2_noyo_optim:O.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-03-13T01:53:08.616Z,1741830788.616 [sci2_noyo_optim:DiveCmd] Stopped
2025-03-13T01:53:08.616Z,1741830788.616 [sci2_noyo_optim:DiveCmd](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd
2025-03-13T01:53:08.616Z,1741830788.616 [sci2_noyo_optim:DiveCmd:InitialDive] Stopped
2025-03-13T01:53:08.616Z,1741830788.616 [sci2_noyo_optim:DiveCmd:InitialDive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:InitialDive
2025-03-13T01:53:08.616Z,1741830788.616 [sci2_noyo_optim:DiveCmd:SettleAtDepth] Stopped
2025-03-13T01:53:08.617Z,1741830788.617 [sci2_noyo_optim:DiveCmd:SettleAtDepth](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:SettleAtDepth
2025-03-13T01:53:08.617Z,1741830788.617 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow] Stopped
2025-03-13T01:53:08.617Z,1741830788.617 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepthSlow
2025-03-13T01:53:08.617Z,1741830788.617 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:A.SetSpeed] Stopped
2025-03-13T01:53:08.617Z,1741830788.617 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:A.SetSpeed](DEBUG): Uninitialize.
2025-03-13T01:53:08.617Z,1741830788.617 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:B] Stopped
2025-03-13T01:53:08.617Z,1741830788.617 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:C.Buoyancy] Stopped
2025-03-13T01:53:08.617Z,1741830788.617 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-03-13T01:53:08.617Z,1741830788.617 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:D.Pitch] Stopped
2025-03-13T01:53:08.617Z,1741830788.617 [sci2_noyo_optim:Lap] Stopped
2025-03-13T01:53:08.617Z,1741830788.617 [sci2_noyo_optim:Lap](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Lap
2025-03-13T01:53:08.617Z,1741830788.617 [sci2_noyo_optim:Lap:Dive] Stopped
2025-03-13T01:53:08.618Z,1741830788.618 [sci2_noyo_optim:Lap:Dive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Lap:Dive
2025-03-13T01:53:08.618Z,1741830788.618 [sci2_noyo_optim:Lap:Dive:A] Stopped
2025-03-13T01:53:08.618Z,1741830788.618 [sci2_noyo_optim:Lap:Dive:A](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Lap:Dive:A
2025-03-13T01:53:08.618Z,1741830788.618 [sci2_noyo_optim:Lap:DepthByLap] Stopped
2025-03-13T01:53:08.618Z,1741830788.618 [sci2_noyo_optim:Lap:DepthByLap](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Lap:DepthByLap
2025-03-13T01:53:08.618Z,1741830788.618 [sci2_noyo_optim:Lap:DepthByLap:Wpt3] Stopped
2025-03-13T01:53:08.618Z,1741830788.618 [sci2_noyo_optim:Lap:DepthByLap:Wpt3](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Lap:DepthByLap:Wpt3
2025-03-13T01:53:08.618Z,1741830788.618 [sci2_noyo_optim:Lap:DepthByLap:Wpt3:A.Waypoint] Stopped
2025-03-13T01:53:08.618Z,1741830788.618 [sci2_noyo_optim:Lap:DepthByLap:Wpt3:A.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-03-13T01:53:09.096Z,1741830789.096 [WetLabsBB2FL](INFO): Powering down
2025-03-13T01:53:09.190Z,1741830789.190 [MissionManager](IMPORTANT): Started mission Default
2025-03-13T01:53:09.190Z,1741830789.190 [Default] Running Loop=1
2025-03-13T01:53:09.190Z,1741830789.190 [Default](DEBUG): Aggregate::initialize Default
2025-03-13T01:53:09.190Z,1741830789.190 [Default:B.GoToSurface] Running Loop=1
2025-03-13T01:53:09.190Z,1741830789.190 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-03-13T01:53:09.190Z,1741830789.190 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-03-13T01:53:09.191Z,1741830789.191 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-03-13T01:53:09.195Z,1741830789.195 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-03-13T01:53:09.196Z,1741830789.196 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-03-13T01:53:09.196Z,1741830789.196 [Default:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-03-13T01:53:09.196Z,1741830789.196 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-03-13T01:53:09.197Z,1741830789.197 [Default:A.Wait] Running Loop=1
2025-03-13T01:53:09.197Z,1741830789.197 [Default:A.Wait](DEBUG): Initialize Wait Component.
2025-03-13T01:53:09.715Z,1741830789.715 [ElevatorOffsetCalculator](INFO): New estimator for commanded vars: speed 1.00 m/s, pitch 30.00 deg, mass-position -26.00 mm (2 active estimators).
2025-03-13T01:53:09.940Z,1741830789.940 [Radio_Surface](INFO): Powering up
2025-03-13T01:53:10.228Z,1741830790.228 [BackseatComponent](INFO): Sent LCM shutdown request.
2025-03-13T01:53:10.229Z,1741830790.229 [BackseatComponent](INFO): Shutdown requested. Waiting (18.00 sec to power down.).
2025-03-13T01:53:15.673Z,1741830795.673 [DataOverHttps](INFO): Radio surface powered ON.
2025-03-13T01:53:22.601Z,1741830802.601 [Default:A.Wait](INFO): Done Waiting.
2025-03-13T01:53:22.601Z,1741830802.601 [Default:A.Wait] Stopped
2025-03-13T01:53:22.601Z,1741830802.601 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2025-03-13T01:53:28.389Z,1741830808.389 [BackseatComponent](INFO): Powering down and starting shutdown timer (18.00 sec).
2025-03-13T01:53:28.391Z,1741830808.391 [BackseatComponent](INFO): Unsubscribing from LCM channels.
2025-03-13T01:53:28.392Z,1741830808.392 [LcmUniversalReporter](INFO): Deactivating messaging.
2025-03-13T01:53:45.812Z,1741830825.812 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T01:54:20.956Z,1741830860.956 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T01:54:39.061Z,1741830879.061 [PowerOnly](INFO): Powering down loadControl
2025-03-13T01:54:56.118Z,1741830896.118 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T01:55:31.257Z,1741830931.257 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T01:56:06.396Z,1741830966.396 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T01:56:33.025Z,1741830993.025 [Default:CheckIn] Running Loop=1
2025-03-13T01:56:33.025Z,1741830993.025 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-03-13T01:56:33.026Z,1741830993.026 [Default:CheckIn:Read_GPS] Running Loop=1
2025-03-13T01:56:33.519Z,1741830993.519 [Waterlinked](INFO): Powering down
2025-03-13T01:56:41.556Z,1741831001.556 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T01:57:16.696Z,1741831036.696 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T01:57:47.363Z,1741831067.363 [NAL9602](IMPORTANT): SBD MO Status=0, MOMSN=18524, MT Status=1, MTMSN=1053
2025-03-13T01:57:47.363Z,1741831067.363 [NAL9602](INFO): Data available in MT queue
2025-03-13T01:57:48.100Z,1741831068.100 [NAL9602](INFO): Received command: sched asap "set sci2_noyo_optim.Repeat 6 count;set sci2_noyo_optim.Lat1 36.79279 degree;set sci2_noyo_optim.Lon1 -121.88919 degree;set sci2_noyo_optim.Lat2 36.78427 degree;set sci2_noyo_optim.Lon2 -121.91339 degree" 333kp 2 3
2025-03-13T01:57:48.197Z,1741831068.197 [CommandExec](IMPORTANT): got command schedule asap "set sci2_noyo_optim.Repeat 6 count;set sci2_noyo_optim.Lat1 36.79279 degree;set sci2_noyo_optim.Lon1 -121.88919 degree;set sci2_noyo_optim.Lat2 36.78427 degree;set sci2_noyo_optim.Lon2 -121.91339 degree" 333kp 2 3.000000
2025-03-13T01:57:48.197Z,1741831068.197 [CommandExec](IMPORTANT): Scheduling command #2 of 3 with id=333kp
2025-03-13T01:57:48.198Z,1741831068.198 [CommandExec](IMPORTANT): Scheduled #33 (#2 of 3 with id='333kp'): "set sci2_noyo_optim.Repeat 6 count;set sci2_noyo_optim.Lat1 36.79279 degree;set sci2_noyo_optim.Lon1 -121.88919 degree;set sci2_noyo_optim.Lat2 36.78427 degree;set sci2_noyo_optim.Lon2 -121.91339 degree", ASAP
2025-03-13T01:57:48.976Z,1741831068.976 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,015748.00,A,3647.82023,N,12152.62209,W,0.855,41.00,130325,,,A*4F
2025-03-13T01:57:48.979Z,1741831068.979 [NAL9602](INFO): GPS fix at 20250313T015748: (36.797004, -121.877035)
2025-03-13T01:57:48.990Z,1741831068.990 [UniversalFixResidualReporter](INFO): Fix residual: 13.5 %DT, over the last 1305.2 m. Residual distance 176.4 m at bearing -51.7 degrees. Fix at (36.7970, -121.8770) with 756.5 m made good.
2025-03-13T01:57:48.991Z,1741831068.991 [Default:CheckIn:Read_GPS] Stopped
2025-03-13T01:57:48.992Z,1741831068.992 [Default:CheckIn:Read_Iridium] Running Loop=1
2025-03-13T01:57:51.852Z,1741831071.852 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T01:58:06.408Z,1741831086.408 [NAL9602](IMPORTANT): SBD MO Status=1, MOMSN=18525, MT Status=1, MTMSN=1054
2025-03-13T01:58:06.458Z,1741831086.458 [NAL9602](INFO): Sent 93 bytes from file Logs/20250311T232940/Courier0204.lzma
2025-03-13T01:58:06.458Z,1741831086.458 [NAL9602](INFO): Packets left to send: 0
2025-03-13T01:58:07.144Z,1741831087.144 [NAL9602](INFO): Received command: sched asap "set sci2_noyo_optim.ApproachDepth 10 m;set sci2_noyo_optim.SlowSpeed 0.35 m/s;set sci2_noyo_optim.MinAltitude 10 m;set sci2_noyo_optim.MaxDepth 290 m;set sci2_noyo_optim:PowerOnly.SampleLoad1 1 bool;run" 333kp 3 3
2025-03-13T01:58:07.164Z,1741831087.164 [CommandExec](IMPORTANT): got command schedule asap "set sci2_noyo_optim.ApproachDepth 10 m;set sci2_noyo_optim.SlowSpeed 0.35 m/s;set sci2_noyo_optim.MinAltitude 10 m;set sci2_noyo_optim.MaxDepth 290 m;set sci2_noyo_optim:PowerOnly.SampleLoad1 1 bool;run" 333kp 3 3.000000
2025-03-13T01:58:07.164Z,1741831087.164 [CommandExec](IMPORTANT): Scheduling command #3 of 3 with id=333kp
2025-03-13T01:58:07.165Z,1741831087.165 [CommandExec](IMPORTANT): Scheduled #34 (#3 of 3 with id='333kp'): "set sci2_noyo_optim.ApproachDepth 10 m;set sci2_noyo_optim.SlowSpeed 0.35 m/s;set sci2_noyo_optim.MinAltitude 10 m;set sci2_noyo_optim.MaxDepth 290 m;set sci2_noyo_optim:PowerOnly.SampleLoad1 1 bool;run", ASAP
2025-03-13T01:58:07.339Z,1741831087.339 [CommandExec](IMPORTANT): got command load ./Missions/Science/sci2_noyo_optim.tl
2025-03-13T01:58:07.340Z,1741831087.340 [MissionManager](INFO): Loading Mission from file: ./Missions/Science/sci2_noyo_optim.tl
2025-03-13T01:58:07.341Z,1741831087.341 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Science/sci2_noyo_optim.tl
2025-03-13T01:58:07.352Z,1741831087.352 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Science/sci2_noyo_optim.tl
2025-03-13T01:58:08.356Z,1741831088.356 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003277
2025-03-13T01:58:12.443Z,1741831092.443 [MissionManager](DEBUG): TethyslAPI: ./Missions/Science/sci2_noyo_optim.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Mission Id="sci2_noyo_optim">
    <DefineArg Name="MissionTimeout">
        <Units:hour />
        <Value>2</Value>
    </DefineArg>
    <DefineArg Name="NeedCommsTime">
        <Units:minute />
        <Value>60</Value>
    </DefineArg>
    <DefineArg Name="Depth1">
        <Units:meter />
        <Value>35</Value>
    </DefineArg>
    <DefineArg Name="Depth2">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Depth3">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Depth4">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Depth5">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Depth6">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Depth7">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Depth8">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="DepthPerLeg">
        <False />
    </DefineArg>
    <DefineArg Name="Repeat">
        <Units:count />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="Lat1">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lat2">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lat3">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lat4">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lat5">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lat6">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lat7">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lat8">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lon1">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lon2">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lon3">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lon4">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lon5">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lon6">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lon7">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lon8">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="FastSpeed">
        <Units:meter_per_second />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="ApproachDepth">
        <Units:meter />
        <Value>30</Value>
    </DefineArg>
    <DefineArg Name="ApproachSpeed">
        <Units:meter_per_second />
        <Value>0.7</Value>
    </DefineArg>
    <DefineArg Name="ApproachDepthRate">
        <Units:meter_per_second />
        <Value>0.05</Value>
    </DefineArg>
    <DefineArg Name="ApproachPitchLimit">
        <Units:degree />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="ApproachDepthTimeout">
        <Units:minute />
        <Value>15</Value>
    </DefineArg>
    <DefineArg Name="ApproachSettleTimePreDive">
        <Units:minute />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="ApproachSettleTimePostDive">
        <Units:minute />
        <Value>3</Value>
    </DefineArg>
    <DefineArg Name="kpDepth">
        <Units:radian_per_meter />
        <Value>0.07</Value>
    </DefineArg>
    <DefineArg Name="SlowSpeed">
        <Units:meter_per_second />
        <Value>0.25</Value>
    </DefineArg>
    <DefineArg Name="DepthDeviationSlow">
        <Units:meter />
        <Value>3</Value>
    </DefineArg>
    <DefineArg Name="BuoyancyNeutral">
        <Control:VerticalControl.buoyancyNeutral />
    </DefineArg>
    <DefineArg Name="MassDefault">
        <Control:VerticalControl.massDefault />
    </DefineArg>
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>2</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>50</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:kilometer />
        <Value>2</Value>
    </DefineArg>
    <DefineOutput Name="DiveMode">
        <Units:count />
        <Value>0</Value>
    </DefineOutput>
    <DefineOutput Name="DoingComms">
        <Units:count />
        <Value>0</Value>
    </DefineOutput>
    <DefineOutput Name="InitialDive">
        <Units:count />
        <Value>1</Value>
    </DefineOutput>
    <DefineOutput Name="SettleAtDepth">
        <Units:count />
        <Value>2</Value>
    </DefineOutput>
    <DefineOutput Name="MaintainDepth">
        <Units:count />
        <Value>3</Value>
    </DefineOutput>
    <DefineOutput Name="LegDepth">
        <Arg Name="Depth1" />
    </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="MissionTimeout" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="NeedComms:WaitForPitchUp" />
        <Units:minute />
        <Value>0</Value>
    </Assign>
    <Insert Filename="Insert/BackseatDriver.tl" />
    <Assign>
        <Parallel />
        <Arg Name="BackseatDriver:EnableBackseat" />
        <True />
    </Assign>
    <Insert Filename="Insert/PowerOnly.tl" />
    <Assign>
        <Parallel />
        <Arg Name="PowerOnly:SampleLoad1" />
        <True />
    </Assign>
    <Assign>
        <Sequence />
        <Sensor:MultiRay.lightModeCommand />
        <Units:count />
        <Value>2</Value>
    </Assign>
    <ReadData Strategy="MinError">
        <While>
            <Sensor:MultiRay.loadAtStartup />
        </While>
        <Sensor:MultiRay.lightModeLog />
    </ReadData>
    <Guidance:Buoyancy>
        <Parallel />
        <Setting>
            <Guidance:Buoyancy.position />
            <Arg Name="BuoyancyNeutral" />
        </Setting>
    </Guidance:Buoyancy>
    <Aggregate Id="SurfaceComms">
        <When>
            <Called />
            <Or>
                <Elapsed>
                    <Universal:time_fix />
                </Elapsed>
                <Gt>
                    <Arg Name="NeedCommsTime" />
                </Gt>
            </Or>
        </When>
        <Assign>
            <Sequence />
            <Arg Name="DiveMode" />
            <Arg Name="DoingComms" />
        </Assign>
        <Call RefId="NeedComms" />
        <Assign>
            <Sequence />
            <Arg Name="DiveMode" />
            <Arg Name="InitialDive" />
        </Assign>
    </Aggregate>
    <Aggregate Id="DiveCmd">
        <When>
            <Called />
        </When>
        <Aggregate Id="InitialDive">
            <While>
                <Arg Name="DiveMode" />
                <Eq>
                    <Arg Name="InitialDive" />
                </Eq>
            </While>
            <Aggregate Id="dive">
                <Sequence />
                <Assign>
                    <Parallel />
                    <Control:VerticalControl.pitchLimit />
                    <Arg Name="ApproachPitchLimit" />
                </Assign>
                <Assign>
                    <Parallel />
                    <Control:VerticalControl.kpDepth />
                    <Arg Name="kpDepth" />
                </Assign>
                <Guidance:Mass>
                    <Parallel />
                    <Setting>
                        <Guidance:Mass.position />
                        <Arg Name="MassDefault" />
                    </Setting>
                </Guidance:Mass>
                <Syslog Severity="Info">
                    Waiting for 
                    <Arg Name="ApproachSettleTimePreDive" />
                    <Units:minute />
                    while pumping down to neutral.
                </Syslog>
                <Guidance:Wait>
                    <Sequence />
                    <Setting>
                        <Guidance:Wait.duration />
                        <Arg Name="ApproachSettleTimePreDive" />
                    </Setting>
                </Guidance:Wait>
                <Syslog>
                    Moving to 
                    <Arg Name="ApproachDepth" />
                    <Units:meter />
                </Syslog>
                <Aggregate Id="ApproachDepth">
                    <Sequence />
                    <Guidance:SetSpeed>
                        <Parallel />
                        <Setting>
                            <Guidance:SetSpeed.speed />
                            <Arg Name="ApproachSpeed" />
                        </Setting>
                    </Guidance:SetSpeed>
                    <Guidance:Pitch>
                        <Sequence />
                        <Timeout Duration="ApproachDepthTimeout">
                            <Syslog Severity="Important">
                                Timed out while trying to reach target depth at current depth of 
                                <Universal:depth />
                                <Units:meter />
                            </Syslog>
                            <Guidance:Execute>
                                <Sequence />
                                <Setting>
                                    <Guidance:Execute.command />
                                    <String>stop</String>
                                </Setting>
                            </Guidance:Execute>
                        </Timeout>
                        <Setting>
                            <Guidance:Pitch.depth />
                            <Arg Name="ApproachDepth" />
                        </Setting>
                        <Setting>
                            <Guidance:Pitch.depthRate />
                            <Arg Name="ApproachDepthRate" />
                        </Setting>
                    </Guidance:Pitch>
                </Aggregate>
                <Assign>
                    <Sequence />
                    <Arg Name="DiveMode" />
                    <Arg Name="SettleAtDepth" />
                </Assign>
            </Aggregate>
        </Aggregate>
        <Aggregate Id="SettleAtDepth">
            <While>
                <Arg Name="DiveMode" />
                <Eq>
                    <Arg Name="SettleAtDepth" />
                </Eq>
            </While>
            <Aggregate Id="dive">
                <Sequence />
                <Syslog Severity="Info">
                    Reached 
                    <Universal:depth />
                    <Units:meter />
                    , settling for 
                    <Arg Name="ApproachSettleTimePostDive" />
                    <Units:minute />
                </Syslog>
                <Guidance:Pitch>
                    <Parallel />
                    <Setting>
                        <Guidance:Pitch.depth />
                        <Arg Name="LegDepth" />
                    </Setting>
                </Guidance:Pitch>
                <Guidance:Wait>
                    <Sequence />
                    <Setting>
                        <Guidance:Wait.duration />
                        <Arg Name="ApproachSettleTimePostDive" />
                    </Setting>
                </Guidance:Wait>
                <Assign>
                    <Sequence />
                    <Arg Name="DiveMode" />
                    <Arg Name="MaintainDepth" />
                </Assign>
            </Aggregate>
        </Aggregate>
        <Aggregate Id="MaintainDepth">
            <While>
                <Arg Name="DiveMode" />
                <Eq>
                    <Arg Name="MaintainDepth" />
                </Eq>
                <And>
                    <Universal:depth />
                    <Gt>
                        <Arg Name="LegDepth" />
                        <Add>
                            <Arg Name="DepthDeviationSlow" />
                        </Add>
                    </Gt>
                </And>
                <Or>
                    <Universal:depth />
                    <Lt>
                        <Arg Name="LegDepth" />
                        <Sub>
                            <Arg Name="DepthDeviationSlow" />
                        </Sub>
                    </Lt>
                </Or>
            </While>
            <Aggregate Id="dive">
                <Parallel />
                <Aggregate Id="ThrusterDive">
                    <While>
                        <Arg Name="FastSpeed" />
                        <Gt>
                            <Units:meter_per_second />
                            <Value>0.0</Value>
                        </Gt>
                    </While>
                    <Guidance:Mass>
                        <Parallel />
                        <Setting>
                            <Guidance:Mass.position />
                            <Arg Name="MassDefault" />
                        </Setting>
                    </Guidance:Mass>
                    <Guidance:SetSpeed>
                        <Parallel />
                        <Setting>
                            <Guidance:SetSpeed.speed />
                            <Arg Name="FastSpeed" />
                        </Setting>
                    </Guidance:SetSpeed>
                </Aggregate>
                <Guidance:Pitch>
                    <Parallel />
                    <Setting>
                        <Guidance:Pitch.depth />
                        <Arg Name="LegDepth" />
                    </Setting>
                </Guidance:Pitch>
            </Aggregate>
        </Aggregate>
        <Aggregate Id="MaintainDepthSlow">
            <While>
                <Not>
                    <IsNaN>
                        <Arg Name="SlowSpeed" />
                    </IsNaN>
                </Not>
                <And>
                    <Arg Name="DiveMode" />
                    <Eq>
                        <Arg Name="MaintainDepth" />
                    </Eq>
                </And>
                <And>
                    <Universal:depth />
                    <Le>
                        <Arg Name="LegDepth" />
                        <Add>
                            <Arg Name="DepthDeviationSlow" />
                        </Add>
                    </Le>
                </And>
                <And>
                    <Universal:depth />
                    <Ge>
                        <Arg Name="LegDepth" />
                        <Sub>
                            <Arg Name="DepthDeviationSlow" />
                        </Sub>
                    </Ge>
                </And>
            </While>
            <Guidance:SetSpeed>
                <Parallel />
                <Setting>
                    <Guidance:SetSpeed.speed />
                    <Arg Name="SlowSpeed" />
                </Setting>
            </Guidance:SetSpeed>
            <Assign>
                <Parallel />
                <Control:VerticalControl.depthDeadband />
                <Arg Name="DepthDeviationSlow" />
                <Add>
                    <Units:meter />
                    <Value>3</Value>
                </Add>
            </Assign>
            <Guidance:Buoyancy>
                <Parallel />
                <Setting>
                    <Guidance:Buoyancy.position />
                    <Units:cubic_centimeter />
                    <Value>NaN</Value>
                </Setting>
            </Guidance:Buoyancy>
            <Guidance:Pitch>
                <Parallel />
                <Setting>
                    <Guidance:Pitch.depth />
                    <Arg Name="LegDepth" />
                </Setting>
            </Guidance:Pitch>
        </Aggregate>
    </Aggregate>
    <Call RefId="SurfaceComms" Id="StartingMission" />
    <Aggregate Id="Lap">
        <Sequence Repeat="Repeat" />
        <Aggregate Id="Dive">
            <While>
                <Not>
                    <Arg Name="DiveMode" />
                    <Eq>
                        <Arg Name="DoingComms" />
                    </Eq>
                </Not>
            </While>
            <Call RefId="DiveCmd" />
        </Aggregate>
        <Aggregate Id="DepthByLap">
            <Sequence />
            <Break>
                <Arg Name="DepthPerLeg" />
            </Break>
            <Assign>
                <Sequence />
                <Arg Name="LegDepth" />
                <Arg Name="Depth1" />
            </Assign>
            <Aggregate Id="Wpt1">
                <Sequence />
                <Guidance:Waypoint>
                    <Sequence />
                    <Setting>
                        <Guidance:Waypoint.latitude />
                        <Arg Name="Lat1" />
                    </Setting>
                    <Setting>
                        <Guidance:Waypoint.longitude />
                        <Arg Name="Lon1" />
                    </Setting>
                </Guidance:Waypoint>
            </Aggregate>
            <Aggregate Id="Wpt2">
                <Sequence />
                <Guidance:Waypoint>
                    <Sequence />
                    <Setting>
                        <Guidance:Waypoint.latitude />
                        <Arg Name="Lat2" />
                    </Setting>
                    <Setting>
                        <Guidance:Waypoint.longitude />
                        <Arg Name="Lon2" />
                    </Setting>
                </Guidance:Waypoint>
            </Aggregate>
            <Aggregate Id="Wpt3">
                <Sequence />
                <Guidance:Waypoint>
                    <Sequence />
                    <Setting>
                        <Guidance:Waypoint.latitude />
                        <Arg Name="Lat3" />
                    </Setting>
                    <Setting>
                        <Guidance:Waypoint.longitude />
                        <Arg Name="Lon3" />
                    </Setting>
                </Guidance:Waypoint>
            </Aggregate>
            <Aggregate Id="Wpt4">
                <Sequence />
                <Guidance:Waypoint>
                    <Sequence />
                    <Setting>
                        <Guidance:Waypoint.latitude />
                        <Arg Name="Lat4" />
                    </Setting>
                    <Setting>
                        <Guidance:Waypoint.longitude />
                        <Arg Name="Lon4" />
                    </Setting>
                </Guidance:Waypoint>
            </Aggregate>
            <Aggregate Id="Wpt5">
                <Sequence />
                <Guidance:Waypoint>
                    <Sequence />
                    <Setting>
                        <Guidance:Waypoint.latitude />
                        <Arg Name="Lat5" />
                    </Setting>
                    <Setting>
                        <Guidance:Waypoint.longitude />
                        <Arg Name="Lon5" />
                    </Setting>
                </Guidance:Waypoint>
            </Aggregate>
            <Aggregate Id="Wpt6">
                <Sequence />
                <Guidance:Waypoint>
                    <Sequence />
                    <Setting>
                        <Guidance:Waypoint.latitude />
                        <Arg Name="Lat6" />
                    </Setting>
                    <Setting>
                        <Guidance:Waypoint.longitude />
                        <Arg Name="Lon6" />
                    </Setting>
                </Guidance:Waypoint>
            </Aggregate>
            <Aggregate Id="Wpt7">
                <Sequence />
                <Guidance:Waypoint>
                    <Sequence />
                    <Setting>
                        <Guidance:Waypoint.latitude />
                        <Arg Name="Lat7" />
                    </Setting>
                    <Setting>
                        <Guidance:Waypoint.longitude />
                        <Arg Name="Lon7" />
                    </Setting>
                </Guidance:Waypoint>
            </Aggregate>
            <Aggregate Id="Wpt8">
                <Sequence />
                <Guidance:Waypoint>
                    <Sequence />
                    <Setting>
                        <Guidance:Waypoint.latitude />
                        <Arg Name="Lat8" />
                    </Setting>
                    <Setting>
                        <Guidance:Waypoint.longitude />
                        <Arg Name="Lon8" />
                    </Setting>
                </Guidance:Waypoint>
            </Aggregate>
            <Aggregate Id="Leg2">
                <Sequence />
                <Break>
                    <IsNaN>
                        <Arg Name="Depth2" />
                    </IsNaN>
                </Break>
                <Syslog Severity="Important">
                    Transiting waypoints at depth 
                    <Arg Name="Depth2" />
                    <Units:meter />
                </Syslog>
                <Assign>
                    <Sequence />
                    <Arg Name="LegDepth" />
                    <Arg Name="Depth2" />
                </Assign>
                <Aggregate Id="Wpt1">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat1" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon1" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt2">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat2" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon2" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt3">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat3" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon3" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt4">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat4" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon4" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt5">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat5" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon5" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt6">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat6" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon6" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt7">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat7" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon7" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt8">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat8" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon8" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
            </Aggregate>
            <Aggregate Id="Leg3">
                <Sequence />
                <Break>
                    <IsNaN>
                        <Arg Name="Depth3" />
                    </IsNaN>
                </Break>
                <Syslog Severity="Important">
                    Transiting waypoints at depth 
                    <Arg Name="Depth3" />
                    <Units:meter />
                </Syslog>
                <Assign>
                    <Sequence />
                    <Arg Name="LegDepth" />
                    <Arg Name="Depth3" />
                </Assign>
                <Aggregate Id="Wpt1">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat1" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon1" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt2">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat2" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon2" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt3">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat3" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon3" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt4">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat4" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon4" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt5">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat5" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon5" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt6">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat6" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon6" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt7">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat7" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon7" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt8">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat8" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon8" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
            </Aggregate>
            <Aggregate Id="Leg4">
                <Sequence />
                <Break>
                    <IsNaN>
                        <Arg Name="Depth4" />
                    </IsNaN>
                </Break>
                <Syslog Severity="Important">
                    Transiting waypoints at depth 
                    <Arg Name="Depth4" />
                    <Units:meter />
                </Syslog>
                <Assign>
                    <Sequence />
                    <Arg Name="LegDepth" />
                    <Arg Name="Depth4" />
                </Assign>
                <Aggregate Id="Wpt1">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat1" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon1" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt2">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat2" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon2" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt3">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat3" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon3" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt4">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat4" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon4" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt5">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat5" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon5" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt6">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat6" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon6" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt7">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat7" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon7" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt8">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat8" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon8" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
            </Aggregate>
            <Aggregate Id="Leg5">
                <Sequence />
                <Break>
                    <IsNaN>
                        <Arg Name="Depth5" />
                    </IsNaN>
                </Break>
                <Syslog Severity="Important">
                    Transiting waypoints at depth 
                    <Arg Name="Depth5" />
                    <Units:meter />
                </Syslog>
                <Assign>
                    <Sequence />
                    <Arg Name="LegDepth" />
                    <Arg Name="Depth5" />
                </Assign>
                <Aggregate Id="Wpt1">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat1" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon1" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt2">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat2" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon2" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt3">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat3" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon3" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt4">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat4" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon4" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt5">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat5" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon5" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt6">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat6" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon6" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt7">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat7" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon7" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt8">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat8" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon8" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
            </Aggregate>
            <Aggregate Id="Leg6">
                <Sequence />
                <Break>
                    <IsNaN>
                        <Arg Name="Depth6" />
                    </IsNaN>
                </Break>
                <Syslog Severity="Important">
                    Transiting waypoints at depth 
                    <Arg Name="Depth6" />
                    <Units:meter />
                </Syslog>
                <Assign>
                    <Sequence />
                    <Arg Name="LegDepth" />
                    <Arg Name="Depth6" />
                </Assign>
                <Aggregate Id="Wpt1">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat1" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon1" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt2">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat2" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon2" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt3">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat3" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon3" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt4">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat4" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon4" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt5">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat5" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon5" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt6">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat6" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon6" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt7">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat7" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon7" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt8">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat8" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon8" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
            </Aggregate>
            <Aggregate Id="Leg7">
                <Sequence />
                <Break>
                    <IsNaN>
                        <Arg Name="Depth7" />
                    </IsNaN>
                </Break>
                <Syslog Severity="Important">
                    Transiting waypoints at depth 
                    <Arg Name="Depth7" />
                    <Units:meter />
                </Syslog>
                <Assign>
                    <Sequence />
                    <Arg Name="LegDepth" />
                    <Arg Name="Depth7" />
                </Assign>
                <Aggregate Id="Wpt1">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat1" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon1" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt2">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat2" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon2" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt3">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat3" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon3" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt4">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat4" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon4" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt5">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat5" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon5" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt6">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat6" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon6" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt7">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat7" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon7" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt8">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat8" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon8" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
            </Aggregate>
            <Aggregate Id="Leg8">
                <Sequence />
                <Break>
                    <IsNaN>
                        <Arg Name="Depth8" />
                    </IsNaN>
                </Break>
                <Syslog Severity="Important">
                    Transiting waypoints at depth 
                    <Arg Name="Depth8" />
                    <Units:meter />
                </Syslog>
                <Assign>
                    <Sequence />
                    <Arg Name="LegDepth" />
                    <Arg Name="Depth8" />
                </Assign>
                <Aggregate Id="Wpt1">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat1" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon1" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt2">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat2" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon2" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt3">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat3" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon3" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt4">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat4" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon4" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt5">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat5" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon5" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt6">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat6" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon6" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt7">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat7" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon7" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt8">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat8" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon8" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
            </Aggregate>
        </Aggregate>
        <Aggregate Id="DepthByLeg">
            <Sequence />
            <Break>
                <Not>
                    <Arg Name="DepthPerLeg" />
                </Not>
            </Break>
            <Aggregate Id="Leg1">
                <Sequence />
                <Assign>
                    <Sequence />
                    <Arg Name="LegDepth" />
                    <Arg Name="Depth1" />
                </Assign>
                <Guidance:Waypoint>
                    <Sequence />
                    <Setting>
                        <Guidance:Waypoint.latitude />
                        <Arg Name="Lat1" />
                    </Setting>
                    <Setting>
                        <Guidance:Waypoint.longitude />
                        <Arg Name="Lon1" />
                    </Setting>
                </Guidance:Waypoint>
            </Aggregate>
            <Aggregate Id="Leg2">
                <Sequence />
                <Break>
                    <IsNaN>
                        <Arg Name="Depth2" />
                    </IsNaN>
                </Break>
                <Syslog Severity="Info">
                    Transiting to next waypoint at depth 
                    <Arg Name="Depth2" />
                    <Units:meter />
                </Syslog>
                <Assign>
                    <Sequence />
                    <Arg Name="LegDepth" />
                    <Arg Name="Depth2" />
                </Assign>
                <Aggregate Id="Wpt2">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat2" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon2" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
            </Aggregate>
            <Aggregate Id="Leg3">
                <Sequence />
                <Break>
                    <IsNaN>
                        <Arg Name="Depth3" />
                    </IsNaN>
                </Break>
                <Syslog Severity="Info">
                    Transiting to next waypoint at depth 
                    <Arg Name="Depth3" />
                    <Units:meter />
                </Syslog>
                <Assign>
                    <Sequence />
                    <Arg Name="LegDepth" />
                    <Arg Name="Depth3" />
                </Assign>
                <Aggregate Id="Wpt3">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat3" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon3" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
            </Aggregate>
            <Aggregate Id="Leg4">
                <Sequence />
                <Break>
                    <IsNaN>
                        <Arg Name="Depth4" />
                    </IsNaN>
                </Break>
                <Syslog Severity="Info">
                    Transiting to next waypoint at depth 
                    <Arg Name="Depth4" />
                    <Units:meter />
                </Syslog>
                <Assign>
                    <Sequence />
                    <Arg Name="LegDepth" />
                    <Arg Name="Depth4" />
                </Assign>
                <Aggregate Id="Wpt4">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat4" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon4" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
            </Aggregate>
            <Aggregate Id="Leg5">
                <Sequence />
                <Break>
                    <IsNaN>
                        <Arg Name="Depth5" />
                    </IsNaN>
                </Break>
                <Syslog Severity="Info">
                    Transiting to next waypoint at depth 
                    <Arg Name="Depth5" />
                    <Units:meter />
                </Syslog>
                <Assign>
                    <Sequence />
                    <Arg Name="LegDepth" />
                    <Arg Name="Depth5" />
                </Assign>
                <Aggregate Id="Wpt5">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat5" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon5" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
            </Aggregate>
            <Aggregate Id="Leg6">
                <Sequence />
                <Break>
                    <IsNaN>
                        <Arg Name="Depth6" />
                    </IsNaN>
                </Break>
                <Syslog Severity="Info">
                    Transiting to next waypoint at depth 
                    <Arg Name="Depth6" />
                    <Units:meter />
                </Syslog>
                <Assign>
                    <Sequence />
                    <Arg Name="LegDepth" />
                    <Arg Name="Depth6" />
                </Assign>
                <Aggregate Id="Wpt6">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat6" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon6" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
            </Aggregate>
            <Aggregate Id="Leg7">
                <Sequence />
                <Break>
                    <IsNaN>
                        <Arg Name="Depth7" />
                    </IsNaN>
                </Break>
                <Syslog Severity="Info">
                    Transiting to next waypoint at depth 
                    <Arg Name="Depth7" />
                    <Units:meter />
                </Syslog>
                <Assign>
                    <Sequence />
                    <Arg Name="LegDepth" />
                    <Arg Name="Depth7" />
                </Assign>
                <Aggregate Id="Wpt7">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat7" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon7" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
            </Aggregate>
            <Aggregate Id="Leg8">
                <Sequence />
                <Break>
                    <IsNaN>
                        <Arg Name="Depth8" />
                    </IsNaN>
                </Break>
                <Syslog Severity="Info">
                    Transiting to next waypoint at depth 
                    <Arg Name="Depth8" />
                    <Units:meter />
                </Syslog>
                <Assign>
                    <Sequence />
                    <Arg Name="LegDepth" />
                    <Arg Name="Depth8" />
                </Assign>
                <Aggregate Id="Wpt8">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat8" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon8" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
            </Aggregate>
        </Aggregate>
    </Aggregate>
</Mission>

2025-03-13T01:58:12.480Z,1741831092.480 [MissionManager](INFO): DefineArg sci2_noyo_optim.MissionTimeout = 2.000000 h
2025-03-13T01:58:12.482Z,1741831092.482 [MissionManager](INFO): DefineArg sci2_noyo_optim.NeedCommsTime = 60.000000 min
2025-03-13T01:58:12.484Z,1741831092.484 [MissionManager](INFO): DefineArg sci2_noyo_optim.Depth1 = 35.000000 m
2025-03-13T01:58:12.486Z,1741831092.486 [MissionManager](INFO): DefineArg sci2_noyo_optim.Depth2 = nan m
2025-03-13T01:58:12.488Z,1741831092.488 [MissionManager](INFO): DefineArg sci2_noyo_optim.Depth3 = nan m
2025-03-13T01:58:12.490Z,1741831092.490 [MissionManager](INFO): DefineArg sci2_noyo_optim.Depth4 = nan m
2025-03-13T01:58:12.492Z,1741831092.492 [MissionManager](INFO): DefineArg sci2_noyo_optim.Depth5 = nan m
2025-03-13T01:58:12.494Z,1741831092.494 [MissionManager](INFO): DefineArg sci2_noyo_optim.Depth6 = nan m
2025-03-13T01:58:12.497Z,1741831092.497 [MissionManager](INFO): DefineArg sci2_noyo_optim.Depth7 = nan m
2025-03-13T01:58:12.499Z,1741831092.499 [MissionManager](INFO): DefineArg sci2_noyo_optim.Depth8 = nan m
2025-03-13T01:58:12.529Z,1741831092.529 [MissionManager](INFO): DefineArg sci2_noyo_optim.DepthPerLeg = 0 bool
2025-03-13T01:58:12.536Z,1741831092.536 [MissionManager](INFO): DefineArg sci2_noyo_optim.Repeat = 1.000000 count
2025-03-13T01:58:12.538Z,1741831092.538 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lat1 = nan arcdeg
2025-03-13T01:58:12.540Z,1741831092.540 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lat2 = nan arcdeg
2025-03-13T01:58:12.542Z,1741831092.542 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lat3 = nan arcdeg
2025-03-13T01:58:12.561Z,1741831092.561 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lat4 = nan arcdeg
2025-03-13T01:58:12.563Z,1741831092.563 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lat5 = nan arcdeg
2025-03-13T01:58:12.569Z,1741831092.569 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lat6 = nan arcdeg
2025-03-13T01:58:12.578Z,1741831092.578 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lat7 = nan arcdeg
2025-03-13T01:58:12.582Z,1741831092.582 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lat8 = nan arcdeg
2025-03-13T01:58:12.584Z,1741831092.584 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lon1 = nan arcdeg
2025-03-13T01:58:12.586Z,1741831092.586 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lon2 = nan arcdeg
2025-03-13T01:58:12.588Z,1741831092.588 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lon3 = nan arcdeg
2025-03-13T01:58:12.591Z,1741831092.591 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lon4 = nan arcdeg
2025-03-13T01:58:12.617Z,1741831092.617 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lon5 = nan arcdeg
2025-03-13T01:58:12.619Z,1741831092.619 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lon6 = nan arcdeg
2025-03-13T01:58:12.621Z,1741831092.621 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lon7 = nan arcdeg
2025-03-13T01:58:12.637Z,1741831092.637 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lon8 = nan arcdeg
2025-03-13T01:58:12.645Z,1741831092.645 [MissionManager](INFO): DefineArg sci2_noyo_optim.FastSpeed = 1.000000 m/s
2025-03-13T01:58:12.647Z,1741831092.647 [MissionManager](INFO): DefineArg sci2_noyo_optim.ApproachDepth = 30.000000 m
2025-03-13T01:58:12.650Z,1741831092.650 [MissionManager](INFO): DefineArg sci2_noyo_optim.ApproachSpeed = 0.700000 m/s
2025-03-13T01:58:12.663Z,1741831092.663 [MissionManager](INFO): DefineArg sci2_noyo_optim.ApproachDepthRate = 0.050000 m/s
2025-03-13T01:58:12.674Z,1741831092.674 [MissionManager](INFO): DefineArg sci2_noyo_optim.ApproachPitchLimit = 20.000000 arcdeg
2025-03-13T01:58:12.688Z,1741831092.688 [MissionManager](INFO): DefineArg sci2_noyo_optim.ApproachDepthTimeout = 15.000000 min
2025-03-13T01:58:12.691Z,1741831092.691 [MissionManager](INFO): DefineArg sci2_noyo_optim.ApproachSettleTimePreDive = 1.000000 min
2025-03-13T01:58:12.693Z,1741831092.693 [MissionManager](INFO): DefineArg sci2_noyo_optim.ApproachSettleTimePostDive = 3.000000 min
2025-03-13T01:58:12.695Z,1741831092.695 [MissionManager](INFO): DefineArg sci2_noyo_optim.kpDepth = 0.070000 rad/m
2025-03-13T01:58:12.697Z,1741831092.697 [MissionManager](INFO): DefineArg sci2_noyo_optim.SlowSpeed = 0.250000 m/s
2025-03-13T01:58:12.718Z,1741831092.718 [MissionManager](INFO): DefineArg sci2_noyo_optim.DepthDeviationSlow = 3.000000 m
2025-03-13T01:58:12.721Z,1741831092.721 [MissionManager](INFO): DefineArg sci2_noyo_optim.BuoyancyNeutral = 373.087250 cc
2025-03-13T01:58:12.734Z,1741831092.734 [MissionManager](INFO): DefineArg sci2_noyo_optim.MassDefault = 0.684636 cm
2025-03-13T01:58:12.741Z,1741831092.741 [MissionManager](INFO): DefineArg sci2_noyo_optim.MinAltitude = 2.000000 m
2025-03-13T01:58:12.748Z,1741831092.748 [MissionManager](INFO): DefineArg sci2_noyo_optim.MaxDepth = 50.000000 m
2025-03-13T01:58:12.750Z,1741831092.750 [MissionManager](INFO): DefineArg sci2_noyo_optim.MinOffshore = 2.000000 km
2025-03-13T01:58:12.752Z,1741831092.752 [MissionManager](INFO): DefineOutput sci2_noyo_optim.DiveMode = 0.000000 count
2025-03-13T01:58:12.755Z,1741831092.755 [MissionManager](INFO): DefineOutput sci2_noyo_optim.DoingComms = 0.000000 count
2025-03-13T01:58:12.757Z,1741831092.757 [MissionManager](INFO): DefineOutput sci2_noyo_optim.InitialDive = 1.000000 count
2025-03-13T01:58:12.772Z,1741831092.772 [MissionManager](INFO): DefineOutput sci2_noyo_optim.SettleAtDepth = 2.000000 count
2025-03-13T01:58:12.774Z,1741831092.774 [MissionManager](INFO): DefineOutput sci2_noyo_optim.MaintainDepth = 3.000000 count
2025-03-13T01:58:12.777Z,1741831092.777 [MissionManager](INFO): DefineOutput sci2_noyo_optim.LegDepth = 35.000000 m
2025-03-13T01:58:12.777Z,1741831092.777 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/Science.tl
2025-03-13T01:58:12.777Z,1741831092.777 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/Science.tl
2025-03-13T01:58:12.781Z,1741831092.781 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/Science.tl
2025-03-13T01:58:17.451Z,1741831097.451 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/Science.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="Science">
    <DefineArg Name="PeakDetectChlActive">
        <False />
    </DefineArg>
    <DefineArg Name="EdgeDetectChlActive">
        <False />
    </DefineArg>
    <DefineArg Name="TimeWindowPeakReport">
        <Units:minute />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="HighestChlPeakReportActive">
        <False />
    </DefineArg>
    <DefineArg Name="HighestSaltPeakReportActive">
        <False />
    </DefineArg>
    <DefineArg Name="HighestOilPeakReportActive">
        <False />
    </DefineArg>
    <DefineArg Name="PatchTracking">
        <False />
    </DefineArg>
    <DefineArg Name="FilterWidthHorizontal">
        <Units:count />
        <Value>3</Value>
    </DefineArg>
    <DefineArg Name="NumProfilesSlidingwindow">
        <Units:count />
        <Value>100</Value>
    </DefineArg>
    <DefineArg Name="OffPeakFractionHorizontal">
        <Units:percent />
        <Value>80</Value>
    </DefineArg>
    <DefineArg Name="PeakDetectNO3Active">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectOilActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectFDOMActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectSalinityActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreLMavgROIActive">
        <False />
    </DefineArg>
    <DefineArg Name="EdgeDetectPlanktivoreLMavgROIActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreHMavgROIActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreDiatomsActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreDinoflagellatesActive">
        <False />
    </DefineArg>
    <DefineArg Name="UpwardDerivativeOfTemperatureActive">
        <False />
    </DefineArg>
    <DefineArg Name="EnabledAanderaaO2">
        <Science:Aanderaa_O2.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledNeilBrown">
        <Science:CTD_NeilBrown.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledSeabird">
        <Science:CTD_Seabird.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledWetLabsBB2FL">
        <Science:WetLabsBB2FL.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledWetLabsSeaOWL_UV_A">
        <Science:WetLabsSeaOWL_UV_A.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledWetLabsUBAT">
        <Science:WetLabsUBAT.loadAtStartup />
    </DefineArg>
    <DefineArg Name="LowPassWindowLength">
        <Units:count />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="MedianFilterLen">
        <Units:count />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="ShallowBound">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="DeepBound">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="DepChangeThreshForAttitudeFlip">
        <Units:meter />
        <Value>2.0</Value>
    </DefineArg>
    <DefineArg Name="OffPeakFractionVertical">
        <Units:percent />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="ChlPeakThresh">
        <Units:microgram_per_liter />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="ChlThreshTriggerActive">
        <False />
    </DefineArg>
    <DefineArg Name="ChlLowerThresh">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="ChlUpperThresh">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="NumProfilesThresh">
        <Units:count />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="PlanktivoreLMavgROIPeakThresh">
        <Units:count_per_second />
        <Value>0</Value>
    </DefineArg>
    <DefineOutput Name="GoDown">
        <True />
    </DefineOutput>
    <DefineOutput Name="PeakChl">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChl">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChlDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChlTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChlLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChlLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3">
        <Units:micromole_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3Depth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3Latitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3Longitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOil">
        <Units:kilogram_per_cubic_meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOilDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOilLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOilLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOM">
        <Units:part_per_billion />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSalt">
        <Units:practical_salinity_unit />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROI">
        <Units:count_per_second />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROIDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROITemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROILatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROILongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROI">
        <Units:count_per_second />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROIDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROITemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROILatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROILongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROI">
        <Units:count_per_second />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROIDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROITemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROILatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROILongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatoms">
        <Units:count_per_milliliter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellates">
        <Units:count_per_milliliter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChl">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlDistance">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSalt">
        <Units:practical_salinity_unit />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltDistance">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOil">
        <Units:practical_salinity_unit />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilDistance">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="TriggeredOnChl">
        <False />
    </DefineOutput>
    <DefineOutput Name="ChlTriggering">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <Parallel />
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledAanderaaO2" />
        </While>
        <Universal:mass_concentration_of_oxygen_in_sea_water />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledNeilBrown" />
            <Or>
                <Arg Name="EnabledSeabird" />
            </Or>
        </While>
        <Universal:sea_water_temperature />
        <Universal:sea_water_salinity />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledSeabird" />
        </While>
        <Science:CTD_Seabird.sea_water_temperature />
        <Science:CTD_Seabird.sea_water_salinity />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledNeilBrown" />
            <Or>
                <Arg Name="EnabledSeabird" />
            </Or>
            <And>
                <Arg Name="UpwardDerivativeOfTemperatureActive" />
            </And>
        </While>
        <Universal:upward_derivative_of_sea_water_temperature />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledWetLabsBB2FL" />
            <Or>
                <Arg Name="PeakDetectChlActive" />
            </Or>
        </While>
        <Universal:mass_concentration_of_chlorophyll_in_sea_water />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledWetLabsUBAT" />
        </While>
        <Science:WetLabsUBAT.average_bioluminescence />
    </ReadData>
    <ReadData Id="Read_Oil" Strategy="MinError">
        <While>
            <Arg Name="EnabledWetLabsSeaOWL_UV_A" />
            <Or>
                <Arg Name="PeakDetectOilActive" />
            </Or>
        </While>
        <Universal:mass_concentration_of_petroleum_hydrocarbons_in_sea_water />
    </ReadData>
    <Aggregate Id="OceanCurrent">
        <Sequence />
        <Estimation:CurrentEstimator>
            <Parallel />
        </Estimation:CurrentEstimator>
    </Aggregate>
    <Aggregate Id="PeakDetectChl">
        <While>
            <Arg Name="PeakDetectChlActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:mass_concentration_of_chlorophyll_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakChl">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakChlDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakChlTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakChlLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakChlLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakChl" />
            <Arg Name="PeakChlDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="EdgeDetectChl">
        <While>
            <Arg Name="EdgeDetectChlActive" />
        </While>
        <Syslog Severity="Debug">EdgeDetectVsDepth</Syslog>
        <Trigger:EdgeDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:EdgeDetectVsDepth.detect />
                <Universal:mass_concentration_of_chlorophyll_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFraction />
                <Arg Name="OffPeakFractionVertical" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.peakThresh />
                <Arg Name="ChlPeakThresh" />
            </Setting>
            <OutputArg Name="GoDown">
                <Trigger:EdgeDetectVsDepth.goDown />
            </OutputArg>
            <OutputArg Name="PeakChl">
                <Trigger:EdgeDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakChlDepth">
                <Trigger:EdgeDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakChlTemperature">
                <Trigger:EdgeDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakChlLatitude">
                <Trigger:EdgeDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakChlLongitude">
                <Trigger:EdgeDetectVsDepth.peakLongitude />
            </OutputArg>
            <OutputArg Name="EdgeChl">
                <Trigger:EdgeDetectVsDepth.edgeDetect />
            </OutputArg>
            <OutputArg Name="EdgeChlDepth">
                <Trigger:EdgeDetectVsDepth.edgeDepth />
            </OutputArg>
            <OutputArg Name="EdgeChlTemperature">
                <Trigger:EdgeDetectVsDepth.edgeTemperature />
            </OutputArg>
            <OutputArg Name="EdgeChlLatitude">
                <Trigger:EdgeDetectVsDepth.edgeLatitude />
            </OutputArg>
            <OutputArg Name="EdgeChlLongitude">
                <Trigger:EdgeDetectVsDepth.edgeLongitude />
            </OutputArg>
        </Trigger:EdgeDetectVsDepth>
        <Syslog Severity="Info">
            GoDown, ChlPeakThresh, PeakChl, PeakChlDepth, EdgeChl, EdgeChlDepth = 
            <Arg Name="GoDown" />
            <Units:bool />
            , 
            <Arg Name="ChlPeakThresh" />
            <Units:microgram_per_liter />
            , 
            <Arg Name="PeakChl" />
            <Units:microgram_per_liter />
            , 
            <Arg Name="PeakChlDepth" />
            <Units:meter />
            , 
            <Arg Name="EdgeChl" />
            <Units:microgram_per_liter />
            , 
            <Arg Name="EdgeChlDepth" />
            <Units:meter />
        </Syslog>
        <SendData Service="Express">
            <Arg Name="PeakChl" />
            <Arg Name="PeakChlDepth" />
            <Arg Name="EdgeChl" />
            <Arg Name="EdgeChlDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="HighestChlPeakReport">
        <While>
            <Arg Name="HighestChlPeakReportActive" />
        </While>
        <Trigger:PeakDetectHorizontal>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectHorizontal.detectFrom />
                <Arg Name="PeakChl" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.depthFrom />
                <Arg Name="PeakChlDepth" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.latitudeFrom />
                <Arg Name="PeakChlLatitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.longitudeFrom />
                <Arg Name="PeakChlLongitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.patchTracking />
                <Arg Name="PatchTracking" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.filterWidth />
                <Arg Name="FilterWidthHorizontal" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.numProfilesSlidingwindow />
                <Arg Name="NumProfilesSlidingwindow" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.offPeakFraction />
                <Arg Name="OffPeakFractionHorizontal" />
            </Setting>
            <OutputArg Name="PatchChl">
                <Trigger:PeakDetectHorizontal.peakDetect />
            </OutputArg>
            <OutputArg Name="PatchChlDepth">
                <Trigger:PeakDetectHorizontal.peakDepth />
            </OutputArg>
            <OutputArg Name="PatchChlLatitude">
                <Trigger:PeakDetectHorizontal.peakLatitude />
            </OutputArg>
            <OutputArg Name="PatchChlLongitude">
                <Trigger:PeakDetectHorizontal.peakLongitude />
            </OutputArg>
            <OutputArg Name="PatchChlDistance">
                <Trigger:PeakDetectHorizontal.peakDistance />
            </OutputArg>
        </Trigger:PeakDetectHorizontal>
    </Aggregate>
    <Aggregate Id="PeakDetectNO3">
        <While>
            <Arg Name="PeakDetectNO3Active" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:mole_concentration_of_nitrate_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <OutputArg Name="PeakNO3">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakNO3Depth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakNO3Latitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakNO3Longitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakNO3" />
            <Arg Name="PeakNO3Depth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectOil">
        <While>
            <Arg Name="PeakDetectOilActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:mass_concentration_of_petroleum_hydrocarbons_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <OutputArg Name="PeakOil">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakOilDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakOilLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakOilLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakOil" />
            <Arg Name="PeakOilDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="HighestOilPeakReport">
        <While>
            <Arg Name="HighestOilPeakReportActive" />
        </While>
        <Trigger:PeakDetectHorizontal>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectHorizontal.detectFrom />
                <Arg Name="PeakOil" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.depthFrom />
                <Arg Name="PeakOilDepth" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.latitudeFrom />
                <Arg Name="PeakOilLatitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.longitudeFrom />
                <Arg Name="PeakOilLongitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.patchTracking />
                <Arg Name="PatchTracking" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.filterWidth />
                <Arg Name="FilterWidthHorizontal" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.numProfilesSlidingwindow />
                <Arg Name="NumProfilesSlidingwindow" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.offPeakFraction />
                <Arg Name="OffPeakFractionHorizontal" />
            </Setting>
            <OutputArg Name="PatchOil">
                <Trigger:PeakDetectHorizontal.peakDetect />
            </OutputArg>
            <OutputArg Name="PatchOilDepth">
                <Trigger:PeakDetectHorizontal.peakDepth />
            </OutputArg>
            <OutputArg Name="PatchOilLatitude">
                <Trigger:PeakDetectHorizontal.peakLatitude />
            </OutputArg>
            <OutputArg Name="PatchOilLongitude">
                <Trigger:PeakDetectHorizontal.peakLongitude />
            </OutputArg>
            <OutputArg Name="PatchOilDistance">
                <Trigger:PeakDetectHorizontal.peakDistance />
            </OutputArg>
        </Trigger:PeakDetectHorizontal>
    </Aggregate>
    <Aggregate Id="PeakDetectFDOM">
        <While>
            <Arg Name="PeakDetectFDOMActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:concentration_of_colored_dissolved_organic_matter_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <OutputArg Name="PeakFDOM">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakFDOMDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakFDOMTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakFDOMLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakFDOMLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakFDOM" />
            <Arg Name="PeakFDOMDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectSalinity">
        <While>
            <Arg Name="PeakDetectSalinityActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:sea_water_salinity />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakSalt">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakSaltDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakSaltTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakSaltLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakSaltLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakSalt" />
            <Arg Name="PeakSaltDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="HighestSaltPeakReport">
        <While>
            <Arg Name="HighestSaltPeakReportActive" />
        </While>
        <Trigger:PeakDetectHorizontal>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectHorizontal.detectFrom />
                <Arg Name="PeakSalt" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.depthFrom />
                <Arg Name="PeakSaltDepth" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.latitudeFrom />
                <Arg Name="PeakSaltLatitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.longitudeFrom />
                <Arg Name="PeakSaltLongitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.patchTracking />
                <Arg Name="PatchTracking" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.filterWidth />
                <Arg Name="FilterWidthHorizontal" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.numProfilesSlidingwindow />
                <Arg Name="NumProfilesSlidingwindow" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.offPeakFraction />
                <Arg Name="OffPeakFractionHorizontal" />
            </Setting>
            <OutputArg Name="PatchSalt">
                <Trigger:PeakDetectHorizontal.peakDetect />
            </OutputArg>
            <OutputArg Name="PatchSaltDepth">
                <Trigger:PeakDetectHorizontal.peakDepth />
            </OutputArg>
            <OutputArg Name="PatchSaltLatitude">
                <Trigger:PeakDetectHorizontal.peakLatitude />
            </OutputArg>
            <OutputArg Name="PatchSaltLongitude">
                <Trigger:PeakDetectHorizontal.peakLongitude />
            </OutputArg>
            <OutputArg Name="PatchSaltDistance">
                <Trigger:PeakDetectHorizontal.peakDistance />
            </OutputArg>
        </Trigger:PeakDetectHorizontal>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreLMavgROI">
        <While>
            <Arg Name="PeakDetectPlanktivoreLMavgROIActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_LM_AvgRois</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreLMavgROI">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROIDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROITemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROILatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROILongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreLMavgROI" />
            <Arg Name="PeakPlanktivoreLMavgROIDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="EdgeDetectPlanktivoreLMavgROI">
        <While>
            <Arg Name="EdgeDetectPlanktivoreLMavgROIActive" />
        </While>
        <Syslog Severity="Debug">EdgeDetectVsDepth</Syslog>
        <Trigger:EdgeDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:EdgeDetectVsDepth.detect />
                <String>_.planktivore_LM_AvgRois</String>
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFraction />
                <Arg Name="OffPeakFractionVertical" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.peakThresh />
                <Arg Name="PlanktivoreLMavgROIPeakThresh" />
            </Setting>
            <OutputArg Name="GoDown">
                <Trigger:EdgeDetectVsDepth.goDown />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROI">
                <Trigger:EdgeDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROIDepth">
                <Trigger:EdgeDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROITemperature">
                <Trigger:EdgeDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROILatitude">
                <Trigger:EdgeDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROILongitude">
                <Trigger:EdgeDetectVsDepth.peakLongitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROI">
                <Trigger:EdgeDetectVsDepth.edgeDetect />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROIDepth">
                <Trigger:EdgeDetectVsDepth.edgeDepth />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROITemperature">
                <Trigger:EdgeDetectVsDepth.edgeTemperature />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROILatitude">
                <Trigger:EdgeDetectVsDepth.edgeLatitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROILongitude">
                <Trigger:EdgeDetectVsDepth.edgeLongitude />
            </OutputArg>
        </Trigger:EdgeDetectVsDepth>
        <Syslog Severity="Important">
            GoDown, PlanktivoreLMavgROIPeakThresh, PeakPlanktivoreLMavgROI, PeakPlanktivoreLMavgROIDepth, EdgePlanktivoreLMavgROI, EdgePlanktivoreLMavgROIDepth = 
            <Arg Name="GoDown" />
            <Units:bool />
            , 
            <Arg Name="PlanktivoreLMavgROIPeakThresh" />
            <Units:microgram_per_liter />
            , 
            <Arg Name="PeakPlanktivoreLMavgROI" />
            <Units:microgram_per_liter />
            , 
            <Arg Name="PeakPlanktivoreLMavgROIDepth" />
            <Units:meter />
            , 
            <Arg Name="EdgePlanktivoreLMavgROI" />
            <Units:microgram_per_liter />
            , 
            <Arg Name="EdgePlanktivoreLMavgROIDepth" />
            <Units:meter />
        </Syslog>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreLMavgROI" />
            <Arg Name="PeakPlanktivoreLMavgROIDepth" />
            <Arg Name="EdgePlanktivoreLMavgROI" />
            <Arg Name="EdgePlanktivoreLMavgROIDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreHMavgROI">
        <While>
            <Arg Name="PeakDetectPlanktivoreHMavgROIActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_HM_AvgRois</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreHMavgROI">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROIDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROITemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROILatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROILongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreHMavgROI" />
            <Arg Name="PeakPlanktivoreHMavgROIDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreDiatoms">
        <While>
            <Arg Name="PeakDetectPlanktivoreDiatomsActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_diatoms</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreDiatoms">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreDiatoms" />
            <Arg Name="PeakPlanktivoreDiatomsDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreDinoflagellates">
        <While>
            <Arg Name="PeakDetectPlanktivoreDinoflagellatesActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_dinoflagellates</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreDinoflagellates">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreDinoflagellates" />
            <Arg Name="PeakPlanktivoreDinoflagellatesDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="ChlThreshTrigger">
        <While>
            <Arg Name="ChlThreshTriggerActive" />
        </While>
        <Trigger:ValueDetect>
            <Sequence />
            <Setting>
                <Trigger:ValueDetect.detect />
                <Arg Name="PeakChl" />
            </Setting>
            <Setting>
                <Trigger:ValueDetect.lowerThreshold />
                <Arg Name="ChlLowerThresh" />
            </Setting>
            <Setting>
                <Trigger:ValueDetect.upperThreshold />
                <Arg Name="ChlUpperThresh" />
            </Setting>
            <Setting>
                <Trigger:ValueDetect.numProfilesThreshold />
                <Arg Name="NumProfilesThresh" />
            </Setting>
            <OutputArg Name="ChlTriggering">
                <Trigger:ValueDetect.outputValue />
            </OutputArg>
        </Trigger:ValueDetect>
        <Assign>
            <Sequence />
            <Arg Name="TriggeredOnChl" />
            <True />
        </Assign>
        <Syslog Severity="Important">
            Triggered. PeakChl values on 
            <Arg Name="NumProfilesThresh" />
            <Units:count />
             consecutive yo-yo profiles fall in [
            <Arg Name="ChlLowerThresh" />
            <Units:microgram_per_liter />
            <Arg Name="ChlUpperThresh" />
            <Units:microgram_per_liter />
            ] (NaN bound is ignored).
        </Syslog>
    </Aggregate>
</Aggregate>

2025-03-13T01:58:17.552Z,1741831097.552 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.PeakDetectChlActive = 0 bool
2025-03-13T01:58:17.554Z,1741831097.554 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.EdgeDetectChlActive = 0 bool
2025-03-13T01:58:17.561Z,1741831097.561 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.TimeWindowPeakReport = nan min
2025-03-13T01:58:17.563Z,1741831097.563 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.HighestChlPeakReportActive = 0 bool
2025-03-13T01:58:17.576Z,1741831097.576 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.HighestSaltPeakReportActive = 0 bool
2025-03-13T01:58:17.578Z,1741831097.578 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.HighestOilPeakReportActive = 0 bool
2025-03-13T01:58:17.584Z,1741831097.584 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.PatchTracking = 0 bool
2025-03-13T01:58:17.586Z,1741831097.586 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.FilterWidthHorizontal = 3.000000 count
2025-03-13T01:58:17.597Z,1741831097.597 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.NumProfilesSlidingwindow = 100.000000 count
2025-03-13T01:58:17.599Z,1741831097.599 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.OffPeakFractionHorizontal = 80.000000 %
2025-03-13T01:58:17.609Z,1741831097.609 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.PeakDetectNO3Active = 0 bool
2025-03-13T01:58:17.611Z,1741831097.611 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.PeakDetectOilActive = 0 bool
2025-03-13T01:58:17.632Z,1741831097.632 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.PeakDetectFDOMActive = 0 bool
2025-03-13T01:58:17.634Z,1741831097.634 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.PeakDetectSalinityActive = 0 bool
2025-03-13T01:58:17.644Z,1741831097.644 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.PeakDetectPlanktivoreLMavgROIActive = 0 bool
2025-03-13T01:58:17.646Z,1741831097.646 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.EdgeDetectPlanktivoreLMavgROIActive = 0 bool
2025-03-13T01:58:17.656Z,1741831097.656 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.PeakDetectPlanktivoreHMavgROIActive = 0 bool
2025-03-13T01:58:17.658Z,1741831097.658 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.PeakDetectPlanktivoreDiatomsActive = 0 bool
2025-03-13T01:58:17.681Z,1741831097.681 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.PeakDetectPlanktivoreDinoflagellatesActive = 0 bool
2025-03-13T01:58:17.682Z,1741831097.682 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2025-03-13T01:58:17.693Z,1741831097.693 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.EnabledAanderaaO2 = 0 bool
2025-03-13T01:58:17.704Z,1741831097.704 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.EnabledNeilBrown = 0 bool
2025-03-13T01:58:17.706Z,1741831097.706 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.EnabledSeabird = 1 bool
2025-03-13T01:58:17.717Z,1741831097.717 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.EnabledWetLabsBB2FL = 1 bool
2025-03-13T01:58:17.728Z,1741831097.728 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.EnabledWetLabsSeaOWL_UV_A = 0 bool
2025-03-13T01:58:17.730Z,1741831097.730 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.EnabledWetLabsUBAT = 0 bool
2025-03-13T01:58:17.741Z,1741831097.741 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.LowPassWindowLength = 20.000000 count
2025-03-13T01:58:17.751Z,1741831097.751 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.MedianFilterLen = 5.000000 count
2025-03-13T01:58:17.753Z,1741831097.753 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.ShallowBound = nan m
2025-03-13T01:58:17.772Z,1741831097.772 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.DeepBound = nan m
2025-03-13T01:58:17.774Z,1741831097.774 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.DepChangeThreshForAttitudeFlip = 2.000000 m
2025-03-13T01:58:17.784Z,1741831097.784 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.OffPeakFractionVertical = nan %
2025-03-13T01:58:17.787Z,1741831097.787 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.ChlPeakThresh = 0.000000 ug/l
2025-03-13T01:58:17.801Z,1741831097.801 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.ChlThreshTriggerActive = 0 bool
2025-03-13T01:58:17.811Z,1741831097.811 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.ChlLowerThresh = nan ug/l
2025-03-13T01:58:17.813Z,1741831097.813 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.ChlUpperThresh = nan ug/l
2025-03-13T01:58:17.844Z,1741831097.844 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.NumProfilesThresh = 5.000000 count
2025-03-13T01:58:17.846Z,1741831097.846 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.PlanktivoreLMavgROIPeakThresh = 0.000000 count/s
2025-03-13T01:58:17.861Z,1741831097.861 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.GoDown = 1 bool
2025-03-13T01:58:17.863Z,1741831097.863 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakChl = nan ug/l
2025-03-13T01:58:17.900Z,1741831097.900 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakChlDepth = nan m
2025-03-13T01:58:17.902Z,1741831097.902 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakChlTemperature = nan degC
2025-03-13T01:58:17.918Z,1741831097.918 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakChlLatitude = nan arcdeg
2025-03-13T01:58:17.946Z,1741831097.946 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakChlLongitude = nan arcdeg
2025-03-13T01:58:17.961Z,1741831097.961 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.EdgeChl = nan ug/l
2025-03-13T01:58:17.972Z,1741831097.972 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.EdgeChlDepth = nan m
2025-03-13T01:58:17.974Z,1741831097.974 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.EdgeChlTemperature = nan degC
2025-03-13T01:58:17.980Z,1741831097.980 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.EdgeChlLatitude = nan arcdeg
2025-03-13T01:58:17.983Z,1741831097.983 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.EdgeChlLongitude = nan arcdeg
2025-03-13T01:58:18.015Z,1741831098.015 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakNO3 = nan umol/l
2025-03-13T01:58:18.018Z,1741831098.018 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakNO3Depth = nan m
2025-03-13T01:58:18.028Z,1741831098.028 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakNO3Latitude = nan arcdeg
2025-03-13T01:58:18.030Z,1741831098.030 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakNO3Longitude = nan arcdeg
2025-03-13T01:58:18.041Z,1741831098.041 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakOil = nan kg/m3
2025-03-13T01:58:18.056Z,1741831098.056 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakOilDepth = nan m
2025-03-13T01:58:18.058Z,1741831098.058 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakOilLatitude = nan arcdeg
2025-03-13T01:58:18.064Z,1741831098.064 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakOilLongitude = nan arcdeg
2025-03-13T01:58:18.067Z,1741831098.067 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakFDOM = nan ppb
2025-03-13T01:58:18.081Z,1741831098.081 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakFDOMDepth = nan m
2025-03-13T01:58:18.092Z,1741831098.092 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakFDOMTemperature = nan degC
2025-03-13T01:58:18.094Z,1741831098.094 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakFDOMLatitude = nan arcdeg
2025-03-13T01:58:18.105Z,1741831098.105 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakFDOMLongitude = nan arcdeg
2025-03-13T01:58:18.115Z,1741831098.115 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakSalt = nan psu
2025-03-13T01:58:18.118Z,1741831098.118 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakSaltDepth = nan m
2025-03-13T01:58:18.136Z,1741831098.136 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakSaltTemperature = nan degC
2025-03-13T01:58:18.139Z,1741831098.139 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakSaltLatitude = nan arcdeg
2025-03-13T01:58:18.150Z,1741831098.150 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakSaltLongitude = nan arcdeg
2025-03-13T01:58:18.152Z,1741831098.152 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreLMavgROI = nan count/s
2025-03-13T01:58:18.154Z,1741831098.154 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreLMavgROIDepth = nan m
2025-03-13T01:58:18.173Z,1741831098.173 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreLMavgROITemperature = nan degC
2025-03-13T01:58:18.183Z,1741831098.183 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreLMavgROILatitude = nan arcdeg
2025-03-13T01:58:18.186Z,1741831098.186 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreLMavgROILongitude = nan arcdeg
2025-03-13T01:58:18.196Z,1741831098.196 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.EdgePlanktivoreLMavgROI = nan count/s
2025-03-13T01:58:18.199Z,1741831098.199 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.EdgePlanktivoreLMavgROIDepth = nan m
2025-03-13T01:58:18.213Z,1741831098.213 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.EdgePlanktivoreLMavgROITemperature = nan degC
2025-03-13T01:58:18.224Z,1741831098.224 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.EdgePlanktivoreLMavgROILatitude = nan arcdeg
2025-03-13T01:58:18.226Z,1741831098.226 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.EdgePlanktivoreLMavgROILongitude = nan arcdeg
2025-03-13T01:58:18.257Z,1741831098.257 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreHMavgROI = nan count/s
2025-03-13T01:58:18.271Z,1741831098.271 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreHMavgROIDepth = nan m
2025-03-13T01:58:18.274Z,1741831098.274 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreHMavgROITemperature = nan degC
2025-03-13T01:58:18.285Z,1741831098.285 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreHMavgROILatitude = nan arcdeg
2025-03-13T01:58:18.302Z,1741831098.302 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreHMavgROILongitude = nan arcdeg
2025-03-13T01:58:18.324Z,1741831098.324 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreDiatoms = nan count/ml
2025-03-13T01:58:18.326Z,1741831098.326 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreDiatomsDepth = nan m
2025-03-13T01:58:18.349Z,1741831098.349 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreDiatomsTemperature = nan degC
2025-03-13T01:58:18.368Z,1741831098.368 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreDiatomsLatitude = nan arcdeg
2025-03-13T01:58:18.370Z,1741831098.370 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreDiatomsLongitude = nan arcdeg
2025-03-13T01:58:18.388Z,1741831098.388 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreDinoflagellates = nan count/ml
2025-03-13T01:58:18.390Z,1741831098.390 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreDinoflagellatesDepth = nan m
2025-03-13T01:58:18.421Z,1741831098.421 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreDinoflagellatesTemperature = nan degC
2025-03-13T01:58:18.432Z,1741831098.432 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreDinoflagellatesLatitude = nan arcdeg
2025-03-13T01:58:18.434Z,1741831098.434 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreDinoflagellatesLongitude = nan arcdeg
2025-03-13T01:58:18.449Z,1741831098.449 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchChl = nan ug/l
2025-03-13T01:58:18.458Z,1741831098.458 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchChlDepth = nan m
2025-03-13T01:58:18.481Z,1741831098.481 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchChlLatitude = nan arcdeg
2025-03-13T01:58:18.491Z,1741831098.491 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchChlLongitude = nan arcdeg
2025-03-13T01:58:18.494Z,1741831098.494 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchChlDistance = nan m
2025-03-13T01:58:18.508Z,1741831098.508 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchSalt = nan psu
2025-03-13T01:58:18.511Z,1741831098.511 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchSaltDepth = nan m
2025-03-13T01:58:18.521Z,1741831098.521 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchSaltLatitude = nan arcdeg
2025-03-13T01:58:18.532Z,1741831098.532 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchSaltLongitude = nan arcdeg
2025-03-13T01:58:18.534Z,1741831098.534 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchSaltDistance = nan m
2025-03-13T01:58:18.549Z,1741831098.549 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchOil = nan psu
2025-03-13T01:58:18.551Z,1741831098.551 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchOilDepth = nan m
2025-03-13T01:58:18.553Z,1741831098.553 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchOilLatitude = nan arcdeg
2025-03-13T01:58:18.575Z,1741831098.575 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchOilLongitude = nan arcdeg
2025-03-13T01:58:18.590Z,1741831098.590 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchOilDistance = nan m
2025-03-13T01:58:18.598Z,1741831098.598 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.TriggeredOnChl = 0 bool
2025-03-13T01:58:18.600Z,1741831098.600 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.ChlTriggering = nan ug/l
2025-03-13T01:58:18.690Z,1741831098.690 [sci2_noyo_optim:Science:PeakDetectChl:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-03-13T01:58:18.796Z,1741831098.796 [sci2_noyo_optim:Science:EdgeDetectChl:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-03-13T01:58:18.853Z,1741831098.853 [sci2_noyo_optim:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-03-13T01:58:18.891Z,1741831098.891 [sci2_noyo_optim:Science:PeakDetectNO3:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-03-13T01:58:18.926Z,1741831098.926 [sci2_noyo_optim:Science:PeakDetectOil:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-03-13T01:58:18.961Z,1741831098.961 [sci2_noyo_optim:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-03-13T01:58:19.001Z,1741831099.001 [sci2_noyo_optim:Science:PeakDetectFDOM:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-03-13T01:58:19.062Z,1741831099.062 [sci2_noyo_optim:Science:PeakDetectSalinity:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-03-13T01:58:19.110Z,1741831099.110 [sci2_noyo_optim:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-03-13T01:58:19.171Z,1741831099.171 [sci2_noyo_optim:Science:PeakDetectPlanktivoreLMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-03-13T01:58:19.230Z,1741831099.230 [sci2_noyo_optim:Science:EdgeDetectPlanktivoreLMavgROI:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-03-13T01:58:19.318Z,1741831099.318 [sci2_noyo_optim:Science:PeakDetectPlanktivoreHMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-03-13T01:58:19.350Z,1741831099.350 [sci2_noyo_optim:Science:PeakDetectPlanktivoreDiatoms:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-03-13T01:58:19.394Z,1741831099.394 [sci2_noyo_optim:Science:PeakDetectPlanktivoreDinoflagellates:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-03-13T01:58:19.421Z,1741831099.421 [sci2_noyo_optim:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Construct ValueDetect.
2025-03-13T01:58:19.492Z,1741831099.492 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-03-13T01:58:19.492Z,1741831099.492 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-03-13T01:58:19.493Z,1741831099.493 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-03-13T01:58:19.699Z,1741831099.699 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/StandardEnvelopes.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="StandardEnvelopes">
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="MaxDepthIgnore">
        <Units:meter />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>200</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:meter />
        <Value>2000</Value>
    </DefineArg>
    <Parallel />
    <Guidance:AltitudeEnvelope>
        <Parallel />
        <Setting>
            <Guidance:AltitudeEnvelope.minAltitude />
            <Arg Name="MinAltitude" />
        </Setting>
        <Setting>
            <Guidance:AltitudeEnvelope.maxDepthIgnore />
            <Arg Name="MaxDepthIgnore" />
        </Setting>
    </Guidance:AltitudeEnvelope>
    <Guidance:DepthEnvelope>
        <Parallel />
        <Setting>
            <Guidance:DepthEnvelope.maxDepth />
            <Arg Name="MaxDepth" />
        </Setting>
    </Guidance:DepthEnvelope>
    <Guidance:OffshoreEnvelope>
        <Parallel />
        <Setting>
            <Guidance:OffshoreEnvelope.minOffshore />
            <Arg Name="MinOffshore" />
        </Setting>
    </Guidance:OffshoreEnvelope>
</Aggregate>

2025-03-13T01:58:19.711Z,1741831099.711 [MissionManager](INFO): DefineArg sci2_noyo_optim:StandardEnvelopes.MinAltitude = 5.000000 m
2025-03-13T01:58:19.723Z,1741831099.723 [MissionManager](INFO): DefineArg sci2_noyo_optim:StandardEnvelopes.MaxDepthIgnore = 0.000000 m
2025-03-13T01:58:19.726Z,1741831099.726 [MissionManager](INFO): DefineArg sci2_noyo_optim:StandardEnvelopes.MaxDepth = 200.000000 m
2025-03-13T01:58:19.732Z,1741831099.732 [MissionManager](INFO): DefineArg sci2_noyo_optim:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-03-13T01:58:19.733Z,1741831099.733 [sci2_noyo_optim:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-03-13T01:58:19.743Z,1741831099.743 [sci2_noyo_optim:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-03-13T01:58:19.779Z,1741831099.779 [sci2_noyo_optim:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-03-13T01:58:19.805Z,1741831099.805 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl
2025-03-13T01:58:19.805Z,1741831099.805 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl
2025-03-13T01:58:19.806Z,1741831099.806 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl
2025-03-13T01:58:20.238Z,1741831100.238 [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>

2025-03-13T01:58:20.243Z,1741831100.243 [MissionManager](INFO): DefineArg sci2_noyo_optim:NeedComms.DiveInterval = 1.000000 h
2025-03-13T01:58:20.278Z,1741831100.278 [MissionManager](INFO): DefineArg sci2_noyo_optim:NeedComms.WaitForPitchUp = 10.000000 min
2025-03-13T01:58:20.280Z,1741831100.280 [MissionManager](INFO): DefineArg sci2_noyo_optim:NeedComms.SurfacePitch = 20.000000 arcdeg
2025-03-13T01:58:20.282Z,1741831100.282 [MissionManager](INFO): DefineArg sci2_noyo_optim:NeedComms.SurfaceDepthRate = nan m/s
2025-03-13T01:58:20.296Z,1741831100.296 [MissionManager](INFO): DefineArg sci2_noyo_optim:NeedComms.SurfaceSpeed = 1.000000 m/s
2025-03-13T01:58:20.298Z,1741831100.298 [MissionManager](INFO): DefineArg sci2_noyo_optim:NeedComms.SurfacingTimeout = 1000.000000 s
2025-03-13T01:58:20.309Z,1741831100.309 [MissionManager](INFO): DefineArg sci2_noyo_optim:NeedComms.GPSTimeout = 7.000000 min
2025-03-13T01:58:20.341Z,1741831100.341 [MissionManager](INFO): DefineArg sci2_noyo_optim:NeedComms.CommsTimeout = 30.000000 min
2025-03-13T01:58:20.391Z,1741831100.391 [sci2_noyo_optim:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2025-03-13T01:58:20.448Z,1741831100.448 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2025-03-13T01:58:20.448Z,1741831100.448 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2025-03-13T01:58:20.449Z,1741831100.449 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2025-03-13T01:58:20.503Z,1741831100.503 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/BackseatDriver.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="BackseatDriver">
    <DefineArg Name="EnableBackseat">
        <False />
    </DefineArg>
    <Parallel />
    <Guidance:BackseatDriver>
        <Sequence />
        <Setting>
            <Guidance:BackseatDriver.powerBackseat />
            <Arg Name="EnableBackseat" />
        </Setting>
    </Guidance:BackseatDriver>
</Aggregate>

2025-03-13T01:58:20.510Z,1741831100.510 [MissionManager](INFO): DefineArg sci2_noyo_optim:BackseatDriver.EnableBackseat = 0 bool
2025-03-13T01:58:20.516Z,1741831100.516 [sci2_noyo_optim:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2025-03-13T01:58:20.524Z,1741831100.524 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2025-03-13T01:58:20.524Z,1741831100.524 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2025-03-13T01:58:20.525Z,1741831100.525 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2025-03-13T01:58:20.832Z,1741831100.832 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/PowerOnly.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="PowerOnly">
    <DefineArg Name="SampleAll">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad1">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad2">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad3">
        <False />
    </DefineArg>
    <DefineArg Name="EnabledPowerOnly">
        <Sensor:PowerOnly.loadAtStartup />
    </DefineArg>
    <Parallel />
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleAll" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.samplePowerOnly />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad1" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad1 />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad2" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad2 />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad3" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad3 />
    </ReadData>
    <Guidance:Wait>
        <Sequence />
        <Setting>
            <Guidance:Wait.duration />
            <Units:hour />
            <Value>99999</Value>
        </Setting>
    </Guidance:Wait>
</Aggregate>

2025-03-13T01:58:20.839Z,1741831100.839 [MissionManager](INFO): DefineArg sci2_noyo_optim:PowerOnly.SampleAll = 0 bool
2025-03-13T01:58:20.841Z,1741831100.841 [MissionManager](INFO): DefineArg sci2_noyo_optim:PowerOnly.SampleLoad1 = 0 bool
2025-03-13T01:58:20.860Z,1741831100.860 [MissionManager](INFO): DefineArg sci2_noyo_optim:PowerOnly.SampleLoad2 = 0 bool
2025-03-13T01:58:20.861Z,1741831100.861 [MissionManager](INFO): DefineArg sci2_noyo_optim:PowerOnly.SampleLoad3 = 0 bool
2025-03-13T01:58:20.872Z,1741831100.872 [MissionManager](INFO): DefineArg sci2_noyo_optim:PowerOnly.EnabledPowerOnly = 1 bool
2025-03-13T01:58:20.878Z,1741831100.878 [sci2_noyo_optim:PowerOnly:E.Wait](DEBUG): Construct Wait.
2025-03-13T01:58:20.893Z,1741831100.893 [sci2_noyo_optim:O.Buoyancy](DEBUG): Construct Buoyancy.
2025-03-13T01:58:20.938Z,1741831100.938 [sci2_noyo_optim:DiveCmd:InitialDive:dive:C.Mass](DEBUG): Construct.
2025-03-13T01:58:20.942Z,1741831100.942 [sci2_noyo_optim:DiveCmd:InitialDive:dive:E.Wait](DEBUG): Construct Wait.
2025-03-13T01:58:20.945Z,1741831100.945 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:A.SetSpeed](DEBUG): Construct.
2025-03-13T01:58:20.967Z,1741831100.967 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:B.Pitch](DEBUG): Construct.
2025-03-13T01:58:20.973Z,1741831100.973 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:B.Pitch:A_Timeout:B.Execute](DEBUG): Construct Execute.
2025-03-13T01:58:20.984Z,1741831100.984 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:B.Pitch](DEBUG): Construct.
2025-03-13T01:58:21.006Z,1741831101.006 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:C.Wait](DEBUG): Construct Wait.
2025-03-13T01:58:21.014Z,1741831101.014 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass](DEBUG): Construct.
2025-03-13T01:58:21.017Z,1741831101.017 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed](DEBUG): Construct.
2025-03-13T01:58:21.031Z,1741831101.031 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:B.Pitch](DEBUG): Construct.
2025-03-13T01:58:21.047Z,1741831101.047 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:A.SetSpeed](DEBUG): Construct.
2025-03-13T01:58:21.096Z,1741831101.096 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:C.Buoyancy](DEBUG): Construct Buoyancy.
2025-03-13T01:58:21.098Z,1741831101.098 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:D.Pitch](DEBUG): Construct.
2025-03-13T01:58:21.138Z,1741831101.138 [sci2_noyo_optim:Lap:DepthByLap:Wpt1:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T01:58:21.178Z,1741831101.178 [sci2_noyo_optim:Lap:DepthByLap:Wpt2:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T01:58:21.201Z,1741831101.201 [sci2_noyo_optim:Lap:DepthByLap:Wpt3:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T01:58:21.216Z,1741831101.216 [sci2_noyo_optim:Lap:DepthByLap:Wpt4:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T01:58:21.221Z,1741831101.221 [sci2_noyo_optim:Lap:DepthByLap:Wpt5:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T01:58:21.226Z,1741831101.226 [sci2_noyo_optim:Lap:DepthByLap:Wpt6:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T01:58:21.233Z,1741831101.233 [sci2_noyo_optim:Lap:DepthByLap:Wpt7:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T01:58:21.238Z,1741831101.238 [sci2_noyo_optim:Lap:DepthByLap:Wpt8:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T01:58:21.247Z,1741831101.247 [sci2_noyo_optim:Lap:DepthByLap:Leg2:Wpt1:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T01:58:21.252Z,1741831101.252 [sci2_noyo_optim:Lap:DepthByLap:Leg2:Wpt2:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T01:58:21.258Z,1741831101.258 [sci2_noyo_optim:Lap:DepthByLap:Leg2:Wpt3:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T01:58:21.275Z,1741831101.275 [sci2_noyo_optim:Lap:DepthByLap:Leg2:Wpt4:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T01:58:21.281Z,1741831101.281 [sci2_noyo_optim:Lap:DepthByLap:Leg2:Wpt5:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T01:58:21.287Z,1741831101.287 [sci2_noyo_optim:Lap:DepthByLap:Leg2:Wpt6:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T01:58:21.292Z,1741831101.292 [sci2_noyo_optim:Lap:DepthByLap:Leg2:Wpt7:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T01:58:21.298Z,1741831101.298 [sci2_noyo_optim:Lap:DepthByLap:Leg2:Wpt8:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T01:58:21.306Z,1741831101.306 [sci2_noyo_optim:Lap:DepthByLap:Leg3:Wpt1:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T01:58:21.321Z,1741831101.321 [sci2_noyo_optim:Lap:DepthByLap:Leg3:Wpt2:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T01:58:21.327Z,1741831101.327 [sci2_noyo_optim:Lap:DepthByLap:Leg3:Wpt3:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T01:58:21.332Z,1741831101.332 [sci2_noyo_optim:Lap:DepthByLap:Leg3:Wpt4:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T01:58:21.338Z,1741831101.338 [sci2_noyo_optim:Lap:DepthByLap:Leg3:Wpt5:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T01:58:21.344Z,1741831101.344 [sci2_noyo_optim:Lap:DepthByLap:Leg3:Wpt6:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T01:58:21.349Z,1741831101.349 [sci2_noyo_optim:Lap:DepthByLap:Leg3:Wpt7:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T01:58:21.354Z,1741831101.354 [sci2_noyo_optim:Lap:DepthByLap:Leg3:Wpt8:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T01:58:21.374Z,1741831101.374 [sci2_noyo_optim:Lap:DepthByLap:Leg4:Wpt1:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T01:58:21.379Z,1741831101.379 [sci2_noyo_optim:Lap:DepthByLap:Leg4:Wpt2:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T01:58:21.385Z,1741831101.385 [sci2_noyo_optim:Lap:DepthByLap:Leg4:Wpt3:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T01:58:21.390Z,1741831101.390 [sci2_noyo_optim:Lap:DepthByLap:Leg4:Wpt4:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T01:58:21.396Z,1741831101.396 [sci2_noyo_optim:Lap:DepthByLap:Leg4:Wpt5:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T01:58:21.401Z,1741831101.401 [sci2_noyo_optim:Lap:DepthByLap:Leg4:Wpt6:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T01:58:21.407Z,1741831101.407 [sci2_noyo_optim:Lap:DepthByLap:Leg4:Wpt7:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T01:58:21.412Z,1741831101.412 [sci2_noyo_optim:Lap:DepthByLap:Leg4:Wpt8:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T01:58:21.433Z,1741831101.433 [sci2_noyo_optim:Lap:DepthByLap:Leg5:Wpt1:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T01:58:21.438Z,1741831101.438 [sci2_noyo_optim:Lap:DepthByLap:Leg5:Wpt2:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T01:58:21.445Z,1741831101.445 [sci2_noyo_optim:Lap:DepthByLap:Leg5:Wpt3:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T01:58:21.450Z,1741831101.450 [sci2_noyo_optim:Lap:DepthByLap:Leg5:Wpt4:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T01:58:21.456Z,1741831101.456 [sci2_noyo_optim:Lap:DepthByLap:Leg5:Wpt5:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T01:58:21.501Z,1741831101.501 [sci2_noyo_optim:Lap:DepthByLap:Leg5:Wpt6:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T01:58:21.511Z,1741831101.511 [sci2_noyo_optim:Lap:DepthByLap:Leg5:Wpt7:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T01:58:21.534Z,1741831101.534 [sci2_noyo_optim:Lap:DepthByLap:Leg5:Wpt8:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T01:58:21.555Z,1741831101.555 [sci2_noyo_optim:Lap:DepthByLap:Leg6:Wpt1:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T01:58:21.565Z,1741831101.565 [sci2_noyo_optim:Lap:DepthByLap:Leg6:Wpt2:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T01:58:21.574Z,1741831101.574 [sci2_noyo_optim:Lap:DepthByLap:Leg6:Wpt3:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T01:58:21.592Z,1741831101.592 [sci2_noyo_optim:Lap:DepthByLap:Leg6:Wpt4:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T01:58:21.601Z,1741831101.601 [sci2_noyo_optim:Lap:DepthByLap:Leg6:Wpt5:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T01:58:21.611Z,1741831101.611 [sci2_noyo_optim:Lap:DepthByLap:Leg6:Wpt6:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T01:58:21.624Z,1741831101.624 [sci2_noyo_optim:Lap:DepthByLap:Leg6:Wpt7:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T01:58:21.638Z,1741831101.638 [sci2_noyo_optim:Lap:DepthByLap:Leg6:Wpt8:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T01:58:21.660Z,1741831101.660 [sci2_noyo_optim:Lap:DepthByLap:Leg7:Wpt1:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T01:58:21.669Z,1741831101.669 [sci2_noyo_optim:Lap:DepthByLap:Leg7:Wpt2:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T01:58:21.679Z,1741831101.679 [sci2_noyo_optim:Lap:DepthByLap:Leg7:Wpt3:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T01:58:21.696Z,1741831101.696 [sci2_noyo_optim:Lap:DepthByLap:Leg7:Wpt4:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T01:58:21.706Z,1741831101.706 [sci2_noyo_optim:Lap:DepthByLap:Leg7:Wpt5:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T01:58:21.719Z,1741831101.719 [sci2_noyo_optim:Lap:DepthByLap:Leg7:Wpt6:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T01:58:21.729Z,1741831101.729 [sci2_noyo_optim:Lap:DepthByLap:Leg7:Wpt7:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T01:58:21.743Z,1741831101.743 [sci2_noyo_optim:Lap:DepthByLap:Leg7:Wpt8:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T01:58:21.764Z,1741831101.764 [sci2_noyo_optim:Lap:DepthByLap:Leg8:Wpt1:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T01:58:21.769Z,1741831101.769 [sci2_noyo_optim:Lap:DepthByLap:Leg8:Wpt2:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T01:58:21.799Z,1741831101.799 [sci2_noyo_optim:Lap:DepthByLap:Leg8:Wpt3:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T01:58:21.809Z,1741831101.809 [sci2_noyo_optim:Lap:DepthByLap:Leg8:Wpt4:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T01:58:21.818Z,1741831101.818 [sci2_noyo_optim:Lap:DepthByLap:Leg8:Wpt5:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T01:58:21.825Z,1741831101.825 [sci2_noyo_optim:Lap:DepthByLap:Leg8:Wpt6:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T01:58:21.831Z,1741831101.831 [sci2_noyo_optim:Lap:DepthByLap:Leg8:Wpt7:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T01:58:21.855Z,1741831101.855 [sci2_noyo_optim:Lap:DepthByLap:Leg8:Wpt8:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T01:58:21.863Z,1741831101.863 [sci2_noyo_optim:Lap:DepthByLeg:Leg1:B.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T01:58:21.916Z,1741831101.916 [sci2_noyo_optim:Lap:DepthByLeg:Leg2:Wpt2:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T01:58:21.958Z,1741831101.958 [sci2_noyo_optim:Lap:DepthByLeg:Leg3:Wpt3:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T01:58:21.979Z,1741831101.979 [sci2_noyo_optim:Lap:DepthByLeg:Leg4:Wpt4:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T01:58:21.996Z,1741831101.996 [sci2_noyo_optim:Lap:DepthByLeg:Leg5:Wpt5:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T01:58:22.013Z,1741831102.013 [sci2_noyo_optim:Lap:DepthByLeg:Leg6:Wpt6:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T01:58:22.030Z,1741831102.030 [sci2_noyo_optim:Lap:DepthByLeg:Leg7:Wpt7:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T01:58:22.051Z,1741831102.051 [sci2_noyo_optim:Lap:DepthByLeg:Leg8:Wpt8:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T01:58:22.137Z,1741831102.137 [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 sci2_noyo_optim {
  """
  Vehicle transits to the specified waypoints at the commanded depth
  (flat-and-level, no yoyos) with science, Optim camera, and multiray
  lights on.
  """

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

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

    Depth1 = 35 meter
      """
      Depth of flat and level flight during the mission for the first transit leg or lap.
      """

    Depth[2..8] = NaN meter
      """
      Depth of flat and level flight during the mission for subsequent transit legs or laps.
      Skipped if NaN.
      """

    DepthPerLeg = false
      """
      Indicates whether additional depths correspond to laps (cycle through all waypoints at
      each depth, default) or legs (use depth for transit leg ending at corresponding waypoint,
      each lap repeats all depths and waypoints).
      """

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

    Lat[1..8] = NaN degree
      """
      Latitude of waypoint {$}. If nan, waypoint is skipped.
      """

    Lon[1..8] = NaN degree
      """
      Longitude of waypoint {$}. If nan, waypoint is skipped.
      """

    FastSpeed = 1 meter_per_second
      """
      Speed while transiting to waypoint.
      """

    ApproachDepth = 30 meter
      """
      Depth for initial descent form the surface.
      """

    ApproachSpeed = 0.7 meter_per_second
      """
      Speed while descending to target depth.
      """

    ApproachDepthRate = 0.05 meter_per_second
      """
      Descent depth rate (Positive depth rate means going down).
      """

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

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

    ApproachSettleTimePreDive = 1 minute
      """
      Time duration for the vehicle to pump down the VBS *BEFORE* leaving the
      surface.
      """

    ApproachSettleTimePostDive = 3 minute
      """
      Time duration for the vehicle to settle *AFTER* reaching the target
      depth.
      """

    kpDepth = 0.07 radian_per_meter
      """
      Dive loop proportional gain (applied only while the vehicle is
      descending to target depth).
      """

    SlowSpeed = 0.25 meter_per_second
      """
      Set this to something other than Nan if slow speed filming with a
      wide depth deadband is desired.
      """

    DepthDeviationSlow = 3 meter
      """
      Allowable +/- deviation from depth during slow flight. Needs a SlowSpeed
      to be set.
      """

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

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

    MinAltitude = 2 meter
      """
      Minimum height above the sea floor for the entire mission.
      """

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

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

  output {
    DiveMode = 0 count
      """
      Mission variable (don't change). The mission sets this variable to
      switch between dive modes. Initialized to DoingComms.
      """

    DoingComms = 0 count
      """
      Mission variable (don't change). The mission will run in this to mode
      when doing surface comms.
      """

    InitialDive = 1 count
      """
      Mission variable (don't change). The mission will run in this mode after
      surface comms are done to dive the vehicle to the approach depth.
      """

    SettleAtDepth = 2 count
      """
      Mission variable (don't change). The mission will run in this mode to
      settle the vehicle at the target depth.
      """

    MaintainDepth = 3 count
      """
      Mission variable (don't change). The mission will run in this mode to
      maintain the vehicle at the target depth.
      """

    LegDepth = Depth1
      """
      Mission variable to track the current depth for the current leg.
      """
  }

  # Mission timeout

  timeout duration=MissionTimeout

  # Science!

  insert Insert/Science.tl {
    """
    Run the science sensors.
    """
  }

  # 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 = MissionTimeout

  assign in sequence NeedComms:WaitForPitchUp = 0 minute

  insert Insert/BackseatDriver.tl
  assign in parallel BackseatDriver:EnableBackseat = true

  insert Insert/PowerOnly.tl
  assign in parallel PowerOnly:SampleLoad1 = true

  assign in sequence Sensor:MultiRay.lightModeCommand = 2 count
  readData strategy="MinError" {
    while ( Sensor:MultiRay.loadAtStartup )

    Sensor:MultiRay.lightModeLog
  }

  behavior Guidance:Buoyancy {
    run in parallel

    set position = BuoyancyNeutral
  }

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

    assign in sequence DiveMode = DoingComms

    call refId="NeedComms"

    assign in sequence DiveMode = InitialDive
  }

  aggregate DiveCmd {
    """
    Called when the vehicle should be underwater. Arbitrates between 4
    dive modes: 1) descend from the surface to initial depth. 2) settle
    at target depth using the VB. 3) cruise at target depth and go slow
    while within depth deviation bounds if a slow speed is set.
    """

    run when ( called )

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

      run while ( DiveMode == InitialDive )

      aggregate dive {
        run in sequence

        assign in parallel Control:VerticalControl.pitchLimit = ApproachPitchLimit

        assign in parallel Control:VerticalControl.kpDepth = kpDepth

        behavior Guidance:Mass {
          run in parallel

          set position = MassDefault
        }

        # behavior Guidance:Buoyancy {
        #   run in parallel

        #   set position = BuoyancyNeutral
        # }

        syslog info "Waiting for "
             + ApproachSettleTimePreDive~minute + "while pumping down to neutral."

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

          run in sequence

          set duration = ApproachSettleTimePreDive
        }

        syslog "Moving to " + ApproachDepth~meter

        aggregate ApproachDepth {
          run in sequence

          behavior Guidance:SetSpeed {
            run in parallel

            set speed = ApproachSpeed
          }

          behavior Guidance:Pitch {
            run in sequence

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

              behavior Guidance:Execute {
                run in sequence

                set command = "stop"
              }
            }

            set depth = ApproachDepth
            set depthRate = ApproachDepthRate
          }
        }

        assign in sequence DiveMode = SettleAtDepth
      }
    }

    aggregate SettleAtDepth {
      """
      Take a few more moments here to make sure the vehicle is settled
      at the target depth.
      """

      run while ( DiveMode == SettleAtDepth )

      aggregate dive {
        run in sequence

        syslog info "Reached " + Universal:depth~meter + ", settling for "
             + ApproachSettleTimePostDive~minute

        behavior Guidance:Pitch {
          run in parallel

          set depth = LegDepth
        }

        behavior Guidance:Wait {
          run in sequence

          set duration = ApproachSettleTimePostDive
        }

        assign in sequence DiveMode = MaintainDepth
      }
    }

    aggregate MaintainDepth {
      """
      Cruise at the target depth.
      """

      run while (
        DiveMode == MaintainDepth
        and ( Universal:depth > ( LegDepth + DepthDeviationSlow ) )
        or ( Universal:depth < ( LegDepth - DepthDeviationSlow ) )
      )

      aggregate dive {
        run in parallel

        aggregate ThrusterDive {
          run while ( FastSpeed > 0.0 meter_per_second )

          behavior Guidance:Mass {
            run in parallel

            set position = MassDefault
          }

          # behavior Guidance:Buoyancy {
          #   run in parallel

          #   set position = BuoyancyNeutral
          # }

          behavior Guidance:SetSpeed {
            run in parallel

            set speed = FastSpeed
          }
        }

        behavior Guidance:Pitch {
          run in parallel

          set depth = LegDepth
        }
      }
    }

    aggregate MaintainDepthSlow {
      """
      Cruise slow at the target depth.
      """

      run while (
        ( not isNaN ( SlowSpeed ) )
        and ( DiveMode == MaintainDepth )
        and ( Universal:depth <= ( LegDepth + DepthDeviationSlow ) )
        and ( Universal:depth >= ( LegDepth - DepthDeviationSlow ) )
      )

      behavior Guidance:SetSpeed {
        run in parallel

        set speed = SlowSpeed
      }

      # Let's make sure the vertical control depth deadband doesn't interfere with our mission
      # level version of the deadband. And we'll add an extra 3m so we don't trigger any
      # faults inside vertical control when attempting to regain the commanded depth.
      assign in parallel Control:VerticalControl.depthDeadband = ( DepthDeviationSlow + 3 m )

      behavior Guidance:Buoyancy {
        run in parallel

        set position = NaN cc
      }

      behavior Guidance:Pitch {
        run in parallel

        set depth = LegDepth
      }
    }
  }

  # Start mission sequence

  call id="StartingMission" refId="SurfaceComms"

  aggregate Lap {
    run in sequence repeat=Repeat

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

      call refId="DiveCmd"
    }

    # Default behavior: Depths correspond to laps
    # Run through all waypoints at each depth
    aggregate DepthByLap {
      run in sequence

      break if ( DepthPerLeg )

      assign in sequence LegDepth = Depth1

      aggregate Wpt1 {
        run in sequence

        behavior Guidance:Waypoint {
          run in sequence

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

      macro $i = 2..8 {
        aggregate Wpt$i {
          run in sequence

          behavior Guidance:Waypoint {
            run in sequence

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

      macro $j = 2..8 {
        aggregate Leg$j {
          run in sequence

          break if ( isNaN ( Depth[$j] ) )

          syslog important "Transiting waypoints at depth " + Depth[$j]~meter
          assign in sequence LegDepth = Depth[$j]

          macro $i = 1..8 {
            aggregate Wpt$i {
              run in sequence

              behavior Guidance:Waypoint {
                run in sequence

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

    # Non-default behavior: depth by leg
    # Transit to waypoint at corresponding depth, repeat per lap
    # (e.g. Transit to waypoint 1 at depth 1, waypoint 2 at depth 2, and so on)
    aggregate DepthByLeg {
      run in sequence

      break if ( not DepthPerLeg )

      aggregate Leg1 {
        run in sequence

        assign in sequence LegDepth = Depth1

        behavior Guidance:Waypoint {
          run in sequence

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

      macro $i = 2..8 {
        aggregate Leg$i {
          run in sequence

          break if ( isNaN ( Depth[$i] ) )

          syslog info "Transiting to next waypoint at depth " + Depth[$i]~meter
          assign in sequence LegDepth = Depth[$i]

          aggregate Wpt$i {
            run in sequence

            behavior Guidance:Waypoint {
              run in sequence

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


2025-03-13T01:58:22.138Z,1741831102.138 [CommandExec](IMPORTANT): Loaded ./Missions/Science/sci2_noyo_optim.tl id=sci2_noyo_optim
2025-03-13T01:58:22.219Z,1741831102.219 [DataOverHttps](INFO): Sending 94 bytes from file Logs/20250311T232940/Courier0207.lzma
2025-03-13T01:58:23.284Z,1741831103.284 [DataOverHttps](INFO): Moved sent file to Logs/20250311T232940/Courier0207.lzma.bak
2025-03-13T01:58:23.284Z,1741831103.284 [DataOverHttps](INFO): SBD MOMSN=24220319
2025-03-13T01:58:26.741Z,1741831106.741 [NAL9602](INFO): SBD MO Status=1, MOMSN=18526, MT Status=0, MTMSN=0
2025-03-13T01:58:26.792Z,1741831106.792 [NAL9602](INFO): Sent 94 bytes from file Logs/20250311T232940/Courier0207.lzma
2025-03-13T01:58:26.792Z,1741831106.792 [NAL9602](INFO): Packets left to send: 0
2025-03-13T01:58:27.285Z,1741831107.285 [NAL9602](INFO): Failure count cleared after critical for NAL9602
2025-03-13T01:58:49.137Z,1741831129.137 [DataOverHttps](INFO): Sending 909 bytes from file Logs/20250311T232940/Express0205.lzma
2025-03-13T01:58:50.138Z,1741831130.138 [DataOverHttps](INFO): Moved sent file to Logs/20250311T232940/Express0205.lzma.bak
2025-03-13T01:58:50.138Z,1741831130.138 [DataOverHttps](INFO): SBD MOMSN=24220324
2025-03-13T01:58:57.913Z,1741831137.913 [NAL9602](INFO): Not Powering down - fast GPS
2025-03-13T01:59:01.997Z,1741831141.997 [CommandExec](IMPORTANT): got command set sci2_noyo_optim.MissionTimeout 6 hour
2025-03-13T01:59:01.998Z,1741831141.998 [CommandExec](IMPORTANT): got command set sci2_noyo_optim.NeedCommsTime 60 minute
2025-03-13T01:59:01.999Z,1741831141.999 [CommandExec](IMPORTANT): got command set sci2_noyo_optim.Depth1 250 meter
2025-03-13T01:59:02.020Z,1741831142.020 [CommandExec](IMPORTANT): got command set sci2_noyo_optim.Depth2 280 meter
2025-03-13T01:59:02.021Z,1741831142.021 [CommandExec](IMPORTANT): got command set sci2_noyo_optim.Depth3 NaN meter
2025-03-13T01:59:15.027Z,1741831155.027 [DataOverHttps](INFO): Sending 39 bytes from file Logs/20250311T232940/Courier0210.lzma
2025-03-13T01:59:16.030Z,1741831156.030 [DataOverHttps](INFO): Moved sent file to Logs/20250311T232940/Courier0210.lzma.bak
2025-03-13T01:59:16.030Z,1741831156.030 [DataOverHttps](INFO): SBD MOMSN=24220351
2025-03-13T01:59:32.837Z,1741831172.837 [CommandExec](IMPORTANT): got command set sci2_noyo_optim.Repeat 6 count
2025-03-13T01:59:32.838Z,1741831172.838 [CommandExec](IMPORTANT): got command set sci2_noyo_optim.Lat1 36.79279 degree
2025-03-13T01:59:32.839Z,1741831172.839 [CommandExec](IMPORTANT): got command set sci2_noyo_optim.Lon1 -121.88919 degree
2025-03-13T01:59:32.840Z,1741831172.840 [CommandExec](IMPORTANT): got command set sci2_noyo_optim.Lat2 36.78427 degree
2025-03-13T01:59:32.841Z,1741831172.841 [CommandExec](IMPORTANT): got command set sci2_noyo_optim.Lon2 -121.91339 degree
2025-03-13T01:59:48.549Z,1741831188.549 [DataOverHttps](INFO): Sending 951 bytes from file Logs/20250311T232940/Express0208.lzma
2025-03-13T01:59:49.550Z,1741831189.550 [DataOverHttps](INFO): Moved sent file to Logs/20250311T232940/Express0208.lzma.bak
2025-03-13T01:59:49.550Z,1741831189.550 [DataOverHttps](INFO): SBD MOMSN=24220356
2025-03-13T02:00:20.065Z,1741831220.065 [CommandExec](IMPORTANT): got command set sci2_noyo_optim.ApproachDepth 10 meter
2025-03-13T02:00:20.066Z,1741831220.066 [CommandExec](IMPORTANT): got command set sci2_noyo_optim.SlowSpeed 0.35 meter_per_second
2025-03-13T02:00:20.067Z,1741831220.067 [CommandExec](IMPORTANT): got command set sci2_noyo_optim.MinAltitude 10 meter
2025-03-13T02:00:20.072Z,1741831220.072 [CommandExec](IMPORTANT): got command set sci2_noyo_optim.MaxDepth 290 meter
2025-03-13T02:00:20.073Z,1741831220.073 [CommandExec](IMPORTANT): got command set sci2_noyo_optim:PowerOnly.SampleLoad1 1 bool
2025-03-13T02:00:20.073Z,1741831220.073 [CommandExec](IMPORTANT): got command run
2025-03-13T02:00:20.088Z,1741831220.088 [CommandExec](IMPORTANT): Running 
2025-03-13T02:00:20.406Z,1741831220.406 [Default] Stopped
2025-03-13T02:00:20.406Z,1741831220.406 [Default](DEBUG): Aggregate::uninitialize Default
2025-03-13T02:00:20.406Z,1741831220.406 [Default:B.GoToSurface] Stopped
2025-03-13T02:00:20.406Z,1741831220.406 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-03-13T02:00:20.406Z,1741831220.406 [Default:CheckIn] Stopped
2025-03-13T02:00:20.406Z,1741831220.406 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-03-13T02:00:20.406Z,1741831220.406 [Default:CheckIn:Read_Iridium] Stopped
2025-03-13T02:00:20.407Z,1741831220.407 [MissionManager](IMPORTANT): Started mission sci2_noyo_optim
2025-03-13T02:00:20.407Z,1741831220.407 [sci2_noyo_optim] Running Loop=1
2025-03-13T02:00:20.407Z,1741831220.407 [sci2_noyo_optim](DEBUG): Aggregate::initialize sci2_noyo_optim
2025-03-13T02:00:20.407Z,1741831220.407 [sci2_noyo_optim:Science] Running Loop=1
2025-03-13T02:00:20.407Z,1741831220.407 [sci2_noyo_optim:Science](DEBUG): Aggregate::initialize sci2_noyo_optim:Science
2025-03-13T02:00:20.407Z,1741831220.407 [sci2_noyo_optim:Science:A] Running Loop=1
2025-03-13T02:00:20.408Z,1741831220.408 [sci2_noyo_optim:Science:B] Running Loop=1
2025-03-13T02:00:20.408Z,1741831220.408 [sci2_noyo_optim:Science:C] Running Loop=1
2025-03-13T02:00:20.408Z,1741831220.408 [sci2_noyo_optim:Science:D] Running Loop=1
2025-03-13T02:00:20.408Z,1741831220.408 [sci2_noyo_optim:Science:E] Running Loop=1
2025-03-13T02:00:20.408Z,1741831220.408 [sci2_noyo_optim:Science:F] Running Loop=1
2025-03-13T02:00:20.408Z,1741831220.408 [sci2_noyo_optim:Science:Read_Oil] Running Loop=1
2025-03-13T02:00:20.408Z,1741831220.408 [sci2_noyo_optim:Science:PeakDetectChl] Running Loop=1
2025-03-13T02:00:20.408Z,1741831220.408 [sci2_noyo_optim:Science:PeakDetectChl](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:PeakDetectChl
2025-03-13T02:00:20.408Z,1741831220.408 [sci2_noyo_optim:Science:PeakDetectChl:A] Running Loop=1
2025-03-13T02:00:20.408Z,1741831220.408 [sci2_noyo_optim:Science:EdgeDetectChl] Running Loop=1
2025-03-13T02:00:20.408Z,1741831220.408 [sci2_noyo_optim:Science:EdgeDetectChl](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:EdgeDetectChl
2025-03-13T02:00:20.409Z,1741831220.409 [sci2_noyo_optim:Science:EdgeDetectChl:A] Running Loop=1
2025-03-13T02:00:20.409Z,1741831220.409 [sci2_noyo_optim:Science:HighestChlPeakReport] Running Loop=1
2025-03-13T02:00:20.409Z,1741831220.409 [sci2_noyo_optim:Science:HighestChlPeakReport](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:HighestChlPeakReport
2025-03-13T02:00:20.409Z,1741831220.409 [sci2_noyo_optim:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-03-13T02:00:20.409Z,1741831220.409 [sci2_noyo_optim:Science:HighestChlPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-03-13T02:00:20.409Z,1741831220.409 [sci2_noyo_optim:Science:PeakDetectNO3] Running Loop=1
2025-03-13T02:00:20.409Z,1741831220.409 [sci2_noyo_optim:Science:PeakDetectNO3](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:PeakDetectNO3
2025-03-13T02:00:20.410Z,1741831220.410 [sci2_noyo_optim:Science:PeakDetectNO3:A] Running Loop=1
2025-03-13T02:00:20.410Z,1741831220.410 [sci2_noyo_optim:Science:PeakDetectOil] Running Loop=1
2025-03-13T02:00:20.410Z,1741831220.410 [sci2_noyo_optim:Science:PeakDetectOil](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:PeakDetectOil
2025-03-13T02:00:20.410Z,1741831220.410 [sci2_noyo_optim:Science:PeakDetectOil:A] Running Loop=1
2025-03-13T02:00:20.410Z,1741831220.410 [sci2_noyo_optim:Science:HighestOilPeakReport] Running Loop=1
2025-03-13T02:00:20.410Z,1741831220.410 [sci2_noyo_optim:Science:HighestOilPeakReport](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:HighestOilPeakReport
2025-03-13T02:00:20.410Z,1741831220.410 [sci2_noyo_optim:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-03-13T02:00:20.410Z,1741831220.410 [sci2_noyo_optim:Science:HighestOilPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-03-13T02:00:20.411Z,1741831220.411 [sci2_noyo_optim:Science:PeakDetectFDOM] Running Loop=1
2025-03-13T02:00:20.411Z,1741831220.411 [sci2_noyo_optim:Science:PeakDetectFDOM](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:PeakDetectFDOM
2025-03-13T02:00:20.411Z,1741831220.411 [sci2_noyo_optim:Science:PeakDetectFDOM:A] Running Loop=1
2025-03-13T02:00:20.411Z,1741831220.411 [sci2_noyo_optim:Science:PeakDetectSalinity] Running Loop=1
2025-03-13T02:00:20.411Z,1741831220.411 [sci2_noyo_optim:Science:PeakDetectSalinity](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:PeakDetectSalinity
2025-03-13T02:00:20.411Z,1741831220.411 [sci2_noyo_optim:Science:PeakDetectSalinity:A] Running Loop=1
2025-03-13T02:00:20.412Z,1741831220.412 [sci2_noyo_optim:Science:HighestSaltPeakReport] Running Loop=1
2025-03-13T02:00:20.412Z,1741831220.412 [sci2_noyo_optim:Science:HighestSaltPeakReport](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:HighestSaltPeakReport
2025-03-13T02:00:20.412Z,1741831220.412 [sci2_noyo_optim:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-03-13T02:00:20.412Z,1741831220.412 [sci2_noyo_optim:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-03-13T02:00:20.412Z,1741831220.412 [sci2_noyo_optim:Science:PeakDetectPlanktivoreLMavgROI] Running Loop=1
2025-03-13T02:00:20.412Z,1741831220.412 [sci2_noyo_optim:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:PeakDetectPlanktivoreLMavgROI
2025-03-13T02:00:20.412Z,1741831220.412 [sci2_noyo_optim:Science:PeakDetectPlanktivoreLMavgROI:A] Running Loop=1
2025-03-13T02:00:20.413Z,1741831220.413 [sci2_noyo_optim:Science:EdgeDetectPlanktivoreLMavgROI] Running Loop=1
2025-03-13T02:00:20.413Z,1741831220.413 [sci2_noyo_optim:Science:EdgeDetectPlanktivoreLMavgROI](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:EdgeDetectPlanktivoreLMavgROI
2025-03-13T02:00:20.413Z,1741831220.413 [sci2_noyo_optim:Science:EdgeDetectPlanktivoreLMavgROI:A] Running Loop=1
2025-03-13T02:00:20.413Z,1741831220.413 [sci2_noyo_optim:Science:PeakDetectPlanktivoreHMavgROI] Running Loop=1
2025-03-13T02:00:20.413Z,1741831220.413 [sci2_noyo_optim:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:PeakDetectPlanktivoreHMavgROI
2025-03-13T02:00:20.413Z,1741831220.413 [sci2_noyo_optim:Science:PeakDetectPlanktivoreHMavgROI:A] Running Loop=1
2025-03-13T02:00:20.413Z,1741831220.413 [sci2_noyo_optim:Science:PeakDetectPlanktivoreDiatoms] Running Loop=1
2025-03-13T02:00:20.414Z,1741831220.414 [sci2_noyo_optim:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:PeakDetectPlanktivoreDiatoms
2025-03-13T02:00:20.414Z,1741831220.414 [sci2_noyo_optim:Science:PeakDetectPlanktivoreDiatoms:A] Running Loop=1
2025-03-13T02:00:20.414Z,1741831220.414 [sci2_noyo_optim:Science:PeakDetectPlanktivoreDinoflagellates] Running Loop=1
2025-03-13T02:00:20.414Z,1741831220.414 [sci2_noyo_optim:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:PeakDetectPlanktivoreDinoflagellates
2025-03-13T02:00:20.414Z,1741831220.414 [sci2_noyo_optim:Science:PeakDetectPlanktivoreDinoflagellates:A] Running Loop=1
2025-03-13T02:00:20.414Z,1741831220.414 [sci2_noyo_optim:Science:ChlThreshTrigger] Running Loop=1
2025-03-13T02:00:20.414Z,1741831220.414 [sci2_noyo_optim:Science:ChlThreshTrigger](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:ChlThreshTrigger
2025-03-13T02:00:20.414Z,1741831220.414 [sci2_noyo_optim:Science:ChlThreshTrigger:A.ValueDetect] Running Loop=1
2025-03-13T02:00:20.414Z,1741831220.414 [sci2_noyo_optim:Science:ChlThreshTrigger:A.ValueDetect](INFO): Initialize.
2025-03-13T02:00:20.415Z,1741831220.415 [sci2_noyo_optim:Science:OceanCurrent] Running Loop=1
2025-03-13T02:00:20.415Z,1741831220.415 [sci2_noyo_optim:Science:OceanCurrent](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:OceanCurrent
2025-03-13T02:00:20.415Z,1741831220.415 [sci2_noyo_optim:Science:OceanCurrent:A.] Running Loop=1
2025-03-13T02:00:20.415Z,1741831220.415 [sci2_noyo_optim:Science:OceanCurrent:A.](INFO): Initializing CurrentEstimator.
2025-03-13T02:00:20.416Z,1741831220.416 [sci2_noyo_optim:StandardEnvelopes] Running Loop=1
2025-03-13T02:00:20.416Z,1741831220.416 [sci2_noyo_optim:StandardEnvelopes](DEBUG): Aggregate::initialize sci2_noyo_optim:StandardEnvelopes
2025-03-13T02:00:20.416Z,1741831220.416 [sci2_noyo_optim:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-03-13T02:00:20.416Z,1741831220.416 [sci2_noyo_optim:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-03-13T02:00:20.416Z,1741831220.416 [sci2_noyo_optim:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-03-13T02:00:20.416Z,1741831220.416 [sci2_noyo_optim:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-03-13T02:00:20.416Z,1741831220.416 [sci2_noyo_optim:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-03-13T02:00:20.416Z,1741831220.416 [sci2_noyo_optim:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-03-13T02:00:20.416Z,1741831220.416 [sci2_noyo_optim:BackseatDriver] Running Loop=1
2025-03-13T02:00:20.416Z,1741831220.416 [sci2_noyo_optim:BackseatDriver](DEBUG): Aggregate::initialize sci2_noyo_optim:BackseatDriver
2025-03-13T02:00:20.417Z,1741831220.417 [sci2_noyo_optim:BackseatDriver:A.BackseatDriver] Running Loop=1
2025-03-13T02:00:20.417Z,1741831220.417 [sci2_noyo_optim:J] Running Loop=1
2025-03-13T02:00:20.417Z,1741831220.417 [sci2_noyo_optim:PowerOnly] Running Loop=1
2025-03-13T02:00:20.417Z,1741831220.417 [sci2_noyo_optim:PowerOnly](DEBUG): Aggregate::initialize sci2_noyo_optim:PowerOnly
2025-03-13T02:00:20.417Z,1741831220.417 [sci2_noyo_optim:PowerOnly:A] Running Loop=1
2025-03-13T02:00:20.417Z,1741831220.417 [sci2_noyo_optim:PowerOnly:B] Running Loop=1
2025-03-13T02:00:20.417Z,1741831220.417 [sci2_noyo_optim:PowerOnly:C] Running Loop=1
2025-03-13T02:00:20.417Z,1741831220.417 [sci2_noyo_optim:PowerOnly:D] Running Loop=1
2025-03-13T02:00:20.417Z,1741831220.417 [sci2_noyo_optim:PowerOnly:E.Wait] Running Loop=1
2025-03-13T02:00:20.417Z,1741831220.417 [sci2_noyo_optim:PowerOnly:E.Wait](DEBUG): Initialize Wait Component.
2025-03-13T02:00:20.417Z,1741831220.417 [sci2_noyo_optim:L] Running Loop=1
2025-03-13T02:00:20.417Z,1741831220.417 [sci2_noyo_optim:N] Running Loop=1
2025-03-13T02:00:20.418Z,1741831220.418 [sci2_noyo_optim:O.Buoyancy] Running Loop=1
2025-03-13T02:00:20.418Z,1741831220.418 [sci2_noyo_optim:O.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-03-13T02:00:20.418Z,1741831220.418 [sci2_noyo_optim:C] Running Loop=1
2025-03-13T02:00:20.419Z,1741831220.419 [sci2_noyo_optim:O.Buoyancy] Running Loop=1
2025-03-13T02:00:20.419Z,1741831220.419 [sci2_noyo_optim:N] Running Loop=1
2025-03-13T02:00:20.420Z,1741831220.420 [sci2_noyo_optim:N](DEBUG): Initialize ReadDataComponent to sense MultiRay.lightModeLog
2025-03-13T02:00:20.420Z,1741831220.420 [sci2_noyo_optim:L] Running Loop=1
2025-03-13T02:00:20.420Z,1741831220.420 [sci2_noyo_optim:PowerOnly] Running Loop=1
2025-03-13T02:00:20.421Z,1741831220.421 [sci2_noyo_optim:PowerOnly:D] Stopped
2025-03-13T02:00:20.421Z,1741831220.421 [sci2_noyo_optim:PowerOnly:C] Stopped
2025-03-13T02:00:20.421Z,1741831220.421 [sci2_noyo_optim:PowerOnly:B] Running Loop=1
2025-03-13T02:00:20.421Z,1741831220.421 [sci2_noyo_optim:PowerOnly:B](DEBUG): Initialize ReadDataComponent to sense PowerOnly.sampleLoad1
2025-03-13T02:00:20.422Z,1741831220.422 [sci2_noyo_optim:PowerOnly:A] Stopped
2025-03-13T02:00:20.422Z,1741831220.422 [sci2_noyo_optim:J] Running Loop=1
2025-03-13T02:00:20.422Z,1741831220.422 [sci2_noyo_optim:BackseatDriver] Running Loop=1
2025-03-13T02:00:20.422Z,1741831220.422 [sci2_noyo_optim:BackseatDriver:A.BackseatDriver](INFO): Initializing backseat
2025-03-13T02:00:20.441Z,1741831220.441 [sci2_noyo_optim:C] Stopped
2025-03-13T02:00:20.441Z,1741831220.441 [sci2_noyo_optim:D] Running Loop=1
2025-03-13T02:00:20.441Z,1741831220.441 [sci2_noyo_optim:StandardEnvelopes] Running Loop=1
2025-03-13T02:00:20.441Z,1741831220.441 [sci2_noyo_optim:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-03-13T02:00:20.441Z,1741831220.441 [sci2_noyo_optim:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-03-13T02:00:20.442Z,1741831220.442 [sci2_noyo_optim:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-03-13T02:00:20.442Z,1741831220.442 [sci2_noyo_optim:Science] Running Loop=1
2025-03-13T02:00:20.451Z,1741831220.451 [BackseatComponent](INFO): Powering up
2025-03-13T02:00:20.452Z,1741831220.452 [BackseatComponent](INFO): Subscribing to LCM channels.
2025-03-13T02:00:20.459Z,1741831220.459 [sci2_noyo_optim:Science:ChlThreshTrigger] Stopped
2025-03-13T02:00:20.460Z,1741831220.460 [sci2_noyo_optim:Science:ChlThreshTrigger](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:ChlThreshTrigger
2025-03-13T02:00:20.460Z,1741831220.460 [sci2_noyo_optim:Science:ChlThreshTrigger:A.ValueDetect] Stopped
2025-03-13T02:00:20.460Z,1741831220.460 [sci2_noyo_optim:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Uninitialize.
2025-03-13T02:00:20.460Z,1741831220.460 [sci2_noyo_optim:Science:PeakDetectPlanktivoreDinoflagellates] Stopped
2025-03-13T02:00:20.460Z,1741831220.460 [sci2_noyo_optim:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:PeakDetectPlanktivoreDinoflagellates
2025-03-13T02:00:20.460Z,1741831220.460 [sci2_noyo_optim:Science:PeakDetectPlanktivoreDinoflagellates:A] Stopped
2025-03-13T02:00:20.460Z,1741831220.460 [sci2_noyo_optim:Science:PeakDetectPlanktivoreDiatoms] Stopped
2025-03-13T02:00:20.460Z,1741831220.460 [sci2_noyo_optim:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:PeakDetectPlanktivoreDiatoms
2025-03-13T02:00:20.460Z,1741831220.460 [sci2_noyo_optim:Science:PeakDetectPlanktivoreDiatoms:A] Stopped
2025-03-13T02:00:20.460Z,1741831220.460 [sci2_noyo_optim:Science:PeakDetectPlanktivoreHMavgROI] Stopped
2025-03-13T02:00:20.460Z,1741831220.460 [sci2_noyo_optim:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:PeakDetectPlanktivoreHMavgROI
2025-03-13T02:00:20.461Z,1741831220.461 [sci2_noyo_optim:Science:PeakDetectPlanktivoreHMavgROI:A] Stopped
2025-03-13T02:00:20.461Z,1741831220.461 [sci2_noyo_optim:Science:EdgeDetectPlanktivoreLMavgROI] Stopped
2025-03-13T02:00:20.461Z,1741831220.461 [sci2_noyo_optim:Science:EdgeDetectPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:EdgeDetectPlanktivoreLMavgROI
2025-03-13T02:00:20.461Z,1741831220.461 [sci2_noyo_optim:Science:EdgeDetectPlanktivoreLMavgROI:A] Stopped
2025-03-13T02:00:20.461Z,1741831220.461 [sci2_noyo_optim:Science:PeakDetectPlanktivoreLMavgROI] Stopped
2025-03-13T02:00:20.461Z,1741831220.461 [sci2_noyo_optim:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:PeakDetectPlanktivoreLMavgROI
2025-03-13T02:00:20.461Z,1741831220.461 [sci2_noyo_optim:Science:PeakDetectPlanktivoreLMavgROI:A] Stopped
2025-03-13T02:00:20.461Z,1741831220.461 [sci2_noyo_optim:Science:HighestSaltPeakReport] Stopped
2025-03-13T02:00:20.461Z,1741831220.461 [sci2_noyo_optim:Science:HighestSaltPeakReport](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:HighestSaltPeakReport
2025-03-13T02:00:20.461Z,1741831220.461 [sci2_noyo_optim:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Stopped
2025-03-13T02:00:20.461Z,1741831220.461 [sci2_noyo_optim:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-03-13T02:00:20.461Z,1741831220.461 [sci2_noyo_optim:Science:PeakDetectSalinity] Stopped
2025-03-13T02:00:20.461Z,1741831220.461 [sci2_noyo_optim:Science:PeakDetectSalinity](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:PeakDetectSalinity
2025-03-13T02:00:20.462Z,1741831220.462 [sci2_noyo_optim:Science:PeakDetectSalinity:A] Stopped
2025-03-13T02:00:20.462Z,1741831220.462 [sci2_noyo_optim:Science:PeakDetectFDOM] Stopped
2025-03-13T02:00:20.462Z,1741831220.462 [sci2_noyo_optim:Science:PeakDetectFDOM](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:PeakDetectFDOM
2025-03-13T02:00:20.462Z,1741831220.462 [sci2_noyo_optim:Science:PeakDetectFDOM:A] Stopped
2025-03-13T02:00:20.462Z,1741831220.462 [sci2_noyo_optim:Science:HighestOilPeakReport] Stopped
2025-03-13T02:00:20.462Z,1741831220.462 [sci2_noyo_optim:Science:HighestOilPeakReport](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:HighestOilPeakReport
2025-03-13T02:00:20.462Z,1741831220.462 [sci2_noyo_optim:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Stopped
2025-03-13T02:00:20.462Z,1741831220.462 [sci2_noyo_optim:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-03-13T02:00:20.462Z,1741831220.462 [sci2_noyo_optim:Science:PeakDetectOil] Stopped
2025-03-13T02:00:20.462Z,1741831220.462 [sci2_noyo_optim:Science:PeakDetectOil](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:PeakDetectOil
2025-03-13T02:00:20.462Z,1741831220.462 [sci2_noyo_optim:Science:PeakDetectOil:A] Stopped
2025-03-13T02:00:20.462Z,1741831220.462 [sci2_noyo_optim:Science:PeakDetectNO3] Stopped
2025-03-13T02:00:20.462Z,1741831220.462 [sci2_noyo_optim:Science:PeakDetectNO3](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:PeakDetectNO3
2025-03-13T02:00:20.463Z,1741831220.463 [sci2_noyo_optim:Science:PeakDetectNO3:A] Stopped
2025-03-13T02:00:20.463Z,1741831220.463 [sci2_noyo_optim:Science:HighestChlPeakReport] Stopped
2025-03-13T02:00:20.463Z,1741831220.463 [sci2_noyo_optim:Science:HighestChlPeakReport](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:HighestChlPeakReport
2025-03-13T02:00:20.463Z,1741831220.463 [sci2_noyo_optim:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Stopped
2025-03-13T02:00:20.463Z,1741831220.463 [sci2_noyo_optim:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-03-13T02:00:20.467Z,1741831220.467 [sci2_noyo_optim:Science:EdgeDetectChl] Stopped
2025-03-13T02:00:20.467Z,1741831220.467 [sci2_noyo_optim:Science:EdgeDetectChl](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:EdgeDetectChl
2025-03-13T02:00:20.467Z,1741831220.467 [sci2_noyo_optim:Science:EdgeDetectChl:A] Stopped
2025-03-13T02:00:20.467Z,1741831220.467 [sci2_noyo_optim:Science:PeakDetectChl] Stopped
2025-03-13T02:00:20.468Z,1741831220.468 [sci2_noyo_optim:Science:PeakDetectChl](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:PeakDetectChl
2025-03-13T02:00:20.468Z,1741831220.468 [sci2_noyo_optim:Science:PeakDetectChl:A] Stopped
2025-03-13T02:00:20.468Z,1741831220.468 [sci2_noyo_optim:Science:OceanCurrent:A.] Running Loop=1
2025-03-13T02:00:20.468Z,1741831220.468 [sci2_noyo_optim:Science:Read_Oil] Stopped
2025-03-13T02:00:20.468Z,1741831220.468 [sci2_noyo_optim:Science:F] Stopped
2025-03-13T02:00:20.468Z,1741831220.468 [sci2_noyo_optim:Science:E] Running Loop=1
2025-03-13T02:00:20.468Z,1741831220.468 [sci2_noyo_optim:Science:E](DEBUG): Initialize ReadDataComponent to sense mass_concentration_of_chlorophyll_in_sea_water
2025-03-13T02:00:20.469Z,1741831220.469 [sci2_noyo_optim:Science:D] Stopped
2025-03-13T02:00:20.469Z,1741831220.469 [sci2_noyo_optim:Science:C] Running Loop=1
2025-03-13T02:00:20.469Z,1741831220.469 [sci2_noyo_optim:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_temperature
2025-03-13T02:00:20.470Z,1741831220.470 [sci2_noyo_optim:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_salinity
2025-03-13T02:00:20.470Z,1741831220.470 [sci2_noyo_optim:Science:B] Running Loop=1
2025-03-13T02:00:20.470Z,1741831220.470 [sci2_noyo_optim:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_temperature
2025-03-13T02:00:20.471Z,1741831220.471 [sci2_noyo_optim:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_salinity
2025-03-13T02:00:20.471Z,1741831220.471 [sci2_noyo_optim:Science:A] Stopped
2025-03-13T02:00:20.677Z,1741831220.677 [WetLabsBB2FL](INFO): Powering up
2025-03-13T02:00:20.793Z,1741831220.793 [PowerOnly](INFO): Powering up loadControl
2025-03-13T02:00:20.832Z,1741831220.832 [sci2_noyo_optim:D] Stopped
2025-03-13T02:00:20.832Z,1741831220.832 [sci2_noyo_optim:E] Running Loop=1
2025-03-13T02:00:21.216Z,1741831221.216 [sci2_noyo_optim:E] Stopped
2025-03-13T02:00:21.216Z,1741831221.216 [sci2_noyo_optim:G] Running Loop=1
2025-03-13T02:00:21.444Z,1741831221.444 [DataOverHttps](INFO): Exceeded connection timeout, disconnecting.
2025-03-13T02:00:21.611Z,1741831221.611 [sci2_noyo_optim:G] Stopped
2025-03-13T02:00:21.612Z,1741831221.612 [sci2_noyo_optim:H] Running Loop=1
2025-03-13T02:00:22.023Z,1741831222.023 [sci2_noyo_optim:H] Stopped
2025-03-13T02:00:22.024Z,1741831222.024 [sci2_noyo_optim:M] Running Loop=1
2025-03-13T02:00:22.548Z,1741831222.548 [sci2_noyo_optim:M] Stopped
2025-03-13T02:00:22.548Z,1741831222.548 [sci2_noyo_optim:StartingMission] Running Loop=1
2025-03-13T02:00:22.548Z,1741831222.548 [sci2_noyo_optim:StartingMission](DEBUG): Aggregate::initialize sci2_noyo_optim:StartingMission
2025-03-13T02:00:22.786Z,1741831222.786 [CTD_Seabird](ERROR): Pressure reading out of range: -10.100000 decibar
2025-03-13T02:00:22.789Z,1741831222.789 [CTD_Seabird](INFO): some bad data, not updating bins
2025-03-13T02:00:22.860Z,1741831222.860 [sci2_noyo_optim:SurfaceComms] Running Loop=1
2025-03-13T02:00:22.860Z,1741831222.860 [sci2_noyo_optim:SurfaceComms](DEBUG): Aggregate::initialize sci2_noyo_optim:SurfaceComms
2025-03-13T02:00:22.860Z,1741831222.860 [sci2_noyo_optim:SurfaceComms:A] Running Loop=1
2025-03-13T02:00:22.860Z,1741831222.860 [sci2_noyo_optim:SurfaceComms:A] Stopped
2025-03-13T02:00:22.860Z,1741831222.860 [sci2_noyo_optim:SurfaceComms:B] Running Loop=1
2025-03-13T02:00:22.861Z,1741831222.861 [sci2_noyo_optim:SurfaceComms:B](DEBUG): Aggregate::initialize sci2_noyo_optim:SurfaceComms:B
2025-03-13T02:00:23.283Z,1741831223.283 [sci2_noyo_optim:NeedComms] Running Loop=1
2025-03-13T02:00:23.283Z,1741831223.283 [sci2_noyo_optim:NeedComms](DEBUG): Aggregate::initialize sci2_noyo_optim:NeedComms
2025-03-13T02:00:23.283Z,1741831223.283 [sci2_noyo_optim:NeedComms:B.GoToSurface] Running Loop=1
2025-03-13T02:00:23.283Z,1741831223.283 [sci2_noyo_optim:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-03-13T02:00:23.284Z,1741831223.284 [sci2_noyo_optim:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-03-13T02:00:23.284Z,1741831223.284 [sci2_noyo_optim:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-03-13T02:00:23.285Z,1741831223.285 [sci2_noyo_optim:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-03-13T02:00:23.285Z,1741831223.285 [sci2_noyo_optim:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-03-13T02:00:23.285Z,1741831223.285 [sci2_noyo_optim:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-03-13T02:00:23.286Z,1741831223.286 [sci2_noyo_optim:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-03-13T02:00:23.286Z,1741831223.286 [sci2_noyo_optim:NeedComms:A] Running Loop=1
2025-03-13T02:00:23.287Z,1741831223.287 [sci2_noyo_optim:NeedComms:A](INFO): last time_fix was:  1741831068.000000 second since 1970/01/01T00:00:00Z 
2025-03-13T02:00:23.287Z,1741831223.287 [sci2_noyo_optim:NeedComms:A] Stopped
2025-03-13T02:00:23.692Z,1741831223.692 [sci2_noyo_optim:NeedComms:C] Running Loop=1
2025-03-13T02:00:24.052Z,1741831224.052 [sci2_noyo_optim:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-03-13T02:00:24.836Z,1741831224.836 [MultiRay](IMPORTANT): MultiRay white lights ON
2025-03-13T02:00:25.638Z,1741831225.638 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,020024.00,A,3647.82208,N,12152.58837,W,0.778,36.32,130325,,,A*40
2025-03-13T02:00:25.641Z,1741831225.641 [NAL9602](INFO): GPS fix at 20250313T020024: (36.797035, -121.876473)
2025-03-13T02:00:25.655Z,1741831225.655 [sci2_noyo_optim:NeedComms:C] Stopped
2025-03-13T02:00:25.656Z,1741831225.656 [sci2_noyo_optim:NeedComms:D] Running Loop=1
2025-03-13T02:00:26.076Z,1741831226.076 [sci2_noyo_optim:NeedComms:D](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-03-13T02:00:44.060Z,1741831244.060 [DataOverHttps](INFO): Sending 380 bytes from file Logs/20250311T232940/Express0211.lzma
2025-03-13T02:00:45.061Z,1741831245.061 [DataOverHttps](INFO): Moved sent file to Logs/20250311T232940/Express0211.lzma.bak
2025-03-13T02:00:45.062Z,1741831245.062 [DataOverHttps](INFO): SBD MOMSN=24220370
2025-03-13T02:01:03.847Z,1741831263.847 [DataOverHttps](INFO): Sending 72 bytes from file Logs/20250311T232940/Courier0213.lzma
2025-03-13T02:01:04.850Z,1741831264.850 [DataOverHttps](INFO): Moved sent file to Logs/20250311T232940/Courier0213.lzma.bak
2025-03-13T02:01:04.850Z,1741831264.850 [DataOverHttps](INFO): SBD MOMSN=24220378
2025-03-13T02:01:19.610Z,1741831279.610 [BackseatComponent](IMPORTANT): ikshana: running backseat application.
2025-03-13T02:01:21.257Z,1741831281.257 [DataOverHttps](INFO): Sending 487 bytes from file Logs/20250311T232940/Express0214.lzma
2025-03-13T02:01:23.262Z,1741831283.262 [DataOverHttps](INFO): Moved sent file to Logs/20250311T232940/Express0214.lzma.bak
2025-03-13T02:01:23.262Z,1741831283.262 [DataOverHttps](INFO): SBD MOMSN=24220381
2025-03-13T02:01:24.559Z,1741831284.559 [sci2_noyo_optim:NeedComms:D] Stopped
2025-03-13T02:01:24.560Z,1741831284.560 [sci2_noyo_optim:NeedComms:E] Running Loop=1
2025-03-13T02:01:24.960Z,1741831284.960 [sci2_noyo_optim:NeedComms:E](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-03-13T02:01:36.258Z,1741831296.258 [NAL9602](INFO): SBD MO Status=0, MOMSN=18527, MT Status=0, MTMSN=0
2025-03-13T02:01:36.258Z,1741831296.258 [NAL9602](INFO): No messages in MT queue
2025-03-13T02:01:37.469Z,1741831297.469 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,020136.00,A,3647.82346,N,12152.57309,W,1.050,27.25,130325,,,A*4A
2025-03-13T02:01:37.480Z,1741831297.480 [NAL9602](INFO): GPS fix at 20250313T020136: (36.797058, -121.876218)
2025-03-13T02:01:37.499Z,1741831297.499 [sci2_noyo_optim:NeedComms:E] Stopped
2025-03-13T02:01:37.500Z,1741831297.500 [sci2_noyo_optim:NeedComms](INFO): Completed sci2_noyo_optim:NeedComms
2025-03-13T02:01:37.501Z,1741831297.501 [sci2_noyo_optim:NeedComms] Stopped
2025-03-13T02:01:37.501Z,1741831297.501 [sci2_noyo_optim:NeedComms](DEBUG): Aggregate::uninitialize sci2_noyo_optim:NeedComms
2025-03-13T02:01:37.501Z,1741831297.501 [sci2_noyo_optim:NeedComms:B.GoToSurface] Stopped
2025-03-13T02:01:37.501Z,1741831297.501 [sci2_noyo_optim:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-03-13T02:01:37.908Z,1741831297.908 [sci2_noyo_optim:SurfaceComms:B](INFO): Completed sci2_noyo_optim:SurfaceComms:B
2025-03-13T02:01:37.908Z,1741831297.908 [sci2_noyo_optim:SurfaceComms:B] Stopped
2025-03-13T02:01:37.908Z,1741831297.908 [sci2_noyo_optim:SurfaceComms:B](DEBUG): Aggregate::uninitialize sci2_noyo_optim:SurfaceComms:B
2025-03-13T02:01:37.908Z,1741831297.908 [sci2_noyo_optim:SurfaceComms:C] Running Loop=1
2025-03-13T02:01:38.296Z,1741831298.296 [sci2_noyo_optim:SurfaceComms:C] Stopped
2025-03-13T02:01:38.297Z,1741831298.297 [sci2_noyo_optim:SurfaceComms](INFO): Completed sci2_noyo_optim:SurfaceComms
2025-03-13T02:01:38.297Z,1741831298.297 [sci2_noyo_optim:SurfaceComms] Stopped
2025-03-13T02:01:38.297Z,1741831298.297 [sci2_noyo_optim:SurfaceComms](DEBUG): Aggregate::uninitialize sci2_noyo_optim:SurfaceComms
2025-03-13T02:01:38.707Z,1741831298.707 [sci2_noyo_optim:StartingMission](INFO): Completed sci2_noyo_optim:StartingMission
2025-03-13T02:01:38.707Z,1741831298.707 [sci2_noyo_optim:StartingMission] Stopped
2025-03-13T02:01:38.707Z,1741831298.707 [sci2_noyo_optim:StartingMission](DEBUG): Aggregate::uninitialize sci2_noyo_optim:StartingMission
2025-03-13T02:01:38.715Z,1741831298.715 [sci2_noyo_optim:Lap] Running Loop=1
2025-03-13T02:01:38.715Z,1741831298.715 [sci2_noyo_optim:Lap](DEBUG): Aggregate::initialize sci2_noyo_optim:Lap
2025-03-13T02:01:38.715Z,1741831298.715 [sci2_noyo_optim:Lap:Dive] Running Loop=1
2025-03-13T02:01:38.716Z,1741831298.716 [sci2_noyo_optim:Lap:Dive](DEBUG): Aggregate::initialize sci2_noyo_optim:Lap:Dive
2025-03-13T02:01:38.716Z,1741831298.716 [sci2_noyo_optim:Lap:Dive:A] Running Loop=1
2025-03-13T02:01:38.716Z,1741831298.716 [sci2_noyo_optim:Lap:Dive:A](DEBUG): Aggregate::initialize sci2_noyo_optim:Lap:Dive:A
2025-03-13T02:01:38.716Z,1741831298.716 [sci2_noyo_optim:Lap:DepthByLap] Running Loop=1
2025-03-13T02:01:38.716Z,1741831298.716 [sci2_noyo_optim:Lap:DepthByLap](DEBUG): Aggregate::initialize sci2_noyo_optim:Lap:DepthByLap
2025-03-13T02:01:38.716Z,1741831298.716 [sci2_noyo_optim:Lap:DepthByLap:A] Running Loop=1
2025-03-13T02:01:39.109Z,1741831299.109 [sci2_noyo_optim:Lap:DepthByLap:A] Stopped
2025-03-13T02:01:39.109Z,1741831299.109 [sci2_noyo_optim:Lap:DepthByLap:Wpt1] Running Loop=1
2025-03-13T02:01:39.109Z,1741831299.109 [sci2_noyo_optim:Lap:DepthByLap:Wpt1](DEBUG): Aggregate::initialize sci2_noyo_optim:Lap:DepthByLap:Wpt1
2025-03-13T02:01:39.109Z,1741831299.109 [sci2_noyo_optim:Lap:DepthByLap:Wpt1:A.Waypoint] Running Loop=1
2025-03-13T02:01:39.110Z,1741831299.110 [sci2_noyo_optim:Lap:DepthByLap:Wpt1:A.Waypoint](DEBUG): Initialize WaypointComponent.
2025-03-13T02:01:39.110Z,1741831299.110 [sci2_noyo_optim:Lap:DepthByLap:Wpt1:A.Waypoint](IMPORTANT): Navigating to waypoint: 36.792789,-121.889191
2025-03-13T02:01:39.111Z,1741831299.111 [sci2_noyo_optim:Lap:Dive] Running Loop=1
2025-03-13T02:01:39.111Z,1741831299.111 [sci2_noyo_optim:DiveCmd] Running Loop=1
2025-03-13T02:01:39.111Z,1741831299.111 [sci2_noyo_optim:DiveCmd](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd
2025-03-13T02:01:39.111Z,1741831299.111 [sci2_noyo_optim:DiveCmd:InitialDive] Running Loop=1
2025-03-13T02:01:39.123Z,1741831299.123 [sci2_noyo_optim:DiveCmd:InitialDive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:InitialDive
2025-03-13T02:01:39.123Z,1741831299.123 [sci2_noyo_optim:DiveCmd:InitialDive:dive] Running Loop=1
2025-03-13T02:01:39.123Z,1741831299.123 [sci2_noyo_optim:DiveCmd:InitialDive:dive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:InitialDive:dive
2025-03-13T02:01:39.123Z,1741831299.123 [sci2_noyo_optim:DiveCmd:InitialDive:dive:A] Running Loop=1
2025-03-13T02:01:39.123Z,1741831299.123 [sci2_noyo_optim:DiveCmd:InitialDive:dive:B] Running Loop=1
2025-03-13T02:01:39.123Z,1741831299.123 [sci2_noyo_optim:DiveCmd:InitialDive:dive:C.Mass] Running Loop=1
2025-03-13T02:01:39.124Z,1741831299.124 [sci2_noyo_optim:DiveCmd:InitialDive:dive:C.Mass](DEBUG): Initialize.
2025-03-13T02:01:39.124Z,1741831299.124 [sci2_noyo_optim:DiveCmd:InitialDive:dive:D] Running Loop=1
2025-03-13T02:01:39.124Z,1741831299.124 [sci2_noyo_optim:DiveCmd:SettleAtDepth] Running Loop=1
2025-03-13T02:01:39.124Z,1741831299.124 [sci2_noyo_optim:DiveCmd:SettleAtDepth](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:SettleAtDepth
2025-03-13T02:01:39.124Z,1741831299.124 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive] Running Loop=1
2025-03-13T02:01:39.124Z,1741831299.124 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:SettleAtDepth:dive
2025-03-13T02:01:39.124Z,1741831299.124 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:B.Pitch] Running Loop=1
2025-03-13T02:01:39.124Z,1741831299.124 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:B.Pitch](DEBUG): Initialize.
2025-03-13T02:01:39.125Z,1741831299.125 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:A] Running Loop=1
2025-03-13T02:01:39.125Z,1741831299.125 [sci2_noyo_optim:DiveCmd:MaintainDepth] Running Loop=1
2025-03-13T02:01:39.125Z,1741831299.125 [sci2_noyo_optim:DiveCmd:MaintainDepth](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepth
2025-03-13T02:01:39.125Z,1741831299.125 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive] Running Loop=1
2025-03-13T02:01:39.125Z,1741831299.125 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive
2025-03-13T02:01:39.125Z,1741831299.125 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive] Running Loop=1
2025-03-13T02:01:39.125Z,1741831299.125 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive
2025-03-13T02:01:39.125Z,1741831299.125 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass] Running Loop=1
2025-03-13T02:01:39.125Z,1741831299.125 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass](DEBUG): Initialize.
2025-03-13T02:01:39.125Z,1741831299.125 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed] Running Loop=1
2025-03-13T02:01:39.126Z,1741831299.126 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed](DEBUG): Initialize.
2025-03-13T02:01:39.126Z,1741831299.126 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:B.Pitch] Running Loop=1
2025-03-13T02:01:39.126Z,1741831299.126 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:B.Pitch](DEBUG): Initialize.
2025-03-13T02:01:39.126Z,1741831299.126 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow] Running Loop=1
2025-03-13T02:01:39.126Z,1741831299.126 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepthSlow
2025-03-13T02:01:39.126Z,1741831299.126 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:A.SetSpeed] Running Loop=1
2025-03-13T02:01:39.126Z,1741831299.126 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:A.SetSpeed](DEBUG): Initialize.
2025-03-13T02:01:39.126Z,1741831299.126 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:B] Running Loop=1
2025-03-13T02:01:39.126Z,1741831299.126 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:C.Buoyancy] Running Loop=1
2025-03-13T02:01:39.126Z,1741831299.126 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:C.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-03-13T02:01:39.127Z,1741831299.127 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:D.Pitch] Running Loop=1
2025-03-13T02:01:39.127Z,1741831299.127 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:D.Pitch](DEBUG): Initialize.
2025-03-13T02:01:39.128Z,1741831299.128 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow] Stopped
2025-03-13T02:01:39.128Z,1741831299.128 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepthSlow
2025-03-13T02:01:39.128Z,1741831299.128 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:A.SetSpeed] Stopped
2025-03-13T02:01:39.128Z,1741831299.128 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:A.SetSpeed](DEBUG): Uninitialize.
2025-03-13T02:01:39.128Z,1741831299.128 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:B] Stopped
2025-03-13T02:01:39.128Z,1741831299.128 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:C.Buoyancy] Stopped
2025-03-13T02:01:39.128Z,1741831299.128 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-03-13T02:01:39.128Z,1741831299.128 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:D.Pitch] Stopped
2025-03-13T02:01:39.128Z,1741831299.128 [sci2_noyo_optim:DiveCmd:MaintainDepth] Running Loop=1
2025-03-13T02:01:39.128Z,1741831299.128 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive] Running Loop=1
2025-03-13T02:01:39.129Z,1741831299.129 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:B.Pitch] Running Loop=1
2025-03-13T02:01:39.129Z,1741831299.129 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive] Running Loop=1
2025-03-13T02:01:39.129Z,1741831299.129 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed] Running Loop=1
2025-03-13T02:01:39.129Z,1741831299.129 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass] Running Loop=1
2025-03-13T02:01:39.130Z,1741831299.130 [sci2_noyo_optim:DiveCmd:SettleAtDepth] Stopped
2025-03-13T02:01:39.130Z,1741831299.130 [sci2_noyo_optim:DiveCmd:SettleAtDepth](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:SettleAtDepth
2025-03-13T02:01:39.130Z,1741831299.130 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive] Stopped
2025-03-13T02:01:39.130Z,1741831299.130 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:SettleAtDepth:dive
2025-03-13T02:01:39.130Z,1741831299.130 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:A] Stopped
2025-03-13T02:01:39.130Z,1741831299.130 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:B.Pitch] Stopped
2025-03-13T02:01:39.130Z,1741831299.130 [sci2_noyo_optim:DiveCmd:InitialDive] Running Loop=1
2025-03-13T02:01:39.131Z,1741831299.131 [sci2_noyo_optim:DiveCmd:InitialDive:dive:D](INFO): Waiting for  1.000000 min while pumping down to neutral.
2025-03-13T02:01:39.131Z,1741831299.131 [sci2_noyo_optim:DiveCmd:InitialDive:dive:D] Stopped
2025-03-13T02:01:39.131Z,1741831299.131 [sci2_noyo_optim:DiveCmd:InitialDive:dive:E.Wait] Running Loop=1
2025-03-13T02:01:39.131Z,1741831299.131 [sci2_noyo_optim:DiveCmd:InitialDive:dive:E.Wait](DEBUG): Initialize Wait Component.
2025-03-13T02:01:39.131Z,1741831299.131 [sci2_noyo_optim:DiveCmd:InitialDive:dive:C.Mass] Running Loop=1
2025-03-13T02:01:39.132Z,1741831299.132 [sci2_noyo_optim:DiveCmd:InitialDive:dive:B] Running Loop=1
2025-03-13T02:01:39.132Z,1741831299.132 [sci2_noyo_optim:DiveCmd:InitialDive:dive:A] Running Loop=1
2025-03-13T02:01:39.548Z,1741831299.548 [sci2_noyo_optim:Lap:DepthByLap:Wpt1:A.Waypoint](INFO): Navigating to waypoint: 36.792789,-121.889191
2025-03-13T02:02:09.148Z,1741831329.148 [NAL9602](INFO): Not Powering down - fast GPS
2025-03-13T02:02:30.415Z,1741831350.415 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T02:02:32.424Z,1741831352.424 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.247196
2025-03-13T02:02:39.709Z,1741831359.709 [sci2_noyo_optim:DiveCmd:InitialDive:dive:E.Wait](INFO): Done Waiting.
2025-03-13T02:02:39.709Z,1741831359.709 [sci2_noyo_optim:DiveCmd:InitialDive:dive:E.Wait] Stopped
2025-03-13T02:02:39.710Z,1741831359.710 [sci2_noyo_optim:DiveCmd:InitialDive:dive:E.Wait](DEBUG): Uninitialize Wait Component.
2025-03-13T02:02:39.711Z,1741831359.711 [sci2_noyo_optim:DiveCmd:InitialDive:dive:F] Running Loop=1
2025-03-13T02:02:40.113Z,1741831360.113 [sci2_noyo_optim:DiveCmd:InitialDive:dive:F](INFO): Moving to  10.000000 m 
2025-03-13T02:02:40.113Z,1741831360.113 [sci2_noyo_optim:DiveCmd:InitialDive:dive:F] Stopped
2025-03-13T02:02:40.114Z,1741831360.114 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth] Running Loop=1
2025-03-13T02:02:40.114Z,1741831360.114 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth
2025-03-13T02:02:40.114Z,1741831360.114 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:A.SetSpeed] Running Loop=1
2025-03-13T02:02:40.114Z,1741831360.114 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:A.SetSpeed](DEBUG): Initialize.
2025-03-13T02:02:40.114Z,1741831360.114 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:B.Pitch] Running Loop=1
2025-03-13T02:02:40.115Z,1741831360.115 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:B.Pitch](DEBUG): Initialize.
2025-03-13T02:02:40.526Z,1741831360.526 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:A.SetSpeed] Running Loop=1
2025-03-13T02:02:42.528Z,1741831362.528 [ElevatorOffsetCalculator](INFO): New estimator for commanded vars: speed 0.70 m/s, pitch 30.00 deg, mass-position 6.85 mm (3 active estimators).
2025-03-13T02:03:05.555Z,1741831385.555 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T02:03:39.320Z,1741831419.320 [Waterlinked](ERROR): only read 0 of 1 data item for BIT error. Device response::TS,24052713025372, 0.0, +0.0,   0.0,147

2025-03-13T02:03:40.728Z,1741831420.728 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T02:04:11.999Z,1741831451.999 [Radio_Surface](INFO): Powering down
2025-03-13T02:04:15.892Z,1741831455.892 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T02:04:16.896Z,1741831456.896 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-03-13T02:04:59.264Z,1741831499.264 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:B.Pitch] Stopped
2025-03-13T02:04:59.264Z,1741831499.264 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth](INFO): Completed sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth
2025-03-13T02:04:59.264Z,1741831499.264 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth] Stopped
2025-03-13T02:04:59.264Z,1741831499.264 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth
2025-03-13T02:04:59.264Z,1741831499.264 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:A.SetSpeed] Stopped
2025-03-13T02:04:59.264Z,1741831499.264 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:A.SetSpeed](DEBUG): Uninitialize.
2025-03-13T02:04:59.265Z,1741831499.265 [sci2_noyo_optim:DiveCmd:InitialDive:dive:H] Running Loop=1
2025-03-13T02:04:59.656Z,1741831499.656 [sci2_noyo_optim:DiveCmd:InitialDive:dive:H] Stopped
2025-03-13T02:04:59.657Z,1741831499.657 [sci2_noyo_optim:DiveCmd:InitialDive:dive](INFO): Completed sci2_noyo_optim:DiveCmd:InitialDive:dive
2025-03-13T02:04:59.657Z,1741831499.657 [sci2_noyo_optim:DiveCmd:InitialDive:dive] Stopped
2025-03-13T02:04:59.657Z,1741831499.657 [sci2_noyo_optim:DiveCmd:InitialDive:dive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:InitialDive:dive
2025-03-13T02:04:59.657Z,1741831499.657 [sci2_noyo_optim:DiveCmd:InitialDive:dive:A] Stopped
2025-03-13T02:04:59.657Z,1741831499.657 [sci2_noyo_optim:DiveCmd:InitialDive:dive:B] Stopped
2025-03-13T02:04:59.657Z,1741831499.657 [sci2_noyo_optim:DiveCmd:InitialDive:dive:C.Mass] Stopped
2025-03-13T02:04:59.657Z,1741831499.657 [sci2_noyo_optim:DiveCmd:InitialDive:dive:C.Mass](DEBUG): Uninitialize.
2025-03-13T02:04:59.657Z,1741831499.657 [sci2_noyo_optim:DiveCmd:InitialDive](INFO): Completed sci2_noyo_optim:DiveCmd:InitialDive
2025-03-13T02:05:00.048Z,1741831500.048 [sci2_noyo_optim:DiveCmd:SettleAtDepth] Running Loop=1
2025-03-13T02:05:00.048Z,1741831500.048 [sci2_noyo_optim:DiveCmd:SettleAtDepth](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:SettleAtDepth
2025-03-13T02:05:00.048Z,1741831500.048 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive] Running Loop=1
2025-03-13T02:05:00.049Z,1741831500.049 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:SettleAtDepth:dive
2025-03-13T02:05:00.049Z,1741831500.049 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:B.Pitch] Running Loop=1
2025-03-13T02:05:00.049Z,1741831500.049 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:B.Pitch](DEBUG): Initialize.
2025-03-13T02:05:00.049Z,1741831500.049 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:A] Running Loop=1
2025-03-13T02:05:00.049Z,1741831500.049 [sci2_noyo_optim:DiveCmd:SettleAtDepth] Running Loop=1
2025-03-13T02:05:00.049Z,1741831500.049 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:B.Pitch] Running Loop=1
2025-03-13T02:05:00.050Z,1741831500.050 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:A](INFO): Reached  10.066379 m , settling for  3.000000 min 
2025-03-13T02:05:00.050Z,1741831500.050 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:A] Stopped
2025-03-13T02:05:00.050Z,1741831500.050 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:C.Wait] Running Loop=1
2025-03-13T02:05:00.050Z,1741831500.050 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:C.Wait](DEBUG): Initialize Wait Component.
2025-03-13T02:08:01.184Z,1741831681.184 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:C.Wait](INFO): Done Waiting.
2025-03-13T02:08:01.184Z,1741831681.184 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:C.Wait] Stopped
2025-03-13T02:08:01.185Z,1741831681.185 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:C.Wait](DEBUG): Uninitialize Wait Component.
2025-03-13T02:08:01.186Z,1741831681.186 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:D] Running Loop=1
2025-03-13T02:08:01.464Z,1741831681.464 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:D] Stopped
2025-03-13T02:08:01.464Z,1741831681.464 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive](INFO): Completed sci2_noyo_optim:DiveCmd:SettleAtDepth:dive
2025-03-13T02:08:01.464Z,1741831681.464 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive] Stopped
2025-03-13T02:08:01.464Z,1741831681.464 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:SettleAtDepth:dive
2025-03-13T02:08:01.465Z,1741831681.465 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:B.Pitch] Stopped
2025-03-13T02:08:01.465Z,1741831681.465 [sci2_noyo_optim:DiveCmd:SettleAtDepth](INFO): Completed sci2_noyo_optim:DiveCmd:SettleAtDepth
2025-03-13T02:08:17.745Z,1741831697.745 [CTD_Seabird](ERROR): Failed to parse device response: ,11.5095,3.79573,4127.27
2025-03-13T02:11:19.912Z,1741831879.912 [sci2_noyo_optim:BackseatDriver:A.BackseatDriver](INFO): Created data writer for _.data_dir_logging_rate with code: 2169
2025-03-13T02:14:59.682Z,1741832099.682 [Waterlinked](ERROR): only read 0 of 1 data item for altitude. Device response::BD,       +0.00,       +0.0 +0.00,   0.00,  0.00
2025-03-13T02:15:46.456Z,1741832146.456 [BPC1](ERROR): BPC1A: No match for serial number 1717 in BPC1A's battery stick inventory (sticks 1-31 in onboard configuration file).
2025-03-13T02:17:45.668Z,1741832265.668 [BPC1](INFO): Calculating totals. Valid battery stick count: 51. Valid reserve battery stick count: 5.
2025-03-13T02:17:45.676Z,1741832265.676 [BPC1](FAULT): Failed to receive data from 3 sticks prior to timeout. Will not retry this scan cycle. Missing stick IDs are: 19, 21, 24.
2025-03-13T02:20:33.673Z,1741832433.673 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow] Running Loop=1
2025-03-13T02:20:33.673Z,1741832433.673 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepthSlow
2025-03-13T02:20:33.673Z,1741832433.673 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:A.SetSpeed] Running Loop=1
2025-03-13T02:20:33.674Z,1741832433.674 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:A.SetSpeed](DEBUG): Initialize.
2025-03-13T02:20:33.674Z,1741832433.674 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:B] Running Loop=1
2025-03-13T02:20:33.674Z,1741832433.674 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:C.Buoyancy] Running Loop=1
2025-03-13T02:20:33.674Z,1741832433.674 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:C.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-03-13T02:20:33.674Z,1741832433.674 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:D.Pitch] Running Loop=1
2025-03-13T02:20:33.674Z,1741832433.674 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:D.Pitch](DEBUG): Initialize.
2025-03-13T02:20:33.674Z,1741832433.674 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow] Running Loop=1
2025-03-13T02:20:33.674Z,1741832433.674 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:D.Pitch] Running Loop=1
2025-03-13T02:20:33.675Z,1741832433.675 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:C.Buoyancy] Running Loop=1
2025-03-13T02:20:33.675Z,1741832433.675 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:B] Running Loop=1
2025-03-13T02:20:33.675Z,1741832433.675 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:A.SetSpeed] Running Loop=1
2025-03-13T02:20:33.676Z,1741832433.676 [sci2_noyo_optim:DiveCmd:MaintainDepth] Stopped
2025-03-13T02:20:33.676Z,1741832433.676 [sci2_noyo_optim:DiveCmd:MaintainDepth](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepth
2025-03-13T02:20:33.676Z,1741832433.676 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive] Stopped
2025-03-13T02:20:33.676Z,1741832433.676 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive
2025-03-13T02:20:33.676Z,1741832433.676 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive] Stopped
2025-03-13T02:20:33.676Z,1741832433.676 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive
2025-03-13T02:20:33.676Z,1741832433.676 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass] Stopped
2025-03-13T02:20:33.676Z,1741832433.676 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass](DEBUG): Uninitialize.
2025-03-13T02:20:33.676Z,1741832433.676 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed] Stopped
2025-03-13T02:20:33.676Z,1741832433.676 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed](DEBUG): Uninitialize.
2025-03-13T02:20:33.677Z,1741832433.677 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:B.Pitch] Stopped
2025-03-13T02:26:36.308Z,1741832796.308 [CTD_Seabird](ERROR): Failed to parse device response: .46
2025-03-13T02:30:00.715Z,1741833000.715 [Waterlinked](ERROR): only read 0 of 1 data item for altitude. Device response::BD,       +0.00,       +    +0.00,   0.00,  0.00
2025-03-13T02:31:20.752Z,1741833080.752 [BackseatComponent](CRITICAL): ikshana: Data dir size (737.99 GB) did not increase within 10 minutes
2025-03-13T02:31:20.752Z,1741833080.752 [BackseatComponent] Data Fault, FailCount= 1
2025-03-13T02:31:20.752Z,1741833080.752 [BackseatComponent](ERROR): Data Fault
2025-03-13T02:31:21.157Z,1741833081.157 [BackseatComponent](INFO): Sent LCM shutdown request.
2025-03-13T02:31:21.157Z,1741833081.157 [BackseatComponent](INFO): Shutdown requested. Waiting (18.00 sec to power down.).
2025-03-13T02:31:21.265Z,1741833081.265 [CommandExec](FAULT): Scheduling is paused
2025-03-13T02:31:21.265Z,1741833081.265 [CBIT](INFO): Critical error at 20250313T023120
2025-03-13T02:31:21.265Z,1741833081.265 [Supervisor](INFO): Stop Mission called by CBIT::checkCriticals
2025-03-13T02:31:21.268Z,1741833081.268 [CBIT](ERROR): Data Fault in component: BackseatComponent
2025-03-13T02:31:21.374Z,1741833081.374 [MissionManager](INFO): MissionManager is completed.
2025-03-13T02:31:21.374Z,1741833081.374 [MissionManager](INFO): Uninitializing Mission sci2_noyo_optim
2025-03-13T02:31:21.374Z,1741833081.374 [sci2_noyo_optim] Stopped
2025-03-13T02:31:21.374Z,1741833081.374 [sci2_noyo_optim](DEBUG): Aggregate::uninitialize sci2_noyo_optim
2025-03-13T02:31:21.374Z,1741833081.374 [sci2_noyo_optim:Science] Stopped
2025-03-13T02:31:21.374Z,1741833081.374 [sci2_noyo_optim:Science](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science
2025-03-13T02:31:21.374Z,1741833081.374 [sci2_noyo_optim:Science:B] Stopped
2025-03-13T02:31:21.374Z,1741833081.374 [sci2_noyo_optim:Science:C] Stopped
2025-03-13T02:31:21.374Z,1741833081.374 [sci2_noyo_optim:Science:E] Stopped
2025-03-13T02:31:21.374Z,1741833081.374 [sci2_noyo_optim:Science:OceanCurrent] Stopped
2025-03-13T02:31:21.374Z,1741833081.374 [sci2_noyo_optim:Science:OceanCurrent](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:OceanCurrent
2025-03-13T02:31:21.375Z,1741833081.375 [sci2_noyo_optim:Science:OceanCurrent:A.] Stopped
2025-03-13T02:31:21.375Z,1741833081.375 [sci2_noyo_optim:StandardEnvelopes] Stopped
2025-03-13T02:31:21.375Z,1741833081.375 [sci2_noyo_optim:StandardEnvelopes](DEBUG): Aggregate::uninitialize sci2_noyo_optim:StandardEnvelopes
2025-03-13T02:31:21.375Z,1741833081.375 [sci2_noyo_optim:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-03-13T02:31:21.375Z,1741833081.375 [sci2_noyo_optim:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-03-13T02:31:21.378Z,1741833081.378 [sci2_noyo_optim:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-03-13T02:31:21.378Z,1741833081.378 [sci2_noyo_optim:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-03-13T02:31:21.378Z,1741833081.378 [sci2_noyo_optim:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-03-13T02:31:21.378Z,1741833081.378 [sci2_noyo_optim:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-03-13T02:31:21.378Z,1741833081.378 [sci2_noyo_optim:BackseatDriver] Stopped
2025-03-13T02:31:21.378Z,1741833081.378 [sci2_noyo_optim:BackseatDriver](DEBUG): Aggregate::uninitialize sci2_noyo_optim:BackseatDriver
2025-03-13T02:31:21.378Z,1741833081.378 [sci2_noyo_optim:BackseatDriver:A.BackseatDriver] Stopped
2025-03-13T02:31:21.378Z,1741833081.378 [sci2_noyo_optim:J] Stopped
2025-03-13T02:31:21.378Z,1741833081.378 [sci2_noyo_optim:PowerOnly] Stopped
2025-03-13T02:31:21.378Z,1741833081.378 [sci2_noyo_optim:PowerOnly](DEBUG): Aggregate::uninitialize sci2_noyo_optim:PowerOnly
2025-03-13T02:31:21.378Z,1741833081.378 [sci2_noyo_optim:PowerOnly:B] Stopped
2025-03-13T02:31:21.378Z,1741833081.378 [sci2_noyo_optim:PowerOnly:E.Wait] Stopped
2025-03-13T02:31:21.379Z,1741833081.379 [sci2_noyo_optim:PowerOnly:E.Wait](DEBUG): Uninitialize Wait Component.
2025-03-13T02:31:21.379Z,1741833081.379 [sci2_noyo_optim:L] Stopped
2025-03-13T02:31:21.379Z,1741833081.379 [sci2_noyo_optim:N] Stopped
2025-03-13T02:31:21.379Z,1741833081.379 [sci2_noyo_optim:O.Buoyancy] Stopped
2025-03-13T02:31:21.379Z,1741833081.379 [sci2_noyo_optim:O.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-03-13T02:31:21.379Z,1741833081.379 [sci2_noyo_optim:DiveCmd] Stopped
2025-03-13T02:31:21.383Z,1741833081.383 [sci2_noyo_optim:DiveCmd](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd
2025-03-13T02:31:21.383Z,1741833081.383 [sci2_noyo_optim:DiveCmd:InitialDive] Stopped
2025-03-13T02:31:21.383Z,1741833081.383 [sci2_noyo_optim:DiveCmd:InitialDive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:InitialDive
2025-03-13T02:31:21.383Z,1741833081.383 [sci2_noyo_optim:DiveCmd:SettleAtDepth] Stopped
2025-03-13T02:31:21.384Z,1741833081.384 [sci2_noyo_optim:DiveCmd:SettleAtDepth](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:SettleAtDepth
2025-03-13T02:31:21.384Z,1741833081.384 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow] Stopped
2025-03-13T02:31:21.384Z,1741833081.384 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepthSlow
2025-03-13T02:31:21.384Z,1741833081.384 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:A.SetSpeed] Stopped
2025-03-13T02:31:21.384Z,1741833081.384 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:A.SetSpeed](DEBUG): Uninitialize.
2025-03-13T02:31:21.384Z,1741833081.384 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:B] Stopped
2025-03-13T02:31:21.384Z,1741833081.384 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:C.Buoyancy] Stopped
2025-03-13T02:31:21.384Z,1741833081.384 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-03-13T02:31:21.384Z,1741833081.384 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:D.Pitch] Stopped
2025-03-13T02:31:21.384Z,1741833081.384 [sci2_noyo_optim:Lap] Stopped
2025-03-13T02:31:21.384Z,1741833081.384 [sci2_noyo_optim:Lap](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Lap
2025-03-13T02:31:21.384Z,1741833081.384 [sci2_noyo_optim:Lap:Dive] Stopped
2025-03-13T02:31:21.384Z,1741833081.384 [sci2_noyo_optim:Lap:Dive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Lap:Dive
2025-03-13T02:31:21.385Z,1741833081.385 [sci2_noyo_optim:Lap:Dive:A] Stopped
2025-03-13T02:31:21.385Z,1741833081.385 [sci2_noyo_optim:Lap:Dive:A](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Lap:Dive:A
2025-03-13T02:31:21.385Z,1741833081.385 [sci2_noyo_optim:Lap:DepthByLap] Stopped
2025-03-13T02:31:21.385Z,1741833081.385 [sci2_noyo_optim:Lap:DepthByLap](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Lap:DepthByLap
2025-03-13T02:31:21.385Z,1741833081.385 [sci2_noyo_optim:Lap:DepthByLap:Wpt1] Stopped
2025-03-13T02:31:21.385Z,1741833081.385 [sci2_noyo_optim:Lap:DepthByLap:Wpt1](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Lap:DepthByLap:Wpt1
2025-03-13T02:31:21.385Z,1741833081.385 [sci2_noyo_optim:Lap:DepthByLap:Wpt1:A.Waypoint] Stopped
2025-03-13T02:31:21.385Z,1741833081.385 [sci2_noyo_optim:Lap:DepthByLap:Wpt1:A.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-03-13T02:31:21.748Z,1741833081.748 [WetLabsBB2FL](INFO): Powering down
2025-03-13T02:31:22.401Z,1741833082.401 [MissionManager](IMPORTANT): Started mission Default
2025-03-13T02:31:22.401Z,1741833082.401 [Default] Running Loop=1
2025-03-13T02:31:22.402Z,1741833082.402 [Default](DEBUG): Aggregate::initialize Default
2025-03-13T02:31:22.402Z,1741833082.402 [Default:B.GoToSurface] Running Loop=1
2025-03-13T02:31:22.402Z,1741833082.402 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-03-13T02:31:22.402Z,1741833082.402 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-03-13T02:31:22.402Z,1741833082.402 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-03-13T02:31:22.403Z,1741833082.403 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-03-13T02:31:22.403Z,1741833082.403 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-03-13T02:31:22.403Z,1741833082.403 [Default:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-03-13T02:31:22.404Z,1741833082.404 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-03-13T02:31:22.404Z,1741833082.404 [Default:A.Wait] Running Loop=1
2025-03-13T02:31:22.404Z,1741833082.404 [Default:A.Wait](DEBUG): Initialize Wait Component.
2025-03-13T02:31:22.952Z,1741833082.952 [Radio_Surface](INFO): Powering up
2025-03-13T02:31:28.732Z,1741833088.732 [DataOverHttps](INFO): Radio surface powered ON.
2025-03-13T02:31:35.562Z,1741833095.562 [Default:A.Wait](INFO): Done Waiting.
2025-03-13T02:31:35.562Z,1741833095.562 [Default:A.Wait] Stopped
2025-03-13T02:31:35.563Z,1741833095.563 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2025-03-13T02:31:39.337Z,1741833099.337 [BackseatComponent](INFO): Powering down and starting shutdown timer (18.00 sec).
2025-03-13T02:31:39.339Z,1741833099.339 [BackseatComponent](INFO): Unsubscribing from LCM channels.
2025-03-13T02:31:39.339Z,1741833099.339 [LcmUniversalReporter](INFO): Deactivating messaging.
2025-03-13T02:31:58.307Z,1741833118.307 [CBIT](INFO): Clearing failed state for component BackseatComponent
2025-03-13T02:31:58.307Z,1741833118.307 [BackseatComponent] No Fault, FailCount= 0
2025-03-13T02:31:58.355Z,1741833118.355 [BackseatComponent](INFO): Powering up
2025-03-13T02:31:58.356Z,1741833118.356 [BackseatComponent](INFO): Subscribing to LCM channels.
2025-03-13T02:31:58.852Z,1741833118.852 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T02:32:19.225Z,1741833139.225 [BackseatComponent](INFO): Sent LCM shutdown request.
2025-03-13T02:32:19.225Z,1741833139.225 [BackseatComponent](INFO): Shutdown requested. Waiting (18.00 sec to power down.).
2025-03-13T02:32:33.996Z,1741833153.996 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T02:32:37.408Z,1741833157.408 [BackseatComponent](INFO): Powering down and starting shutdown timer (18.00 sec).
2025-03-13T02:32:37.408Z,1741833157.408 [BackseatComponent](INFO): Unsubscribing from LCM channels.
2025-03-13T02:32:37.409Z,1741833157.409 [LcmUniversalReporter](INFO): Deactivating messaging.
2025-03-13T02:32:51.901Z,1741833171.901 [PowerOnly](INFO): Powering down loadControl
2025-03-13T02:33:09.136Z,1741833189.136 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T02:33:44.292Z,1741833224.292 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T02:34:19.432Z,1741833259.432 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T02:34:54.572Z,1741833294.572 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T02:35:29.711Z,1741833329.711 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T02:35:49.773Z,1741833349.773 [Waterlinked](ERROR): only read 0 of 1 data item for altitude. Device response::BD,  0.00,  0.00
2025-03-13T02:36:04.852Z,1741833364.852 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T02:36:40.013Z,1741833400.013 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T02:37:15.160Z,1741833435.160 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T02:37:50.300Z,1741833470.300 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T02:38:25.452Z,1741833505.452 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T02:39:00.593Z,1741833540.593 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T02:39:35.736Z,1741833575.736 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T02:40:10.876Z,1741833610.876 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T02:40:36.000Z,1741833637.000 [Waterlinked](ERROR): only read 0 of 1 data item for BIT error. Device response::TS,24052713395144, 0,   0.0,1475.0,  0
2025-03-13T02:40:46.017Z,1741833646.017 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T02:40:48.891Z,1741833648.891 [Default:B.GoToSurface](ERROR): Altitude too low: 0.06
2025-03-13T02:40:49.271Z,1741833649.271 [Default:B.GoToSurface](ERROR): Altitude too low: 0.06
2025-03-13T02:40:49.699Z,1741833649.699 [Default:B.GoToSurface](ERROR): Altitude too low: 0.06
2025-03-13T02:40:50.064Z,1741833650.064 [Default:B.GoToSurface](ERROR): Altitude too low: 0.06
2025-03-13T02:40:50.598Z,1741833650.598 [Default:B.GoToSurface](ERROR): Altitude too low: 0.06
2025-03-13T02:40:51.205Z,1741833651.205 [Default:B.GoToSurface](ERROR): Altitude too low: 0.06
2025-03-13T02:40:51.592Z,1741833651.592 [Default:B.GoToSurface](ERROR): No valid altitude, but last altitude 0.06 too low. Waiting for 600.000000 seconds.
2025-03-13T02:41:21.156Z,1741833681.156 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T02:41:30.352Z,1741833690.352 [Default:CheckIn] Running Loop=1
2025-03-13T02:41:30.352Z,1741833690.352 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-03-13T02:41:30.353Z,1741833690.353 [Default:CheckIn:Read_GPS] Running Loop=1
2025-03-13T02:41:30.828Z,1741833690.828 [Waterlinked](INFO): Powering down
2025-03-13T02:41:56.300Z,1741833716.300 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T02:42:08.920Z,1741833728.920 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003883
2025-03-13T02:42:40.634Z,1741833760.634 [NAL9602](INFO): SBD MO Status=2, MOMSN=18528, MT Status=2, MTMSN=0
2025-03-13T02:42:40.635Z,1741833760.635 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-03-13T02:43:20.230Z,1741833800.230 [NAL9602](INFO): SBD MO Status=0, MOMSN=18528, MT Status=0, MTMSN=0
2025-03-13T02:43:20.231Z,1741833800.231 [NAL9602](INFO): No messages in MT queue
2025-03-13T02:43:21.442Z,1741833801.442 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,024320.00,A,3647.45084,N,12153.20749,W,1.983,78.88,130325,,,A*46
2025-03-13T02:43:21.445Z,1741833801.445 [NAL9602](INFO): GPS fix at 20250313T024320: (36.790847, -121.886792)
2025-03-13T02:43:21.481Z,1741833801.481 [UniversalFixResidualReporter](INFO): Fix residual: 21.0 %DT, over the last 1702.8 m. Residual distance 357.4 m at bearing -120.6 degrees. Fix at (36.7908, -121.8868) with 1167.6 m made good.
2025-03-13T02:43:21.481Z,1741833801.481 [Default:CheckIn:Read_GPS] Stopped
2025-03-13T02:43:21.482Z,1741833801.482 [Default:CheckIn:Read_Iridium] Running Loop=1
2025-03-13T02:43:28.671Z,1741833808.671 [DataOverHttps](INFO): Sending 169 bytes from file Logs/20250311T232940/Courier0216.lzma
2025-03-13T02:43:29.673Z,1741833809.673 [DataOverHttps](INFO): Moved sent file to Logs/20250311T232940/Courier0216.lzma.bak
2025-03-13T02:43:29.674Z,1741833809.674 [DataOverHttps](INFO): SBD MOMSN=24220606
2025-03-13T02:43:48.704Z,1741833828.704 [DataOverHttps](INFO): Sending 682 bytes from file Logs/20250311T232940/Express0217.lzma
2025-03-13T02:43:49.705Z,1741833829.705 [DataOverHttps](INFO): Moved sent file to Logs/20250311T232940/Express0217.lzma.bak
2025-03-13T02:43:49.706Z,1741833829.706 [DataOverHttps](INFO): SBD MOMSN=24220614
2025-03-13T02:43:50.971Z,1741833830.971 [Default:CheckIn:Read_Iridium] Stopped
2025-03-13T02:43:50.971Z,1741833830.971 [Default:CheckIn:C.Wait] Running Loop=1
2025-03-13T02:43:50.972Z,1741833830.972 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2025-03-13T02:43:53.777Z,1741833833.777 [NAL9602](INFO): Not Powering down - fast GPS
2025-03-13T02:48:51.542Z,1741834131.542 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2025-03-13T02:48:51.542Z,1741834131.542 [Default:CheckIn:C.Wait] Stopped
2025-03-13T02:48:51.542Z,1741834131.542 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2025-03-13T02:48:51.543Z,1741834131.543 [Default:CheckIn:D] Running Loop=1
2025-03-13T02:48:51.949Z,1741834131.949 [Default:CheckIn:D] Stopped
2025-03-13T02:48:51.949Z,1741834131.949 [Default:CheckIn:E] Running Loop=1
2025-03-13T02:48:52.362Z,1741834132.362 [Default:CheckIn:E](IMPORTANT): Default mission has been running for  17.492458 min 
2025-03-13T02:48:52.362Z,1741834132.362 [Default:CheckIn:E] Stopped
2025-03-13T02:48:52.362Z,1741834132.362 [Default:CheckIn](INFO): Completed Default:CheckIn
2025-03-13T02:48:52.363Z,1741834132.363 [Default:CheckIn] Stopped
2025-03-13T02:48:52.363Z,1741834132.363 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-03-13T02:48:52.363Z,1741834132.363 [Default:CheckIn](INFO): Running loop #2
2025-03-13T02:48:52.363Z,1741834132.363 [Default:CheckIn] Running Loop=2
2025-03-13T02:48:52.363Z,1741834132.363 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-03-13T02:48:52.363Z,1741834132.363 [Default:CheckIn:Read_GPS] Running Loop=1
2025-03-13T02:48:54.431Z,1741834134.431 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,024853.00,A,3647.45664,N,12153.14054,W,0.369,72.54,130325,,,A*49
2025-03-13T02:48:54.436Z,1741834134.436 [NAL9602](INFO): GPS fix at 20250313T024853: (36.790944, -121.885676)
2025-03-13T02:48:54.447Z,1741834134.447 [Default:CheckIn:Read_GPS] Stopped
2025-03-13T02:48:54.447Z,1741834134.447 [Default:CheckIn:Read_Iridium] Running Loop=1
2025-03-13T02:49:02.103Z,1741834142.103 [DataOverHttps](INFO): Sending 73 bytes from file Logs/20250311T232940/Courier0219.lzma
2025-03-13T02:49:03.105Z,1741834143.105 [DataOverHttps](INFO): Moved sent file to Logs/20250311T232940/Courier0219.lzma.bak
2025-03-13T02:49:03.106Z,1741834143.106 [DataOverHttps](INFO): SBD MOMSN=24220670
2025-03-13T02:49:19.099Z,1741834159.099 [DataOverHttps](INFO): Sending 151 bytes from file Logs/20250311T232940/Express0220.lzma
2025-03-13T02:49:20.101Z,1741834160.101 [DataOverHttps](INFO): Moved sent file to Logs/20250311T232940/Express0220.lzma.bak
2025-03-13T02:49:20.102Z,1741834160.102 [DataOverHttps](INFO): SBD MOMSN=24220673
2025-03-13T02:49:21.470Z,1741834161.470 [Default:CheckIn:Read_Iridium] Stopped
2025-03-13T02:49:21.470Z,1741834161.470 [Default:CheckIn:C.Wait] Running Loop=1
2025-03-13T02:49:21.471Z,1741834161.471 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2025-03-13T02:50:54.392Z,1741834254.392 [NAL9602](INFO): SBD MO Status=0, MOMSN=18529, MT Status=0, MTMSN=0
2025-03-13T02:50:54.392Z,1741834254.392 [NAL9602](INFO): No messages in MT queue
2025-03-13T02:51:25.092Z,1741834285.092 [NAL9602](INFO): Not Powering down - fast GPS
2025-03-13T02:53:02.258Z,1741834382.258 [DataOverHttps](IMPORTANT): SBD MTMSN=20250313T025301
2025-03-13T02:53:09.727Z,1741834389.727 [DataOverHttps](INFO): Received command: sched asap "load Science/sci2_noyo_optim.tl;set sci2_noyo_optim.MissionTimeout 13 h;set sci2_noyo_optim.NeedCommsTime 90 min;set sci2_noyo_optim.Depth1 250 m;set sci2_noyo_optim.Depth2 250 m;set sci2_noyo_optim.Depth3 NaN m" 33c01 1 4
2025-03-13T02:53:09.776Z,1741834389.776 [CommandExec](IMPORTANT): got command schedule asap "load Science/sci2_noyo_optim.tl;set sci2_noyo_optim.MissionTimeout 13 h;set sci2_noyo_optim.NeedCommsTime 90 min;set sci2_noyo_optim.Depth1 250 m;set sci2_noyo_optim.Depth2 250 m;set sci2_noyo_optim.Depth3 NaN m" 33c01 1 4.000000
2025-03-13T02:53:09.777Z,1741834389.777 [CommandExec](IMPORTANT): Scheduling command #1 of 4 with id=33c01
2025-03-13T02:53:09.778Z,1741834389.778 [CommandExec](IMPORTANT): Scheduled #35 (#1 of 4 with id='33c01'): "load Science/sci2_noyo_optim.tl;set sci2_noyo_optim.MissionTimeout 13 h;set sci2_noyo_optim.NeedCommsTime 90 min;set sci2_noyo_optim.Depth1 250 m;set sci2_noyo_optim.Depth2 250 m;set sci2_noyo_optim.Depth3 NaN m", ASAP
2025-03-13T02:53:10.729Z,1741834390.729 [DataOverHttps](IMPORTANT): SBD MTMSN=20250313T025309
2025-03-13T02:53:18.203Z,1741834398.203 [DataOverHttps](INFO): Received command: sched asap "set sci2_noyo_optim.Repeat 12 count;set sci2_noyo_optim.Lat1 36.79279 degree;set sci2_noyo_optim.Lon1 -121.88919 degree;set sci2_noyo_optim.Lat2 36.78427 degree;set sci2_noyo_optim.Lon2 -121.91339 degree" 33c01 2 4
2025-03-13T02:53:18.209Z,1741834398.209 [CommandExec](IMPORTANT): got command schedule asap "set sci2_noyo_optim.Repeat 12 count;set sci2_noyo_optim.Lat1 36.79279 degree;set sci2_noyo_optim.Lon1 -121.88919 degree;set sci2_noyo_optim.Lat2 36.78427 degree;set sci2_noyo_optim.Lon2 -121.91339 degree" 33c01 2 4.000000
2025-03-13T02:53:18.209Z,1741834398.209 [CommandExec](IMPORTANT): Scheduling command #2 of 4 with id=33c01
2025-03-13T02:53:18.210Z,1741834398.210 [CommandExec](IMPORTANT): Scheduled #36 (#2 of 4 with id='33c01'): "set sci2_noyo_optim.Repeat 12 count;set sci2_noyo_optim.Lat1 36.79279 degree;set sci2_noyo_optim.Lon1 -121.88919 degree;set sci2_noyo_optim.Lat2 36.78427 degree;set sci2_noyo_optim.Lon2 -121.91339 degree", ASAP
2025-03-13T02:53:19.206Z,1741834399.206 [DataOverHttps](IMPORTANT): SBD MTMSN=20250313T025318
2025-03-13T02:53:26.707Z,1741834406.707 [DataOverHttps](INFO): Received command: sched asap "set sci2_noyo_optim.ApproachDepth 10 m;set sci2_noyo_optim.ApproachSpeed 1.0 m/s;set sci2_noyo_optim.SlowSpeed 0.4 m/s;set sci2_noyo_optim.MinAltitude 10 m;set sci2_noyo_optim.MaxDepth 270 m" 33c01 3 4
2025-03-13T02:53:26.792Z,1741834406.792 [CommandExec](IMPORTANT): got command schedule asap "set sci2_noyo_optim.ApproachDepth 10 m;set sci2_noyo_optim.ApproachSpeed 1.0 m/s;set sci2_noyo_optim.SlowSpeed 0.4 m/s;set sci2_noyo_optim.MinAltitude 10 m;set sci2_noyo_optim.MaxDepth 270 m" 33c01 3 4.000000
2025-03-13T02:53:26.792Z,1741834406.792 [CommandExec](IMPORTANT): Scheduling command #3 of 4 with id=33c01
2025-03-13T02:53:26.793Z,1741834406.793 [CommandExec](IMPORTANT): Scheduled #37 (#3 of 4 with id='33c01'): "set sci2_noyo_optim.ApproachDepth 10 m;set sci2_noyo_optim.ApproachSpeed 1.0 m/s;set sci2_noyo_optim.SlowSpeed 0.4 m/s;set sci2_noyo_optim.MinAltitude 10 m;set sci2_noyo_optim.MaxDepth 270 m", ASAP
2025-03-13T02:53:27.709Z,1741834407.709 [DataOverHttps](IMPORTANT): SBD MTMSN=20250313T025326
2025-03-13T02:53:35.355Z,1741834415.355 [DataOverHttps](INFO): Received command: sched asap "set sci2_noyo_optim:PowerOnly.SampleLoad1 1 bool;run" 33c01 4 4
2025-03-13T02:53:35.399Z,1741834415.399 [CommandExec](IMPORTANT): got command schedule asap "set sci2_noyo_optim:PowerOnly.SampleLoad1 1 bool;run" 33c01 4 4.000000
2025-03-13T02:53:35.400Z,1741834415.400 [CommandExec](IMPORTANT): Scheduling command #4 of 4 with id=33c01
2025-03-13T02:53:35.401Z,1741834415.401 [CommandExec](IMPORTANT): Scheduled #38 (#4 of 4 with id='33c01'): "set sci2_noyo_optim:PowerOnly.SampleLoad1 1 bool;run", ASAP
2025-03-13T02:53:35.546Z,1741834415.546 [CommandExec](IMPORTANT): got command load ./Missions/Science/sci2_noyo_optim.tl
2025-03-13T02:53:35.546Z,1741834415.546 [MissionManager](INFO): Loading Mission from file: ./Missions/Science/sci2_noyo_optim.tl
2025-03-13T02:53:35.547Z,1741834415.547 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Science/sci2_noyo_optim.tl
2025-03-13T02:53:35.549Z,1741834415.549 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Science/sci2_noyo_optim.tl
2025-03-13T02:53:40.508Z,1741834420.508 [MissionManager](DEBUG): TethyslAPI: ./Missions/Science/sci2_noyo_optim.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Mission Id="sci2_noyo_optim">
    <DefineArg Name="MissionTimeout">
        <Units:hour />
        <Value>2</Value>
    </DefineArg>
    <DefineArg Name="NeedCommsTime">
        <Units:minute />
        <Value>60</Value>
    </DefineArg>
    <DefineArg Name="Depth1">
        <Units:meter />
        <Value>35</Value>
    </DefineArg>
    <DefineArg Name="Depth2">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Depth3">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Depth4">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Depth5">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Depth6">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Depth7">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Depth8">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="DepthPerLeg">
        <False />
    </DefineArg>
    <DefineArg Name="Repeat">
        <Units:count />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="Lat1">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lat2">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lat3">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lat4">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lat5">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lat6">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lat7">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lat8">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lon1">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lon2">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lon3">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lon4">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lon5">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lon6">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lon7">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lon8">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="FastSpeed">
        <Units:meter_per_second />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="ApproachDepth">
        <Units:meter />
        <Value>30</Value>
    </DefineArg>
    <DefineArg Name="ApproachSpeed">
        <Units:meter_per_second />
        <Value>0.7</Value>
    </DefineArg>
    <DefineArg Name="ApproachDepthRate">
        <Units:meter_per_second />
        <Value>0.05</Value>
    </DefineArg>
    <DefineArg Name="ApproachPitchLimit">
        <Units:degree />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="ApproachDepthTimeout">
        <Units:minute />
        <Value>15</Value>
    </DefineArg>
    <DefineArg Name="ApproachSettleTimePreDive">
        <Units:minute />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="ApproachSettleTimePostDive">
        <Units:minute />
        <Value>3</Value>
    </DefineArg>
    <DefineArg Name="kpDepth">
        <Units:radian_per_meter />
        <Value>0.07</Value>
    </DefineArg>
    <DefineArg Name="SlowSpeed">
        <Units:meter_per_second />
        <Value>0.25</Value>
    </DefineArg>
    <DefineArg Name="DepthDeviationSlow">
        <Units:meter />
        <Value>3</Value>
    </DefineArg>
    <DefineArg Name="BuoyancyNeutral">
        <Control:VerticalControl.buoyancyNeutral />
    </DefineArg>
    <DefineArg Name="MassDefault">
        <Control:VerticalControl.massDefault />
    </DefineArg>
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>2</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>50</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:kilometer />
        <Value>2</Value>
    </DefineArg>
    <DefineOutput Name="DiveMode">
        <Units:count />
        <Value>0</Value>
    </DefineOutput>
    <DefineOutput Name="DoingComms">
        <Units:count />
        <Value>0</Value>
    </DefineOutput>
    <DefineOutput Name="InitialDive">
        <Units:count />
        <Value>1</Value>
    </DefineOutput>
    <DefineOutput Name="SettleAtDepth">
        <Units:count />
        <Value>2</Value>
    </DefineOutput>
    <DefineOutput Name="MaintainDepth">
        <Units:count />
        <Value>3</Value>
    </DefineOutput>
    <DefineOutput Name="LegDepth">
        <Arg Name="Depth1" />
    </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="MissionTimeout" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="NeedComms:WaitForPitchUp" />
        <Units:minute />
        <Value>0</Value>
    </Assign>
    <Insert Filename="Insert/BackseatDriver.tl" />
    <Assign>
        <Parallel />
        <Arg Name="BackseatDriver:EnableBackseat" />
        <True />
    </Assign>
    <Insert Filename="Insert/PowerOnly.tl" />
    <Assign>
        <Parallel />
        <Arg Name="PowerOnly:SampleLoad1" />
        <True />
    </Assign>
    <Assign>
        <Sequence />
        <Sensor:MultiRay.lightModeCommand />
        <Units:count />
        <Value>2</Value>
    </Assign>
    <ReadData Strategy="MinError">
        <While>
            <Sensor:MultiRay.loadAtStartup />
        </While>
        <Sensor:MultiRay.lightModeLog />
    </ReadData>
    <Guidance:Buoyancy>
        <Parallel />
        <Setting>
            <Guidance:Buoyancy.position />
            <Arg Name="BuoyancyNeutral" />
        </Setting>
    </Guidance:Buoyancy>
    <Aggregate Id="SurfaceComms">
        <When>
            <Called />
            <Or>
                <Elapsed>
                    <Universal:time_fix />
                </Elapsed>
                <Gt>
                    <Arg Name="NeedCommsTime" />
                </Gt>
            </Or>
        </When>
        <Assign>
            <Sequence />
            <Arg Name="DiveMode" />
            <Arg Name="DoingComms" />
        </Assign>
        <Call RefId="NeedComms" />
        <Assign>
            <Sequence />
            <Arg Name="DiveMode" />
            <Arg Name="InitialDive" />
        </Assign>
    </Aggregate>
    <Aggregate Id="DiveCmd">
        <When>
            <Called />
        </When>
        <Aggregate Id="InitialDive">
            <While>
                <Arg Name="DiveMode" />
                <Eq>
                    <Arg Name="InitialDive" />
                </Eq>
            </While>
            <Aggregate Id="dive">
                <Sequence />
                <Assign>
                    <Parallel />
                    <Control:VerticalControl.pitchLimit />
                    <Arg Name="ApproachPitchLimit" />
                </Assign>
                <Assign>
                    <Parallel />
                    <Control:VerticalControl.kpDepth />
                    <Arg Name="kpDepth" />
                </Assign>
                <Guidance:Mass>
                    <Parallel />
                    <Setting>
                        <Guidance:Mass.position />
                        <Arg Name="MassDefault" />
                    </Setting>
                </Guidance:Mass>
                <Syslog Severity="Info">
                    Waiting for 
                    <Arg Name="ApproachSettleTimePreDive" />
                    <Units:minute />
                    while pumping down to neutral.
                </Syslog>
                <Guidance:Wait>
                    <Sequence />
                    <Setting>
                        <Guidance:Wait.duration />
                        <Arg Name="ApproachSettleTimePreDive" />
                    </Setting>
                </Guidance:Wait>
                <Syslog>
                    Moving to 
                    <Arg Name="ApproachDepth" />
                    <Units:meter />
                </Syslog>
                <Aggregate Id="ApproachDepth">
                    <Sequence />
                    <Guidance:SetSpeed>
                        <Parallel />
                        <Setting>
                            <Guidance:SetSpeed.speed />
                            <Arg Name="ApproachSpeed" />
                        </Setting>
                    </Guidance:SetSpeed>
                    <Guidance:Pitch>
                        <Sequence />
                        <Timeout Duration="ApproachDepthTimeout">
                            <Syslog Severity="Important">
                                Timed out while trying to reach target depth at current depth of 
                                <Universal:depth />
                                <Units:meter />
                            </Syslog>
                            <Guidance:Execute>
                                <Sequence />
                                <Setting>
                                    <Guidance:Execute.command />
                                    <String>stop</String>
                                </Setting>
                            </Guidance:Execute>
                        </Timeout>
                        <Setting>
                            <Guidance:Pitch.depth />
                            <Arg Name="ApproachDepth" />
                        </Setting>
                        <Setting>
                            <Guidance:Pitch.depthRate />
                            <Arg Name="ApproachDepthRate" />
                        </Setting>
                    </Guidance:Pitch>
                </Aggregate>
                <Assign>
                    <Sequence />
                    <Arg Name="DiveMode" />
                    <Arg Name="SettleAtDepth" />
                </Assign>
            </Aggregate>
        </Aggregate>
        <Aggregate Id="SettleAtDepth">
            <While>
                <Arg Name="DiveMode" />
                <Eq>
                    <Arg Name="SettleAtDepth" />
                </Eq>
            </While>
            <Aggregate Id="dive">
                <Sequence />
                <Syslog Severity="Info">
                    Reached 
                    <Universal:depth />
                    <Units:meter />
                    , settling for 
                    <Arg Name="ApproachSettleTimePostDive" />
                    <Units:minute />
                </Syslog>
                <Guidance:Pitch>
                    <Parallel />
                    <Setting>
                        <Guidance:Pitch.depth />
                        <Arg Name="LegDepth" />
                    </Setting>
                </Guidance:Pitch>
                <Guidance:Wait>
                    <Sequence />
                    <Setting>
                        <Guidance:Wait.duration />
                        <Arg Name="ApproachSettleTimePostDive" />
                    </Setting>
                </Guidance:Wait>
                <Assign>
                    <Sequence />
                    <Arg Name="DiveMode" />
                    <Arg Name="MaintainDepth" />
                </Assign>
            </Aggregate>
        </Aggregate>
        <Aggregate Id="MaintainDepth">
            <While>
                <Arg Name="DiveMode" />
                <Eq>
                    <Arg Name="MaintainDepth" />
                </Eq>
                <And>
                    <Universal:depth />
                    <Gt>
                        <Arg Name="LegDepth" />
                        <Add>
                            <Arg Name="DepthDeviationSlow" />
                        </Add>
                    </Gt>
                </And>
                <Or>
                    <Universal:depth />
                    <Lt>
                        <Arg Name="LegDepth" />
                        <Sub>
                            <Arg Name="DepthDeviationSlow" />
                        </Sub>
                    </Lt>
                </Or>
            </While>
            <Aggregate Id="dive">
                <Parallel />
                <Aggregate Id="ThrusterDive">
                    <While>
                        <Arg Name="FastSpeed" />
                        <Gt>
                            <Units:meter_per_second />
                            <Value>0.0</Value>
                        </Gt>
                    </While>
                    <Guidance:Mass>
                        <Parallel />
                        <Setting>
                            <Guidance:Mass.position />
                            <Arg Name="MassDefault" />
                        </Setting>
                    </Guidance:Mass>
                    <Guidance:SetSpeed>
                        <Parallel />
                        <Setting>
                            <Guidance:SetSpeed.speed />
                            <Arg Name="FastSpeed" />
                        </Setting>
                    </Guidance:SetSpeed>
                </Aggregate>
                <Guidance:Pitch>
                    <Parallel />
                    <Setting>
                        <Guidance:Pitch.depth />
                        <Arg Name="LegDepth" />
                    </Setting>
                </Guidance:Pitch>
            </Aggregate>
        </Aggregate>
        <Aggregate Id="MaintainDepthSlow">
            <While>
                <Not>
                    <IsNaN>
                        <Arg Name="SlowSpeed" />
                    </IsNaN>
                </Not>
                <And>
                    <Arg Name="DiveMode" />
                    <Eq>
                        <Arg Name="MaintainDepth" />
                    </Eq>
                </And>
                <And>
                    <Universal:depth />
                    <Le>
                        <Arg Name="LegDepth" />
                        <Add>
                            <Arg Name="DepthDeviationSlow" />
                        </Add>
                    </Le>
                </And>
                <And>
                    <Universal:depth />
                    <Ge>
                        <Arg Name="LegDepth" />
                        <Sub>
                            <Arg Name="DepthDeviationSlow" />
                        </Sub>
                    </Ge>
                </And>
            </While>
            <Guidance:SetSpeed>
                <Parallel />
                <Setting>
                    <Guidance:SetSpeed.speed />
                    <Arg Name="SlowSpeed" />
                </Setting>
            </Guidance:SetSpeed>
            <Assign>
                <Parallel />
                <Control:VerticalControl.depthDeadband />
                <Arg Name="DepthDeviationSlow" />
                <Add>
                    <Units:meter />
                    <Value>3</Value>
                </Add>
            </Assign>
            <Guidance:Buoyancy>
                <Parallel />
                <Setting>
                    <Guidance:Buoyancy.position />
                    <Units:cubic_centimeter />
                    <Value>NaN</Value>
                </Setting>
            </Guidance:Buoyancy>
            <Guidance:Pitch>
                <Parallel />
                <Setting>
                    <Guidance:Pitch.depth />
                    <Arg Name="LegDepth" />
                </Setting>
            </Guidance:Pitch>
        </Aggregate>
    </Aggregate>
    <Call RefId="SurfaceComms" Id="StartingMission" />
    <Aggregate Id="Lap">
        <Sequence Repeat="Repeat" />
        <Aggregate Id="Dive">
            <While>
                <Not>
                    <Arg Name="DiveMode" />
                    <Eq>
                        <Arg Name="DoingComms" />
                    </Eq>
                </Not>
            </While>
            <Call RefId="DiveCmd" />
        </Aggregate>
        <Aggregate Id="DepthByLap">
            <Sequence />
            <Break>
                <Arg Name="DepthPerLeg" />
            </Break>
            <Assign>
                <Sequence />
                <Arg Name="LegDepth" />
                <Arg Name="Depth1" />
            </Assign>
            <Aggregate Id="Wpt1">
                <Sequence />
                <Guidance:Waypoint>
                    <Sequence />
                    <Setting>
                        <Guidance:Waypoint.latitude />
                        <Arg Name="Lat1" />
                    </Setting>
                    <Setting>
                        <Guidance:Waypoint.longitude />
                        <Arg Name="Lon1" />
                    </Setting>
                </Guidance:Waypoint>
            </Aggregate>
            <Aggregate Id="Wpt2">
                <Sequence />
                <Guidance:Waypoint>
                    <Sequence />
                    <Setting>
                        <Guidance:Waypoint.latitude />
                        <Arg Name="Lat2" />
                    </Setting>
                    <Setting>
                        <Guidance:Waypoint.longitude />
                        <Arg Name="Lon2" />
                    </Setting>
                </Guidance:Waypoint>
            </Aggregate>
            <Aggregate Id="Wpt3">
                <Sequence />
                <Guidance:Waypoint>
                    <Sequence />
                    <Setting>
                        <Guidance:Waypoint.latitude />
                        <Arg Name="Lat3" />
                    </Setting>
                    <Setting>
                        <Guidance:Waypoint.longitude />
                        <Arg Name="Lon3" />
                    </Setting>
                </Guidance:Waypoint>
            </Aggregate>
            <Aggregate Id="Wpt4">
                <Sequence />
                <Guidance:Waypoint>
                    <Sequence />
                    <Setting>
                        <Guidance:Waypoint.latitude />
                        <Arg Name="Lat4" />
                    </Setting>
                    <Setting>
                        <Guidance:Waypoint.longitude />
                        <Arg Name="Lon4" />
                    </Setting>
                </Guidance:Waypoint>
            </Aggregate>
            <Aggregate Id="Wpt5">
                <Sequence />
                <Guidance:Waypoint>
                    <Sequence />
                    <Setting>
                        <Guidance:Waypoint.latitude />
                        <Arg Name="Lat5" />
                    </Setting>
                    <Setting>
                        <Guidance:Waypoint.longitude />
                        <Arg Name="Lon5" />
                    </Setting>
                </Guidance:Waypoint>
            </Aggregate>
            <Aggregate Id="Wpt6">
                <Sequence />
                <Guidance:Waypoint>
                    <Sequence />
                    <Setting>
                        <Guidance:Waypoint.latitude />
                        <Arg Name="Lat6" />
                    </Setting>
                    <Setting>
                        <Guidance:Waypoint.longitude />
                        <Arg Name="Lon6" />
                    </Setting>
                </Guidance:Waypoint>
            </Aggregate>
            <Aggregate Id="Wpt7">
                <Sequence />
                <Guidance:Waypoint>
                    <Sequence />
                    <Setting>
                        <Guidance:Waypoint.latitude />
                        <Arg Name="Lat7" />
                    </Setting>
                    <Setting>
                        <Guidance:Waypoint.longitude />
                        <Arg Name="Lon7" />
                    </Setting>
                </Guidance:Waypoint>
            </Aggregate>
            <Aggregate Id="Wpt8">
                <Sequence />
                <Guidance:Waypoint>
                    <Sequence />
                    <Setting>
                        <Guidance:Waypoint.latitude />
                        <Arg Name="Lat8" />
                    </Setting>
                    <Setting>
                        <Guidance:Waypoint.longitude />
                        <Arg Name="Lon8" />
                    </Setting>
                </Guidance:Waypoint>
            </Aggregate>
            <Aggregate Id="Leg2">
                <Sequence />
                <Break>
                    <IsNaN>
                        <Arg Name="Depth2" />
                    </IsNaN>
                </Break>
                <Syslog Severity="Important">
                    Transiting waypoints at depth 
                    <Arg Name="Depth2" />
                    <Units:meter />
                </Syslog>
                <Assign>
                    <Sequence />
                    <Arg Name="LegDepth" />
                    <Arg Name="Depth2" />
                </Assign>
                <Aggregate Id="Wpt1">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat1" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon1" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt2">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat2" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon2" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt3">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat3" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon3" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt4">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat4" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon4" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt5">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat5" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon5" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt6">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat6" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon6" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt7">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat7" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon7" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt8">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat8" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon8" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
            </Aggregate>
            <Aggregate Id="Leg3">
                <Sequence />
                <Break>
                    <IsNaN>
                        <Arg Name="Depth3" />
                    </IsNaN>
                </Break>
                <Syslog Severity="Important">
                    Transiting waypoints at depth 
                    <Arg Name="Depth3" />
                    <Units:meter />
                </Syslog>
                <Assign>
                    <Sequence />
                    <Arg Name="LegDepth" />
                    <Arg Name="Depth3" />
                </Assign>
                <Aggregate Id="Wpt1">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat1" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon1" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt2">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat2" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon2" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt3">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat3" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon3" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt4">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat4" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon4" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt5">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat5" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon5" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt6">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat6" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon6" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt7">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat7" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon7" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt8">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat8" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon8" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
            </Aggregate>
            <Aggregate Id="Leg4">
                <Sequence />
                <Break>
                    <IsNaN>
                        <Arg Name="Depth4" />
                    </IsNaN>
                </Break>
                <Syslog Severity="Important">
                    Transiting waypoints at depth 
                    <Arg Name="Depth4" />
                    <Units:meter />
                </Syslog>
                <Assign>
                    <Sequence />
                    <Arg Name="LegDepth" />
                    <Arg Name="Depth4" />
                </Assign>
                <Aggregate Id="Wpt1">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat1" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon1" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt2">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat2" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon2" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt3">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat3" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon3" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt4">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat4" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon4" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt5">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat5" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon5" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt6">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat6" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon6" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt7">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat7" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon7" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt8">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat8" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon8" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
            </Aggregate>
            <Aggregate Id="Leg5">
                <Sequence />
                <Break>
                    <IsNaN>
                        <Arg Name="Depth5" />
                    </IsNaN>
                </Break>
                <Syslog Severity="Important">
                    Transiting waypoints at depth 
                    <Arg Name="Depth5" />
                    <Units:meter />
                </Syslog>
                <Assign>
                    <Sequence />
                    <Arg Name="LegDepth" />
                    <Arg Name="Depth5" />
                </Assign>
                <Aggregate Id="Wpt1">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat1" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon1" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt2">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat2" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon2" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt3">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat3" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon3" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt4">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat4" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon4" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt5">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat5" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon5" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt6">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat6" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon6" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt7">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat7" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon7" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt8">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat8" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon8" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
            </Aggregate>
            <Aggregate Id="Leg6">
                <Sequence />
                <Break>
                    <IsNaN>
                        <Arg Name="Depth6" />
                    </IsNaN>
                </Break>
                <Syslog Severity="Important">
                    Transiting waypoints at depth 
                    <Arg Name="Depth6" />
                    <Units:meter />
                </Syslog>
                <Assign>
                    <Sequence />
                    <Arg Name="LegDepth" />
                    <Arg Name="Depth6" />
                </Assign>
                <Aggregate Id="Wpt1">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat1" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon1" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt2">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat2" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon2" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt3">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat3" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon3" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt4">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat4" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon4" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt5">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat5" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon5" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt6">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat6" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon6" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt7">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat7" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon7" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt8">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat8" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon8" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
            </Aggregate>
            <Aggregate Id="Leg7">
                <Sequence />
                <Break>
                    <IsNaN>
                        <Arg Name="Depth7" />
                    </IsNaN>
                </Break>
                <Syslog Severity="Important">
                    Transiting waypoints at depth 
                    <Arg Name="Depth7" />
                    <Units:meter />
                </Syslog>
                <Assign>
                    <Sequence />
                    <Arg Name="LegDepth" />
                    <Arg Name="Depth7" />
                </Assign>
                <Aggregate Id="Wpt1">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat1" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon1" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt2">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat2" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon2" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt3">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat3" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon3" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt4">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat4" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon4" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt5">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat5" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon5" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt6">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat6" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon6" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt7">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat7" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon7" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt8">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat8" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon8" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
            </Aggregate>
            <Aggregate Id="Leg8">
                <Sequence />
                <Break>
                    <IsNaN>
                        <Arg Name="Depth8" />
                    </IsNaN>
                </Break>
                <Syslog Severity="Important">
                    Transiting waypoints at depth 
                    <Arg Name="Depth8" />
                    <Units:meter />
                </Syslog>
                <Assign>
                    <Sequence />
                    <Arg Name="LegDepth" />
                    <Arg Name="Depth8" />
                </Assign>
                <Aggregate Id="Wpt1">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat1" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon1" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt2">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat2" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon2" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt3">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat3" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon3" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt4">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat4" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon4" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt5">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat5" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon5" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt6">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat6" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon6" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt7">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat7" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon7" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt8">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat8" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon8" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
            </Aggregate>
        </Aggregate>
        <Aggregate Id="DepthByLeg">
            <Sequence />
            <Break>
                <Not>
                    <Arg Name="DepthPerLeg" />
                </Not>
            </Break>
            <Aggregate Id="Leg1">
                <Sequence />
                <Assign>
                    <Sequence />
                    <Arg Name="LegDepth" />
                    <Arg Name="Depth1" />
                </Assign>
                <Guidance:Waypoint>
                    <Sequence />
                    <Setting>
                        <Guidance:Waypoint.latitude />
                        <Arg Name="Lat1" />
                    </Setting>
                    <Setting>
                        <Guidance:Waypoint.longitude />
                        <Arg Name="Lon1" />
                    </Setting>
                </Guidance:Waypoint>
            </Aggregate>
            <Aggregate Id="Leg2">
                <Sequence />
                <Break>
                    <IsNaN>
                        <Arg Name="Depth2" />
                    </IsNaN>
                </Break>
                <Syslog Severity="Info">
                    Transiting to next waypoint at depth 
                    <Arg Name="Depth2" />
                    <Units:meter />
                </Syslog>
                <Assign>
                    <Sequence />
                    <Arg Name="LegDepth" />
                    <Arg Name="Depth2" />
                </Assign>
                <Aggregate Id="Wpt2">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat2" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon2" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
            </Aggregate>
            <Aggregate Id="Leg3">
                <Sequence />
                <Break>
                    <IsNaN>
                        <Arg Name="Depth3" />
                    </IsNaN>
                </Break>
                <Syslog Severity="Info">
                    Transiting to next waypoint at depth 
                    <Arg Name="Depth3" />
                    <Units:meter />
                </Syslog>
                <Assign>
                    <Sequence />
                    <Arg Name="LegDepth" />
                    <Arg Name="Depth3" />
                </Assign>
                <Aggregate Id="Wpt3">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat3" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon3" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
            </Aggregate>
            <Aggregate Id="Leg4">
                <Sequence />
                <Break>
                    <IsNaN>
                        <Arg Name="Depth4" />
                    </IsNaN>
                </Break>
                <Syslog Severity="Info">
                    Transiting to next waypoint at depth 
                    <Arg Name="Depth4" />
                    <Units:meter />
                </Syslog>
                <Assign>
                    <Sequence />
                    <Arg Name="LegDepth" />
                    <Arg Name="Depth4" />
                </Assign>
                <Aggregate Id="Wpt4">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat4" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon4" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
            </Aggregate>
            <Aggregate Id="Leg5">
                <Sequence />
                <Break>
                    <IsNaN>
                        <Arg Name="Depth5" />
                    </IsNaN>
                </Break>
                <Syslog Severity="Info">
                    Transiting to next waypoint at depth 
                    <Arg Name="Depth5" />
                    <Units:meter />
                </Syslog>
                <Assign>
                    <Sequence />
                    <Arg Name="LegDepth" />
                    <Arg Name="Depth5" />
                </Assign>
                <Aggregate Id="Wpt5">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat5" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon5" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
            </Aggregate>
            <Aggregate Id="Leg6">
                <Sequence />
                <Break>
                    <IsNaN>
                        <Arg Name="Depth6" />
                    </IsNaN>
                </Break>
                <Syslog Severity="Info">
                    Transiting to next waypoint at depth 
                    <Arg Name="Depth6" />
                    <Units:meter />
                </Syslog>
                <Assign>
                    <Sequence />
                    <Arg Name="LegDepth" />
                    <Arg Name="Depth6" />
                </Assign>
                <Aggregate Id="Wpt6">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat6" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon6" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
            </Aggregate>
            <Aggregate Id="Leg7">
                <Sequence />
                <Break>
                    <IsNaN>
                        <Arg Name="Depth7" />
                    </IsNaN>
                </Break>
                <Syslog Severity="Info">
                    Transiting to next waypoint at depth 
                    <Arg Name="Depth7" />
                    <Units:meter />
                </Syslog>
                <Assign>
                    <Sequence />
                    <Arg Name="LegDepth" />
                    <Arg Name="Depth7" />
                </Assign>
                <Aggregate Id="Wpt7">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat7" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon7" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
            </Aggregate>
            <Aggregate Id="Leg8">
                <Sequence />
                <Break>
                    <IsNaN>
                        <Arg Name="Depth8" />
                    </IsNaN>
                </Break>
                <Syslog Severity="Info">
                    Transiting to next waypoint at depth 
                    <Arg Name="Depth8" />
                    <Units:meter />
                </Syslog>
                <Assign>
                    <Sequence />
                    <Arg Name="LegDepth" />
                    <Arg Name="Depth8" />
                </Assign>
                <Aggregate Id="Wpt8">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat8" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon8" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
            </Aggregate>
        </Aggregate>
    </Aggregate>
</Mission>

2025-03-13T02:53:40.563Z,1741834420.563 [MissionManager](INFO): DefineArg sci2_noyo_optim.MissionTimeout = 2.000000 h
2025-03-13T02:53:40.565Z,1741834420.565 [MissionManager](INFO): DefineArg sci2_noyo_optim.NeedCommsTime = 60.000000 min
2025-03-13T02:53:40.568Z,1741834420.568 [MissionManager](INFO): DefineArg sci2_noyo_optim.Depth1 = 35.000000 m
2025-03-13T02:53:40.570Z,1741834420.570 [MissionManager](INFO): DefineArg sci2_noyo_optim.Depth2 = nan m
2025-03-13T02:53:40.572Z,1741834420.572 [MissionManager](INFO): DefineArg sci2_noyo_optim.Depth3 = nan m
2025-03-13T02:53:40.575Z,1741834420.575 [MissionManager](INFO): DefineArg sci2_noyo_optim.Depth4 = nan m
2025-03-13T02:53:40.581Z,1741834420.581 [MissionManager](INFO): DefineArg sci2_noyo_optim.Depth5 = nan m
2025-03-13T02:53:40.583Z,1741834420.583 [MissionManager](INFO): DefineArg sci2_noyo_optim.Depth6 = nan m
2025-03-13T02:53:40.585Z,1741834420.585 [MissionManager](INFO): DefineArg sci2_noyo_optim.Depth7 = nan m
2025-03-13T02:53:40.588Z,1741834420.588 [MissionManager](INFO): DefineArg sci2_noyo_optim.Depth8 = nan m
2025-03-13T02:53:40.589Z,1741834420.589 [MissionManager](INFO): DefineArg sci2_noyo_optim.DepthPerLeg = 0 bool
2025-03-13T02:53:40.592Z,1741834420.592 [MissionManager](INFO): DefineArg sci2_noyo_optim.Repeat = 1.000000 count
2025-03-13T02:53:40.594Z,1741834420.594 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lat1 = nan arcdeg
2025-03-13T02:53:40.596Z,1741834420.596 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lat2 = nan arcdeg
2025-03-13T02:53:40.598Z,1741834420.598 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lat3 = nan arcdeg
2025-03-13T02:53:40.617Z,1741834420.617 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lat4 = nan arcdeg
2025-03-13T02:53:40.619Z,1741834420.619 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lat5 = nan arcdeg
2025-03-13T02:53:40.625Z,1741834420.625 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lat6 = nan arcdeg
2025-03-13T02:53:40.627Z,1741834420.627 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lat7 = nan arcdeg
2025-03-13T02:53:40.629Z,1741834420.629 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lat8 = nan arcdeg
2025-03-13T02:53:40.644Z,1741834420.644 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lon1 = nan arcdeg
2025-03-13T02:53:40.646Z,1741834420.646 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lon2 = nan arcdeg
2025-03-13T02:53:40.652Z,1741834420.652 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lon3 = nan arcdeg
2025-03-13T02:53:40.654Z,1741834420.654 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lon4 = nan arcdeg
2025-03-13T02:53:40.665Z,1741834420.665 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lon5 = nan arcdeg
2025-03-13T02:53:40.667Z,1741834420.667 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lon6 = nan arcdeg
2025-03-13T02:53:40.684Z,1741834420.684 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lon7 = nan arcdeg
2025-03-13T02:53:40.686Z,1741834420.686 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lon8 = nan arcdeg
2025-03-13T02:53:40.692Z,1741834420.692 [MissionManager](INFO): DefineArg sci2_noyo_optim.FastSpeed = 1.000000 m/s
2025-03-13T02:53:40.695Z,1741834420.695 [MissionManager](INFO): DefineArg sci2_noyo_optim.ApproachDepth = 30.000000 m
2025-03-13T02:53:40.702Z,1741834420.702 [MissionManager](INFO): DefineArg sci2_noyo_optim.ApproachSpeed = 0.700000 m/s
2025-03-13T02:53:40.705Z,1741834420.705 [MissionManager](INFO): DefineArg sci2_noyo_optim.ApproachDepthRate = 0.050000 m/s
2025-03-13T02:53:40.724Z,1741834420.724 [MissionManager](INFO): DefineArg sci2_noyo_optim.ApproachPitchLimit = 20.000000 arcdeg
2025-03-13T02:53:40.726Z,1741834420.726 [MissionManager](INFO): DefineArg sci2_noyo_optim.ApproachDepthTimeout = 15.000000 min
2025-03-13T02:53:40.733Z,1741834420.733 [MissionManager](INFO): DefineArg sci2_noyo_optim.ApproachSettleTimePreDive = 1.000000 min
2025-03-13T02:53:40.735Z,1741834420.735 [MissionManager](INFO): DefineArg sci2_noyo_optim.ApproachSettleTimePostDive = 3.000000 min
2025-03-13T02:53:40.741Z,1741834420.741 [MissionManager](INFO): DefineArg sci2_noyo_optim.kpDepth = 0.070000 rad/m
2025-03-13T02:53:40.752Z,1741834420.752 [MissionManager](INFO): DefineArg sci2_noyo_optim.SlowSpeed = 0.250000 m/s
2025-03-13T02:53:40.754Z,1741834420.754 [MissionManager](INFO): DefineArg sci2_noyo_optim.DepthDeviationSlow = 3.000000 m
2025-03-13T02:53:40.761Z,1741834420.761 [MissionManager](INFO): DefineArg sci2_noyo_optim.BuoyancyNeutral = 373.087250 cc
2025-03-13T02:53:40.768Z,1741834420.768 [MissionManager](INFO): DefineArg sci2_noyo_optim.MassDefault = 0.684636 cm
2025-03-13T02:53:40.770Z,1741834420.770 [MissionManager](INFO): DefineArg sci2_noyo_optim.MinAltitude = 2.000000 m
2025-03-13T02:53:40.780Z,1741834420.780 [MissionManager](INFO): DefineArg sci2_noyo_optim.MaxDepth = 50.000000 m
2025-03-13T02:53:40.782Z,1741834420.782 [MissionManager](INFO): DefineArg sci2_noyo_optim.MinOffshore = 2.000000 km
2025-03-13T02:53:40.790Z,1741834420.790 [MissionManager](INFO): DefineOutput sci2_noyo_optim.DiveMode = 0.000000 count
2025-03-13T02:53:40.796Z,1741834420.796 [MissionManager](INFO): DefineOutput sci2_noyo_optim.DoingComms = 0.000000 count
2025-03-13T02:53:40.799Z,1741834420.799 [MissionManager](INFO): DefineOutput sci2_noyo_optim.InitialDive = 1.000000 count
2025-03-13T02:53:40.809Z,1741834420.809 [MissionManager](INFO): DefineOutput sci2_noyo_optim.SettleAtDepth = 2.000000 count
2025-03-13T02:53:40.816Z,1741834420.816 [MissionManager](INFO): DefineOutput sci2_noyo_optim.MaintainDepth = 3.000000 count
2025-03-13T02:53:40.818Z,1741834420.818 [MissionManager](INFO): DefineOutput sci2_noyo_optim.LegDepth = 35.000000 m
2025-03-13T02:53:40.818Z,1741834420.818 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/Science.tl
2025-03-13T02:53:40.819Z,1741834420.819 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/Science.tl
2025-03-13T02:53:40.835Z,1741834420.835 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/Science.tl
2025-03-13T02:53:44.058Z,1741834424.058 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/Science.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="Science">
    <DefineArg Name="PeakDetectChlActive">
        <False />
    </DefineArg>
    <DefineArg Name="EdgeDetectChlActive">
        <False />
    </DefineArg>
    <DefineArg Name="TimeWindowPeakReport">
        <Units:minute />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="HighestChlPeakReportActive">
        <False />
    </DefineArg>
    <DefineArg Name="HighestSaltPeakReportActive">
        <False />
    </DefineArg>
    <DefineArg Name="HighestOilPeakReportActive">
        <False />
    </DefineArg>
    <DefineArg Name="PatchTracking">
        <False />
    </DefineArg>
    <DefineArg Name="FilterWidthHorizontal">
        <Units:count />
        <Value>3</Value>
    </DefineArg>
    <DefineArg Name="NumProfilesSlidingwindow">
        <Units:count />
        <Value>100</Value>
    </DefineArg>
    <DefineArg Name="OffPeakFractionHorizontal">
        <Units:percent />
        <Value>80</Value>
    </DefineArg>
    <DefineArg Name="PeakDetectNO3Active">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectOilActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectFDOMActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectSalinityActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreLMavgROIActive">
        <False />
    </DefineArg>
    <DefineArg Name="EdgeDetectPlanktivoreLMavgROIActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreHMavgROIActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreDiatomsActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreDinoflagellatesActive">
        <False />
    </DefineArg>
    <DefineArg Name="UpwardDerivativeOfTemperatureActive">
        <False />
    </DefineArg>
    <DefineArg Name="EnabledAanderaaO2">
        <Science:Aanderaa_O2.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledNeilBrown">
        <Science:CTD_NeilBrown.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledSeabird">
        <Science:CTD_Seabird.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledWetLabsBB2FL">
        <Science:WetLabsBB2FL.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledWetLabsSeaOWL_UV_A">
        <Science:WetLabsSeaOWL_UV_A.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledWetLabsUBAT">
        <Science:WetLabsUBAT.loadAtStartup />
    </DefineArg>
    <DefineArg Name="LowPassWindowLength">
        <Units:count />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="MedianFilterLen">
        <Units:count />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="ShallowBound">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="DeepBound">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="DepChangeThreshForAttitudeFlip">
        <Units:meter />
        <Value>2.0</Value>
    </DefineArg>
    <DefineArg Name="OffPeakFractionVertical">
        <Units:percent />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="ChlPeakThresh">
        <Units:microgram_per_liter />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="ChlThreshTriggerActive">
        <False />
    </DefineArg>
    <DefineArg Name="ChlLowerThresh">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="ChlUpperThresh">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="NumProfilesThresh">
        <Units:count />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="PlanktivoreLMavgROIPeakThresh">
        <Units:count_per_second />
        <Value>0</Value>
    </DefineArg>
    <DefineOutput Name="GoDown">
        <True />
    </DefineOutput>
    <DefineOutput Name="PeakChl">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChl">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChlDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChlTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChlLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChlLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3">
        <Units:micromole_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3Depth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3Latitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3Longitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOil">
        <Units:kilogram_per_cubic_meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOilDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOilLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOilLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOM">
        <Units:part_per_billion />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSalt">
        <Units:practical_salinity_unit />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROI">
        <Units:count_per_second />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROIDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROITemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROILatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROILongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROI">
        <Units:count_per_second />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROIDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROITemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROILatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROILongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROI">
        <Units:count_per_second />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROIDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROITemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROILatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROILongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatoms">
        <Units:count_per_milliliter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellates">
        <Units:count_per_milliliter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChl">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlDistance">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSalt">
        <Units:practical_salinity_unit />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltDistance">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOil">
        <Units:practical_salinity_unit />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilDistance">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="TriggeredOnChl">
        <False />
    </DefineOutput>
    <DefineOutput Name="ChlTriggering">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <Parallel />
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledAanderaaO2" />
        </While>
        <Universal:mass_concentration_of_oxygen_in_sea_water />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledNeilBrown" />
            <Or>
                <Arg Name="EnabledSeabird" />
            </Or>
        </While>
        <Universal:sea_water_temperature />
        <Universal:sea_water_salinity />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledSeabird" />
        </While>
        <Science:CTD_Seabird.sea_water_temperature />
        <Science:CTD_Seabird.sea_water_salinity />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledNeilBrown" />
            <Or>
                <Arg Name="EnabledSeabird" />
            </Or>
            <And>
                <Arg Name="UpwardDerivativeOfTemperatureActive" />
            </And>
        </While>
        <Universal:upward_derivative_of_sea_water_temperature />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledWetLabsBB2FL" />
            <Or>
                <Arg Name="PeakDetectChlActive" />
            </Or>
        </While>
        <Universal:mass_concentration_of_chlorophyll_in_sea_water />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledWetLabsUBAT" />
        </While>
        <Science:WetLabsUBAT.average_bioluminescence />
    </ReadData>
    <ReadData Id="Read_Oil" Strategy="MinError">
        <While>
            <Arg Name="EnabledWetLabsSeaOWL_UV_A" />
            <Or>
                <Arg Name="PeakDetectOilActive" />
            </Or>
        </While>
        <Universal:mass_concentration_of_petroleum_hydrocarbons_in_sea_water />
    </ReadData>
    <Aggregate Id="OceanCurrent">
        <Sequence />
        <Estimation:CurrentEstimator>
            <Parallel />
        </Estimation:CurrentEstimator>
    </Aggregate>
    <Aggregate Id="PeakDetectChl">
        <While>
            <Arg Name="PeakDetectChlActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:mass_concentration_of_chlorophyll_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakChl">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakChlDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakChlTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakChlLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakChlLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakChl" />
            <Arg Name="PeakChlDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="EdgeDetectChl">
        <While>
            <Arg Name="EdgeDetectChlActive" />
        </While>
        <Syslog Severity="Debug">EdgeDetectVsDepth</Syslog>
        <Trigger:EdgeDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:EdgeDetectVsDepth.detect />
                <Universal:mass_concentration_of_chlorophyll_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFraction />
                <Arg Name="OffPeakFractionVertical" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.peakThresh />
                <Arg Name="ChlPeakThresh" />
            </Setting>
            <OutputArg Name="GoDown">
                <Trigger:EdgeDetectVsDepth.goDown />
            </OutputArg>
            <OutputArg Name="PeakChl">
                <Trigger:EdgeDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakChlDepth">
                <Trigger:EdgeDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakChlTemperature">
                <Trigger:EdgeDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakChlLatitude">
                <Trigger:EdgeDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakChlLongitude">
                <Trigger:EdgeDetectVsDepth.peakLongitude />
            </OutputArg>
            <OutputArg Name="EdgeChl">
                <Trigger:EdgeDetectVsDepth.edgeDetect />
            </OutputArg>
            <OutputArg Name="EdgeChlDepth">
                <Trigger:EdgeDetectVsDepth.edgeDepth />
            </OutputArg>
            <OutputArg Name="EdgeChlTemperature">
                <Trigger:EdgeDetectVsDepth.edgeTemperature />
            </OutputArg>
            <OutputArg Name="EdgeChlLatitude">
                <Trigger:EdgeDetectVsDepth.edgeLatitude />
            </OutputArg>
            <OutputArg Name="EdgeChlLongitude">
                <Trigger:EdgeDetectVsDepth.edgeLongitude />
            </OutputArg>
        </Trigger:EdgeDetectVsDepth>
        <Syslog Severity="Info">
            GoDown, ChlPeakThresh, PeakChl, PeakChlDepth, EdgeChl, EdgeChlDepth = 
            <Arg Name="GoDown" />
            <Units:bool />
            , 
            <Arg Name="ChlPeakThresh" />
            <Units:microgram_per_liter />
            , 
            <Arg Name="PeakChl" />
            <Units:microgram_per_liter />
            , 
            <Arg Name="PeakChlDepth" />
            <Units:meter />
            , 
            <Arg Name="EdgeChl" />
            <Units:microgram_per_liter />
            , 
            <Arg Name="EdgeChlDepth" />
            <Units:meter />
        </Syslog>
        <SendData Service="Express">
            <Arg Name="PeakChl" />
            <Arg Name="PeakChlDepth" />
            <Arg Name="EdgeChl" />
            <Arg Name="EdgeChlDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="HighestChlPeakReport">
        <While>
            <Arg Name="HighestChlPeakReportActive" />
        </While>
        <Trigger:PeakDetectHorizontal>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectHorizontal.detectFrom />
                <Arg Name="PeakChl" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.depthFrom />
                <Arg Name="PeakChlDepth" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.latitudeFrom />
                <Arg Name="PeakChlLatitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.longitudeFrom />
                <Arg Name="PeakChlLongitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.patchTracking />
                <Arg Name="PatchTracking" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.filterWidth />
                <Arg Name="FilterWidthHorizontal" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.numProfilesSlidingwindow />
                <Arg Name="NumProfilesSlidingwindow" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.offPeakFraction />
                <Arg Name="OffPeakFractionHorizontal" />
            </Setting>
            <OutputArg Name="PatchChl">
                <Trigger:PeakDetectHorizontal.peakDetect />
            </OutputArg>
            <OutputArg Name="PatchChlDepth">
                <Trigger:PeakDetectHorizontal.peakDepth />
            </OutputArg>
            <OutputArg Name="PatchChlLatitude">
                <Trigger:PeakDetectHorizontal.peakLatitude />
            </OutputArg>
            <OutputArg Name="PatchChlLongitude">
                <Trigger:PeakDetectHorizontal.peakLongitude />
            </OutputArg>
            <OutputArg Name="PatchChlDistance">
                <Trigger:PeakDetectHorizontal.peakDistance />
            </OutputArg>
        </Trigger:PeakDetectHorizontal>
    </Aggregate>
    <Aggregate Id="PeakDetectNO3">
        <While>
            <Arg Name="PeakDetectNO3Active" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:mole_concentration_of_nitrate_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <OutputArg Name="PeakNO3">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakNO3Depth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakNO3Latitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakNO3Longitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakNO3" />
            <Arg Name="PeakNO3Depth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectOil">
        <While>
            <Arg Name="PeakDetectOilActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:mass_concentration_of_petroleum_hydrocarbons_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <OutputArg Name="PeakOil">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakOilDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakOilLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakOilLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakOil" />
            <Arg Name="PeakOilDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="HighestOilPeakReport">
        <While>
            <Arg Name="HighestOilPeakReportActive" />
        </While>
        <Trigger:PeakDetectHorizontal>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectHorizontal.detectFrom />
                <Arg Name="PeakOil" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.depthFrom />
                <Arg Name="PeakOilDepth" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.latitudeFrom />
                <Arg Name="PeakOilLatitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.longitudeFrom />
                <Arg Name="PeakOilLongitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.patchTracking />
                <Arg Name="PatchTracking" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.filterWidth />
                <Arg Name="FilterWidthHorizontal" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.numProfilesSlidingwindow />
                <Arg Name="NumProfilesSlidingwindow" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.offPeakFraction />
                <Arg Name="OffPeakFractionHorizontal" />
            </Setting>
            <OutputArg Name="PatchOil">
                <Trigger:PeakDetectHorizontal.peakDetect />
            </OutputArg>
            <OutputArg Name="PatchOilDepth">
                <Trigger:PeakDetectHorizontal.peakDepth />
            </OutputArg>
            <OutputArg Name="PatchOilLatitude">
                <Trigger:PeakDetectHorizontal.peakLatitude />
            </OutputArg>
            <OutputArg Name="PatchOilLongitude">
                <Trigger:PeakDetectHorizontal.peakLongitude />
            </OutputArg>
            <OutputArg Name="PatchOilDistance">
                <Trigger:PeakDetectHorizontal.peakDistance />
            </OutputArg>
        </Trigger:PeakDetectHorizontal>
    </Aggregate>
    <Aggregate Id="PeakDetectFDOM">
        <While>
            <Arg Name="PeakDetectFDOMActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:concentration_of_colored_dissolved_organic_matter_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <OutputArg Name="PeakFDOM">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakFDOMDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakFDOMTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakFDOMLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakFDOMLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakFDOM" />
            <Arg Name="PeakFDOMDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectSalinity">
        <While>
            <Arg Name="PeakDetectSalinityActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:sea_water_salinity />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakSalt">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakSaltDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakSaltTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakSaltLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakSaltLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakSalt" />
            <Arg Name="PeakSaltDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="HighestSaltPeakReport">
        <While>
            <Arg Name="HighestSaltPeakReportActive" />
        </While>
        <Trigger:PeakDetectHorizontal>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectHorizontal.detectFrom />
                <Arg Name="PeakSalt" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.depthFrom />
                <Arg Name="PeakSaltDepth" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.latitudeFrom />
                <Arg Name="PeakSaltLatitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.longitudeFrom />
                <Arg Name="PeakSaltLongitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.patchTracking />
                <Arg Name="PatchTracking" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.filterWidth />
                <Arg Name="FilterWidthHorizontal" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.numProfilesSlidingwindow />
                <Arg Name="NumProfilesSlidingwindow" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.offPeakFraction />
                <Arg Name="OffPeakFractionHorizontal" />
            </Setting>
            <OutputArg Name="PatchSalt">
                <Trigger:PeakDetectHorizontal.peakDetect />
            </OutputArg>
            <OutputArg Name="PatchSaltDepth">
                <Trigger:PeakDetectHorizontal.peakDepth />
            </OutputArg>
            <OutputArg Name="PatchSaltLatitude">
                <Trigger:PeakDetectHorizontal.peakLatitude />
            </OutputArg>
            <OutputArg Name="PatchSaltLongitude">
                <Trigger:PeakDetectHorizontal.peakLongitude />
            </OutputArg>
            <OutputArg Name="PatchSaltDistance">
                <Trigger:PeakDetectHorizontal.peakDistance />
            </OutputArg>
        </Trigger:PeakDetectHorizontal>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreLMavgROI">
        <While>
            <Arg Name="PeakDetectPlanktivoreLMavgROIActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_LM_AvgRois</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreLMavgROI">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROIDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROITemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROILatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROILongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreLMavgROI" />
            <Arg Name="PeakPlanktivoreLMavgROIDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="EdgeDetectPlanktivoreLMavgROI">
        <While>
            <Arg Name="EdgeDetectPlanktivoreLMavgROIActive" />
        </While>
        <Syslog Severity="Debug">EdgeDetectVsDepth</Syslog>
        <Trigger:EdgeDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:EdgeDetectVsDepth.detect />
                <String>_.planktivore_LM_AvgRois</String>
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFraction />
                <Arg Name="OffPeakFractionVertical" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.peakThresh />
                <Arg Name="PlanktivoreLMavgROIPeakThresh" />
            </Setting>
            <OutputArg Name="GoDown">
                <Trigger:EdgeDetectVsDepth.goDown />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROI">
                <Trigger:EdgeDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROIDepth">
                <Trigger:EdgeDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROITemperature">
                <Trigger:EdgeDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROILatitude">
                <Trigger:EdgeDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROILongitude">
                <Trigger:EdgeDetectVsDepth.peakLongitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROI">
                <Trigger:EdgeDetectVsDepth.edgeDetect />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROIDepth">
                <Trigger:EdgeDetectVsDepth.edgeDepth />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROITemperature">
                <Trigger:EdgeDetectVsDepth.edgeTemperature />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROILatitude">
                <Trigger:EdgeDetectVsDepth.edgeLatitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROILongitude">
                <Trigger:EdgeDetectVsDepth.edgeLongitude />
            </OutputArg>
        </Trigger:EdgeDetectVsDepth>
        <Syslog Severity="Important">
            GoDown, PlanktivoreLMavgROIPeakThresh, PeakPlanktivoreLMavgROI, PeakPlanktivoreLMavgROIDepth, EdgePlanktivoreLMavgROI, EdgePlanktivoreLMavgROIDepth = 
            <Arg Name="GoDown" />
            <Units:bool />
            , 
            <Arg Name="PlanktivoreLMavgROIPeakThresh" />
            <Units:microgram_per_liter />
            , 
            <Arg Name="PeakPlanktivoreLMavgROI" />
            <Units:microgram_per_liter />
            , 
            <Arg Name="PeakPlanktivoreLMavgROIDepth" />
            <Units:meter />
            , 
            <Arg Name="EdgePlanktivoreLMavgROI" />
            <Units:microgram_per_liter />
            , 
            <Arg Name="EdgePlanktivoreLMavgROIDepth" />
            <Units:meter />
        </Syslog>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreLMavgROI" />
            <Arg Name="PeakPlanktivoreLMavgROIDepth" />
            <Arg Name="EdgePlanktivoreLMavgROI" />
            <Arg Name="EdgePlanktivoreLMavgROIDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreHMavgROI">
        <While>
            <Arg Name="PeakDetectPlanktivoreHMavgROIActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_HM_AvgRois</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreHMavgROI">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROIDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROITemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROILatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROILongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreHMavgROI" />
            <Arg Name="PeakPlanktivoreHMavgROIDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreDiatoms">
        <While>
            <Arg Name="PeakDetectPlanktivoreDiatomsActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_diatoms</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreDiatoms">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreDiatoms" />
            <Arg Name="PeakPlanktivoreDiatomsDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreDinoflagellates">
        <While>
            <Arg Name="PeakDetectPlanktivoreDinoflagellatesActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_dinoflagellates</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreDinoflagellates">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreDinoflagellates" />
            <Arg Name="PeakPlanktivoreDinoflagellatesDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="ChlThreshTrigger">
        <While>
            <Arg Name="ChlThreshTriggerActive" />
        </While>
        <Trigger:ValueDetect>
            <Sequence />
            <Setting>
                <Trigger:ValueDetect.detect />
                <Arg Name="PeakChl" />
            </Setting>
            <Setting>
                <Trigger:ValueDetect.lowerThreshold />
                <Arg Name="ChlLowerThresh" />
            </Setting>
            <Setting>
                <Trigger:ValueDetect.upperThreshold />
                <Arg Name="ChlUpperThresh" />
            </Setting>
            <Setting>
                <Trigger:ValueDetect.numProfilesThreshold />
                <Arg Name="NumProfilesThresh" />
            </Setting>
            <OutputArg Name="ChlTriggering">
                <Trigger:ValueDetect.outputValue />
            </OutputArg>
        </Trigger:ValueDetect>
        <Assign>
            <Sequence />
            <Arg Name="TriggeredOnChl" />
            <True />
        </Assign>
        <Syslog Severity="Important">
            Triggered. PeakChl values on 
            <Arg Name="NumProfilesThresh" />
            <Units:count />
             consecutive yo-yo profiles fall in [
            <Arg Name="ChlLowerThresh" />
            <Units:microgram_per_liter />
            <Arg Name="ChlUpperThresh" />
            <Units:microgram_per_liter />
            ] (NaN bound is ignored).
        </Syslog>
    </Aggregate>
</Aggregate>

2025-03-13T02:53:44.086Z,1741834424.086 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.PeakDetectChlActive = 0 bool
2025-03-13T02:53:44.197Z,1741834424.197 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.EdgeDetectChlActive = 0 bool
2025-03-13T02:53:44.199Z,1741834424.199 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.TimeWindowPeakReport = nan min
2025-03-13T02:53:44.217Z,1741834424.217 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.HighestChlPeakReportActive = 0 bool
2025-03-13T02:53:44.223Z,1741834424.223 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.HighestSaltPeakReportActive = 0 bool
2025-03-13T02:53:44.225Z,1741834424.225 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.HighestOilPeakReportActive = 0 bool
2025-03-13T02:53:44.240Z,1741834424.240 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.PatchTracking = 0 bool
2025-03-13T02:53:44.243Z,1741834424.243 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.FilterWidthHorizontal = 3.000000 count
2025-03-13T02:53:44.252Z,1741834424.252 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.NumProfilesSlidingwindow = 100.000000 count
2025-03-13T02:53:44.254Z,1741834424.254 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.OffPeakFractionHorizontal = 80.000000 %
2025-03-13T02:53:44.264Z,1741834424.264 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.PeakDetectNO3Active = 0 bool
2025-03-13T02:53:44.266Z,1741834424.266 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.PeakDetectOilActive = 0 bool
2025-03-13T02:53:44.292Z,1741834424.292 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.PeakDetectFDOMActive = 0 bool
2025-03-13T02:53:44.294Z,1741834424.294 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.PeakDetectSalinityActive = 0 bool
2025-03-13T02:53:44.296Z,1741834424.296 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.PeakDetectPlanktivoreLMavgROIActive = 0 bool
2025-03-13T02:53:44.298Z,1741834424.298 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.EdgeDetectPlanktivoreLMavgROIActive = 0 bool
2025-03-13T02:53:44.316Z,1741834424.316 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.PeakDetectPlanktivoreHMavgROIActive = 0 bool
2025-03-13T02:53:44.318Z,1741834424.318 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.PeakDetectPlanktivoreDiatomsActive = 0 bool
2025-03-13T02:53:44.324Z,1741834424.324 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.PeakDetectPlanktivoreDinoflagellatesActive = 0 bool
2025-03-13T02:53:44.326Z,1741834424.326 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2025-03-13T02:53:44.337Z,1741834424.337 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.EnabledAanderaaO2 = 0 bool
2025-03-13T02:53:44.361Z,1741834424.361 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.EnabledNeilBrown = 0 bool
2025-03-13T02:53:44.368Z,1741834424.368 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.EnabledSeabird = 1 bool
2025-03-13T02:53:44.371Z,1741834424.371 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.EnabledWetLabsBB2FL = 1 bool
2025-03-13T02:53:44.390Z,1741834424.390 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.EnabledWetLabsSeaOWL_UV_A = 0 bool
2025-03-13T02:53:44.397Z,1741834424.397 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.EnabledWetLabsUBAT = 0 bool
2025-03-13T02:53:44.411Z,1741834424.411 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.LowPassWindowLength = 20.000000 count
2025-03-13T02:53:44.413Z,1741834424.413 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.MedianFilterLen = 5.000000 count
2025-03-13T02:53:44.432Z,1741834424.432 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.ShallowBound = nan m
2025-03-13T02:53:44.435Z,1741834424.435 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.DeepBound = nan m
2025-03-13T02:53:44.441Z,1741834424.441 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.DepChangeThreshForAttitudeFlip = 2.000000 m
2025-03-13T02:53:44.455Z,1741834424.455 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.OffPeakFractionVertical = nan %
2025-03-13T02:53:44.458Z,1741834424.458 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.ChlPeakThresh = 0.000000 ug/l
2025-03-13T02:53:44.460Z,1741834424.460 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.ChlThreshTriggerActive = 0 bool
2025-03-13T02:53:44.462Z,1741834424.462 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.ChlLowerThresh = nan ug/l
2025-03-13T02:53:44.468Z,1741834424.468 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.ChlUpperThresh = nan ug/l
2025-03-13T02:53:44.471Z,1741834424.471 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.NumProfilesThresh = 5.000000 count
2025-03-13T02:53:44.485Z,1741834424.485 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.PlanktivoreLMavgROIPeakThresh = 0.000000 count/s
2025-03-13T02:53:44.493Z,1741834424.493 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.GoDown = 1 bool
2025-03-13T02:53:44.540Z,1741834424.540 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakChl = nan ug/l
2025-03-13T02:53:44.543Z,1741834424.543 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakChlDepth = nan m
2025-03-13T02:53:44.584Z,1741834424.584 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakChlTemperature = nan degC
2025-03-13T02:53:44.587Z,1741834424.587 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakChlLatitude = nan arcdeg
2025-03-13T02:53:44.605Z,1741834424.605 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakChlLongitude = nan arcdeg
2025-03-13T02:53:44.624Z,1741834424.624 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.EdgeChl = nan ug/l
2025-03-13T02:53:44.626Z,1741834424.626 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.EdgeChlDepth = nan m
2025-03-13T02:53:44.637Z,1741834424.637 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.EdgeChlTemperature = nan degC
2025-03-13T02:53:44.639Z,1741834424.639 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.EdgeChlLatitude = nan arcdeg
2025-03-13T02:53:44.653Z,1741834424.653 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.EdgeChlLongitude = nan arcdeg
2025-03-13T02:53:44.660Z,1741834424.660 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakNO3 = nan umol/l
2025-03-13T02:53:44.662Z,1741834424.662 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakNO3Depth = nan m
2025-03-13T02:53:44.677Z,1741834424.677 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakNO3Latitude = nan arcdeg
2025-03-13T02:53:44.679Z,1741834424.679 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakNO3Longitude = nan arcdeg
2025-03-13T02:53:44.682Z,1741834424.682 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakOil = nan kg/m3
2025-03-13T02:53:44.700Z,1741834424.700 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakOilDepth = nan m
2025-03-13T02:53:44.702Z,1741834424.702 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakOilLatitude = nan arcdeg
2025-03-13T02:53:44.709Z,1741834424.709 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakOilLongitude = nan arcdeg
2025-03-13T02:53:44.732Z,1741834424.732 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakFDOM = nan ppb
2025-03-13T02:53:44.734Z,1741834424.734 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakFDOMDepth = nan m
2025-03-13T02:53:44.749Z,1741834424.749 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakFDOMTemperature = nan degC
2025-03-13T02:53:44.751Z,1741834424.751 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakFDOMLatitude = nan arcdeg
2025-03-13T02:53:44.775Z,1741834424.775 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakFDOMLongitude = nan arcdeg
2025-03-13T02:53:44.778Z,1741834424.778 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakSalt = nan psu
2025-03-13T02:53:44.780Z,1741834424.780 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakSaltDepth = nan m
2025-03-13T02:53:44.782Z,1741834424.782 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakSaltTemperature = nan degC
2025-03-13T02:53:44.801Z,1741834424.801 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakSaltLatitude = nan arcdeg
2025-03-13T02:53:44.806Z,1741834424.806 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakSaltLongitude = nan arcdeg
2025-03-13T02:53:44.828Z,1741834424.828 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreLMavgROI = nan count/s
2025-03-13T02:53:44.831Z,1741834424.831 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreLMavgROIDepth = nan m
2025-03-13T02:53:44.849Z,1741834424.849 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreLMavgROITemperature = nan degC
2025-03-13T02:53:44.864Z,1741834424.864 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreLMavgROILatitude = nan arcdeg
2025-03-13T02:53:44.866Z,1741834424.866 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreLMavgROILongitude = nan arcdeg
2025-03-13T02:53:44.889Z,1741834424.889 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.EdgePlanktivoreLMavgROI = nan count/s
2025-03-13T02:53:44.895Z,1741834424.895 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.EdgePlanktivoreLMavgROIDepth = nan m
2025-03-13T02:53:44.898Z,1741834424.898 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.EdgePlanktivoreLMavgROITemperature = nan degC
2025-03-13T02:53:44.948Z,1741834424.948 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.EdgePlanktivoreLMavgROILatitude = nan arcdeg
2025-03-13T02:53:44.951Z,1741834424.951 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.EdgePlanktivoreLMavgROILongitude = nan arcdeg
2025-03-13T02:53:44.973Z,1741834424.973 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreHMavgROI = nan count/s
2025-03-13T02:53:44.992Z,1741834424.992 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreHMavgROIDepth = nan m
2025-03-13T02:53:44.994Z,1741834424.994 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreHMavgROITemperature = nan degC
2025-03-13T02:53:45.016Z,1741834425.016 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreHMavgROILatitude = nan arcdeg
2025-03-13T02:53:45.018Z,1741834425.018 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreHMavgROILongitude = nan arcdeg
2025-03-13T02:53:45.037Z,1741834425.037 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreDiatoms = nan count/ml
2025-03-13T02:53:45.043Z,1741834425.043 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreDiatomsDepth = nan m
2025-03-13T02:53:45.046Z,1741834425.046 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreDiatomsTemperature = nan degC
2025-03-13T02:53:45.060Z,1741834425.060 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreDiatomsLatitude = nan arcdeg
2025-03-13T02:53:45.062Z,1741834425.062 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreDiatomsLongitude = nan arcdeg
2025-03-13T02:53:45.069Z,1741834425.069 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreDinoflagellates = nan count/ml
2025-03-13T02:53:45.083Z,1741834425.083 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreDinoflagellatesDepth = nan m
2025-03-13T02:53:45.086Z,1741834425.086 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreDinoflagellatesTemperature = nan degC
2025-03-13T02:53:45.105Z,1741834425.105 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreDinoflagellatesLatitude = nan arcdeg
2025-03-13T02:53:45.111Z,1741834425.111 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreDinoflagellatesLongitude = nan arcdeg
2025-03-13T02:53:45.114Z,1741834425.114 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchChl = nan ug/l
2025-03-13T02:53:45.118Z,1741834425.118 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchChlDepth = nan m
2025-03-13T02:53:45.141Z,1741834425.141 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchChlLatitude = nan arcdeg
2025-03-13T02:53:45.155Z,1741834425.155 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchChlLongitude = nan arcdeg
2025-03-13T02:53:45.158Z,1741834425.158 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchChlDistance = nan m
2025-03-13T02:53:45.178Z,1741834425.178 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchSalt = nan psu
2025-03-13T02:53:45.183Z,1741834425.183 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchSaltDepth = nan m
2025-03-13T02:53:45.190Z,1741834425.190 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchSaltLatitude = nan arcdeg
2025-03-13T02:53:45.202Z,1741834425.202 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchSaltLongitude = nan arcdeg
2025-03-13T02:53:45.225Z,1741834425.225 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchSaltDistance = nan m
2025-03-13T02:53:45.231Z,1741834425.231 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchOil = nan psu
2025-03-13T02:53:45.234Z,1741834425.234 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchOilDepth = nan m
2025-03-13T02:53:45.250Z,1741834425.250 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchOilLatitude = nan arcdeg
2025-03-13T02:53:45.257Z,1741834425.257 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchOilLongitude = nan arcdeg
2025-03-13T02:53:45.262Z,1741834425.262 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchOilDistance = nan m
2025-03-13T02:53:45.277Z,1741834425.277 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.TriggeredOnChl = 0 bool
2025-03-13T02:53:45.280Z,1741834425.280 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.ChlTriggering = nan ug/l
2025-03-13T02:53:45.425Z,1741834425.425 [sci2_noyo_optim:Science:PeakDetectChl:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-03-13T02:53:45.489Z,1741834425.489 [sci2_noyo_optim:Science:EdgeDetectChl:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-03-13T02:53:45.546Z,1741834425.546 [sci2_noyo_optim:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-03-13T02:53:45.607Z,1741834425.607 [sci2_noyo_optim:Science:PeakDetectNO3:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-03-13T02:53:45.639Z,1741834425.639 [sci2_noyo_optim:Science:PeakDetectOil:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-03-13T02:53:45.681Z,1741834425.681 [sci2_noyo_optim:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-03-13T02:53:45.780Z,1741834425.780 [sci2_noyo_optim:Science:PeakDetectFDOM:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-03-13T02:53:45.832Z,1741834425.832 [sci2_noyo_optim:Science:PeakDetectSalinity:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-03-13T02:53:45.881Z,1741834425.881 [sci2_noyo_optim:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-03-13T02:53:45.934Z,1741834425.934 [sci2_noyo_optim:Science:PeakDetectPlanktivoreLMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-03-13T02:53:46.017Z,1741834426.017 [sci2_noyo_optim:Science:EdgeDetectPlanktivoreLMavgROI:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-03-13T02:53:46.112Z,1741834426.112 [sci2_noyo_optim:Science:PeakDetectPlanktivoreHMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-03-13T02:53:46.197Z,1741834426.197 [sci2_noyo_optim:Science:PeakDetectPlanktivoreDiatoms:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-03-13T02:53:46.266Z,1741834426.266 [sci2_noyo_optim:Science:PeakDetectPlanktivoreDinoflagellates:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-03-13T02:53:46.306Z,1741834426.306 [sci2_noyo_optim:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Construct ValueDetect.
2025-03-13T02:53:46.329Z,1741834426.329 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-03-13T02:53:46.329Z,1741834426.329 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-03-13T02:53:46.330Z,1741834426.330 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-03-13T02:53:46.523Z,1741834426.523 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/StandardEnvelopes.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="StandardEnvelopes">
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="MaxDepthIgnore">
        <Units:meter />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>200</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:meter />
        <Value>2000</Value>
    </DefineArg>
    <Parallel />
    <Guidance:AltitudeEnvelope>
        <Parallel />
        <Setting>
            <Guidance:AltitudeEnvelope.minAltitude />
            <Arg Name="MinAltitude" />
        </Setting>
        <Setting>
            <Guidance:AltitudeEnvelope.maxDepthIgnore />
            <Arg Name="MaxDepthIgnore" />
        </Setting>
    </Guidance:AltitudeEnvelope>
    <Guidance:DepthEnvelope>
        <Parallel />
        <Setting>
            <Guidance:DepthEnvelope.maxDepth />
            <Arg Name="MaxDepth" />
        </Setting>
    </Guidance:DepthEnvelope>
    <Guidance:OffshoreEnvelope>
        <Parallel />
        <Setting>
            <Guidance:OffshoreEnvelope.minOffshore />
            <Arg Name="MinOffshore" />
        </Setting>
    </Guidance:OffshoreEnvelope>
</Aggregate>

2025-03-13T02:53:46.531Z,1741834426.531 [MissionManager](INFO): DefineArg sci2_noyo_optim:StandardEnvelopes.MinAltitude = 5.000000 m
2025-03-13T02:53:46.628Z,1741834426.628 [MissionManager](INFO): DefineArg sci2_noyo_optim:StandardEnvelopes.MaxDepthIgnore = 0.000000 m
2025-03-13T02:53:46.630Z,1741834426.630 [MissionManager](INFO): DefineArg sci2_noyo_optim:StandardEnvelopes.MaxDepth = 200.000000 m
2025-03-13T02:53:46.645Z,1741834426.645 [MissionManager](INFO): DefineArg sci2_noyo_optim:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-03-13T02:53:46.646Z,1741834426.646 [sci2_noyo_optim:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-03-13T02:53:46.688Z,1741834426.688 [sci2_noyo_optim:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-03-13T02:53:46.714Z,1741834426.714 [sci2_noyo_optim:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-03-13T02:53:46.761Z,1741834426.761 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl
2025-03-13T02:53:46.761Z,1741834426.761 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl
2025-03-13T02:53:46.762Z,1741834426.762 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl
2025-03-13T02:53:47.202Z,1741834427.202 [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>

2025-03-13T02:53:47.207Z,1741834427.207 [MissionManager](INFO): DefineArg sci2_noyo_optim:NeedComms.DiveInterval = 1.000000 h
2025-03-13T02:53:47.220Z,1741834427.220 [MissionManager](INFO): DefineArg sci2_noyo_optim:NeedComms.WaitForPitchUp = 10.000000 min
2025-03-13T02:53:47.222Z,1741834427.222 [MissionManager](INFO): DefineArg sci2_noyo_optim:NeedComms.SurfacePitch = 20.000000 arcdeg
2025-03-13T02:53:47.224Z,1741834427.224 [MissionManager](INFO): DefineArg sci2_noyo_optim:NeedComms.SurfaceDepthRate = nan m/s
2025-03-13T02:53:47.226Z,1741834427.226 [MissionManager](INFO): DefineArg sci2_noyo_optim:NeedComms.SurfaceSpeed = 1.000000 m/s
2025-03-13T02:53:47.228Z,1741834427.228 [MissionManager](INFO): DefineArg sci2_noyo_optim:NeedComms.SurfacingTimeout = 1000.000000 s
2025-03-13T02:53:47.231Z,1741834427.231 [MissionManager](INFO): DefineArg sci2_noyo_optim:NeedComms.GPSTimeout = 7.000000 min
2025-03-13T02:53:47.241Z,1741834427.241 [MissionManager](INFO): DefineArg sci2_noyo_optim:NeedComms.CommsTimeout = 30.000000 min
2025-03-13T02:53:47.247Z,1741834427.247 [sci2_noyo_optim:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2025-03-13T02:53:47.344Z,1741834427.344 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2025-03-13T02:53:47.345Z,1741834427.345 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2025-03-13T02:53:47.346Z,1741834427.346 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2025-03-13T02:53:47.467Z,1741834427.467 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/BackseatDriver.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="BackseatDriver">
    <DefineArg Name="EnableBackseat">
        <False />
    </DefineArg>
    <Parallel />
    <Guidance:BackseatDriver>
        <Sequence />
        <Setting>
            <Guidance:BackseatDriver.powerBackseat />
            <Arg Name="EnableBackseat" />
        </Setting>
    </Guidance:BackseatDriver>
</Aggregate>

2025-03-13T02:53:47.470Z,1741834427.470 [MissionManager](INFO): DefineArg sci2_noyo_optim:BackseatDriver.EnableBackseat = 0 bool
2025-03-13T02:53:47.489Z,1741834427.489 [sci2_noyo_optim:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2025-03-13T02:53:47.505Z,1741834427.505 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2025-03-13T02:53:47.505Z,1741834427.505 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2025-03-13T02:53:47.506Z,1741834427.506 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2025-03-13T02:53:47.684Z,1741834427.684 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/PowerOnly.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="PowerOnly">
    <DefineArg Name="SampleAll">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad1">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad2">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad3">
        <False />
    </DefineArg>
    <DefineArg Name="EnabledPowerOnly">
        <Sensor:PowerOnly.loadAtStartup />
    </DefineArg>
    <Parallel />
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleAll" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.samplePowerOnly />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad1" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad1 />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad2" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad2 />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad3" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad3 />
    </ReadData>
    <Guidance:Wait>
        <Sequence />
        <Setting>
            <Guidance:Wait.duration />
            <Units:hour />
            <Value>99999</Value>
        </Setting>
    </Guidance:Wait>
</Aggregate>

2025-03-13T02:53:47.696Z,1741834427.696 [MissionManager](INFO): DefineArg sci2_noyo_optim:PowerOnly.SampleAll = 0 bool
2025-03-13T02:53:47.698Z,1741834427.698 [MissionManager](INFO): DefineArg sci2_noyo_optim:PowerOnly.SampleLoad1 = 0 bool
2025-03-13T02:53:47.723Z,1741834427.723 [MissionManager](INFO): DefineArg sci2_noyo_optim:PowerOnly.SampleLoad2 = 0 bool
2025-03-13T02:53:47.725Z,1741834427.725 [MissionManager](INFO): DefineArg sci2_noyo_optim:PowerOnly.SampleLoad3 = 0 bool
2025-03-13T02:53:47.728Z,1741834427.728 [MissionManager](INFO): DefineArg sci2_noyo_optim:PowerOnly.EnabledPowerOnly = 1 bool
2025-03-13T02:53:47.734Z,1741834427.734 [sci2_noyo_optim:PowerOnly:E.Wait](DEBUG): Construct Wait.
2025-03-13T02:53:47.824Z,1741834427.824 [sci2_noyo_optim:O.Buoyancy](DEBUG): Construct Buoyancy.
2025-03-13T02:53:47.873Z,1741834427.873 [sci2_noyo_optim:DiveCmd:InitialDive:dive:C.Mass](DEBUG): Construct.
2025-03-13T02:53:47.892Z,1741834427.892 [sci2_noyo_optim:DiveCmd:InitialDive:dive:E.Wait](DEBUG): Construct Wait.
2025-03-13T02:53:47.912Z,1741834427.912 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:A.SetSpeed](DEBUG): Construct.
2025-03-13T02:53:47.914Z,1741834427.914 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:B.Pitch](DEBUG): Construct.
2025-03-13T02:53:47.941Z,1741834427.941 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:B.Pitch:A_Timeout:B.Execute](DEBUG): Construct Execute.
2025-03-13T02:53:47.962Z,1741834427.962 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:B.Pitch](DEBUG): Construct.
2025-03-13T02:53:47.966Z,1741834427.966 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:C.Wait](DEBUG): Construct Wait.
2025-03-13T02:53:47.986Z,1741834427.986 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass](DEBUG): Construct.
2025-03-13T02:53:47.988Z,1741834427.988 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed](DEBUG): Construct.
2025-03-13T02:53:47.991Z,1741834427.991 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:B.Pitch](DEBUG): Construct.
2025-03-13T02:53:47.999Z,1741834427.999 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:A.SetSpeed](DEBUG): Construct.
2025-03-13T02:53:48.012Z,1741834428.012 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:C.Buoyancy](DEBUG): Construct Buoyancy.
2025-03-13T02:53:48.014Z,1741834428.014 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:D.Pitch](DEBUG): Construct.
2025-03-13T02:53:48.045Z,1741834428.045 [sci2_noyo_optim:Lap:DepthByLap:Wpt1:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T02:53:48.059Z,1741834428.059 [sci2_noyo_optim:Lap:DepthByLap:Wpt2:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T02:53:48.064Z,1741834428.064 [sci2_noyo_optim:Lap:DepthByLap:Wpt3:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T02:53:48.070Z,1741834428.070 [sci2_noyo_optim:Lap:DepthByLap:Wpt4:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T02:53:48.091Z,1741834428.091 [sci2_noyo_optim:Lap:DepthByLap:Wpt5:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T02:53:48.105Z,1741834428.105 [sci2_noyo_optim:Lap:DepthByLap:Wpt6:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T02:53:48.111Z,1741834428.111 [sci2_noyo_optim:Lap:DepthByLap:Wpt7:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T02:53:48.116Z,1741834428.116 [sci2_noyo_optim:Lap:DepthByLap:Wpt8:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T02:53:48.134Z,1741834428.134 [sci2_noyo_optim:Lap:DepthByLap:Leg2:Wpt1:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T02:53:48.156Z,1741834428.156 [sci2_noyo_optim:Lap:DepthByLap:Leg2:Wpt2:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T02:53:48.162Z,1741834428.162 [sci2_noyo_optim:Lap:DepthByLap:Leg2:Wpt3:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T02:53:48.237Z,1741834428.237 [sci2_noyo_optim:Lap:DepthByLap:Leg2:Wpt4:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T02:53:48.283Z,1741834428.283 [sci2_noyo_optim:Lap:DepthByLap:Leg2:Wpt5:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T02:53:48.304Z,1741834428.304 [sci2_noyo_optim:Lap:DepthByLap:Leg2:Wpt6:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T02:53:48.319Z,1741834428.319 [sci2_noyo_optim:Lap:DepthByLap:Leg2:Wpt7:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T02:53:48.325Z,1741834428.325 [sci2_noyo_optim:Lap:DepthByLap:Leg2:Wpt8:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T02:53:48.334Z,1741834428.334 [sci2_noyo_optim:Lap:DepthByLap:Leg3:Wpt1:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T02:53:48.348Z,1741834428.348 [sci2_noyo_optim:Lap:DepthByLap:Leg3:Wpt2:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T02:53:48.354Z,1741834428.354 [sci2_noyo_optim:Lap:DepthByLap:Leg3:Wpt3:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T02:53:48.429Z,1741834428.429 [sci2_noyo_optim:Lap:DepthByLap:Leg3:Wpt4:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T02:53:48.488Z,1741834428.487 [sci2_noyo_optim:Lap:DepthByLap:Leg3:Wpt5:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T02:53:48.493Z,1741834428.493 [sci2_noyo_optim:Lap:DepthByLap:Leg3:Wpt6:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T02:53:48.498Z,1741834428.498 [sci2_noyo_optim:Lap:DepthByLap:Leg3:Wpt7:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T02:53:48.513Z,1741834428.513 [sci2_noyo_optim:Lap:DepthByLap:Leg3:Wpt8:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T02:53:48.522Z,1741834428.522 [sci2_noyo_optim:Lap:DepthByLap:Leg4:Wpt1:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T02:53:48.541Z,1741834428.541 [sci2_noyo_optim:Lap:DepthByLap:Leg4:Wpt2:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T02:53:48.560Z,1741834428.560 [sci2_noyo_optim:Lap:DepthByLap:Leg4:Wpt3:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T02:53:48.565Z,1741834428.565 [sci2_noyo_optim:Lap:DepthByLap:Leg4:Wpt4:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T02:53:48.571Z,1741834428.571 [sci2_noyo_optim:Lap:DepthByLap:Leg4:Wpt5:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T02:53:48.641Z,1741834428.641 [sci2_noyo_optim:Lap:DepthByLap:Leg4:Wpt6:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T02:53:48.663Z,1741834428.663 [sci2_noyo_optim:Lap:DepthByLap:Leg4:Wpt7:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T02:53:48.705Z,1741834428.705 [sci2_noyo_optim:Lap:DepthByLap:Leg4:Wpt8:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T02:53:48.736Z,1741834428.736 [sci2_noyo_optim:Lap:DepthByLap:Leg5:Wpt1:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T02:53:48.741Z,1741834428.741 [sci2_noyo_optim:Lap:DepthByLap:Leg5:Wpt2:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T02:53:48.755Z,1741834428.755 [sci2_noyo_optim:Lap:DepthByLap:Leg5:Wpt3:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T02:53:48.761Z,1741834428.761 [sci2_noyo_optim:Lap:DepthByLap:Leg5:Wpt4:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T02:53:48.766Z,1741834428.766 [sci2_noyo_optim:Lap:DepthByLap:Leg5:Wpt5:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T02:53:48.789Z,1741834428.789 [sci2_noyo_optim:Lap:DepthByLap:Leg5:Wpt6:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T02:53:48.802Z,1741834428.802 [sci2_noyo_optim:Lap:DepthByLap:Leg5:Wpt7:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T02:53:48.808Z,1741834428.808 [sci2_noyo_optim:Lap:DepthByLap:Leg5:Wpt8:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T02:53:48.825Z,1741834428.825 [sci2_noyo_optim:Lap:DepthByLap:Leg6:Wpt1:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T02:53:48.831Z,1741834428.831 [sci2_noyo_optim:Lap:DepthByLap:Leg6:Wpt2:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T02:53:48.854Z,1741834428.854 [sci2_noyo_optim:Lap:DepthByLap:Leg6:Wpt3:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T02:53:48.859Z,1741834428.859 [sci2_noyo_optim:Lap:DepthByLap:Leg6:Wpt4:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T02:53:48.873Z,1741834428.873 [sci2_noyo_optim:Lap:DepthByLap:Leg6:Wpt5:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T02:53:48.878Z,1741834428.878 [sci2_noyo_optim:Lap:DepthByLap:Leg6:Wpt6:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T02:53:48.896Z,1741834428.896 [sci2_noyo_optim:Lap:DepthByLap:Leg6:Wpt7:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T02:53:48.902Z,1741834428.902 [sci2_noyo_optim:Lap:DepthByLap:Leg6:Wpt8:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T02:53:48.911Z,1741834428.911 [sci2_noyo_optim:Lap:DepthByLap:Leg7:Wpt1:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T02:53:48.925Z,1741834428.925 [sci2_noyo_optim:Lap:DepthByLap:Leg7:Wpt2:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T02:53:48.931Z,1741834428.931 [sci2_noyo_optim:Lap:DepthByLap:Leg7:Wpt3:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T02:53:48.958Z,1741834428.958 [sci2_noyo_optim:Lap:DepthByLap:Leg7:Wpt4:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T02:53:48.972Z,1741834428.972 [sci2_noyo_optim:Lap:DepthByLap:Leg7:Wpt5:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T02:53:48.977Z,1741834428.977 [sci2_noyo_optim:Lap:DepthByLap:Leg7:Wpt6:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T02:53:48.983Z,1741834428.983 [sci2_noyo_optim:Lap:DepthByLap:Leg7:Wpt7:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T02:53:49.052Z,1741834429.052 [sci2_noyo_optim:Lap:DepthByLap:Leg7:Wpt8:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T02:53:49.113Z,1741834429.113 [sci2_noyo_optim:Lap:DepthByLap:Leg8:Wpt1:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T02:53:49.122Z,1741834429.122 [sci2_noyo_optim:Lap:DepthByLap:Leg8:Wpt2:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T02:53:49.144Z,1741834429.144 [sci2_noyo_optim:Lap:DepthByLap:Leg8:Wpt3:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T02:53:49.165Z,1741834429.165 [sci2_noyo_optim:Lap:DepthByLap:Leg8:Wpt4:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T02:53:49.192Z,1741834429.192 [sci2_noyo_optim:Lap:DepthByLap:Leg8:Wpt5:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T02:53:49.210Z,1741834429.210 [sci2_noyo_optim:Lap:DepthByLap:Leg8:Wpt6:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T02:53:49.216Z,1741834429.216 [sci2_noyo_optim:Lap:DepthByLap:Leg8:Wpt7:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T02:53:49.221Z,1741834429.221 [sci2_noyo_optim:Lap:DepthByLap:Leg8:Wpt8:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T02:53:49.238Z,1741834429.238 [sci2_noyo_optim:Lap:DepthByLeg:Leg1:B.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T02:53:49.264Z,1741834429.264 [sci2_noyo_optim:Lap:DepthByLeg:Leg2:Wpt2:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T02:53:49.281Z,1741834429.281 [sci2_noyo_optim:Lap:DepthByLeg:Leg3:Wpt3:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T02:53:49.290Z,1741834429.290 [sci2_noyo_optim:Lap:DepthByLeg:Leg4:Wpt4:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T02:53:49.312Z,1741834429.312 [sci2_noyo_optim:Lap:DepthByLeg:Leg5:Wpt5:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T02:53:49.330Z,1741834429.330 [sci2_noyo_optim:Lap:DepthByLeg:Leg6:Wpt6:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T02:53:49.339Z,1741834429.339 [sci2_noyo_optim:Lap:DepthByLeg:Leg7:Wpt7:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T02:53:49.361Z,1741834429.361 [sci2_noyo_optim:Lap:DepthByLeg:Leg8:Wpt8:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T02:53:49.582Z,1741834429.582 [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 sci2_noyo_optim {
  """
  Vehicle transits to the specified waypoints at the commanded depth
  (flat-and-level, no yoyos) with science, Optim camera, and multiray
  lights on.
  """

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

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

    Depth1 = 35 meter
      """
      Depth of flat and level flight during the mission for the first transit leg or lap.
      """

    Depth[2..8] = NaN meter
      """
      Depth of flat and level flight during the mission for subsequent transit legs or laps.
      Skipped if NaN.
      """

    DepthPerLeg = false
      """
      Indicates whether additional depths correspond to laps (cycle through all waypoints at
      each depth, default) or legs (use depth for transit leg ending at corresponding waypoint,
      each lap repeats all depths and waypoints).
      """

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

    Lat[1..8] = NaN degree
      """
      Latitude of waypoint {$}. If nan, waypoint is skipped.
      """

    Lon[1..8] = NaN degree
      """
      Longitude of waypoint {$}. If nan, waypoint is skipped.
      """

    FastSpeed = 1 meter_per_second
      """
      Speed while transiting to waypoint.
      """

    ApproachDepth = 30 meter
      """
      Depth for initial descent form the surface.
      """

    ApproachSpeed = 0.7 meter_per_second
      """
      Speed while descending to target depth.
      """

    ApproachDepthRate = 0.05 meter_per_second
      """
      Descent depth rate (Positive depth rate means going down).
      """

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

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

    ApproachSettleTimePreDive = 1 minute
      """
      Time duration for the vehicle to pump down the VBS *BEFORE* leaving the
      surface.
      """

    ApproachSettleTimePostDive = 3 minute
      """
      Time duration for the vehicle to settle *AFTER* reaching the target
      depth.
      """

    kpDepth = 0.07 radian_per_meter
      """
      Dive loop proportional gain (applied only while the vehicle is
      descending to target depth).
      """

    SlowSpeed = 0.25 meter_per_second
      """
      Set this to something other than Nan if slow speed filming with a
      wide depth deadband is desired.
      """

    DepthDeviationSlow = 3 meter
      """
      Allowable +/- deviation from depth during slow flight. Needs a SlowSpeed
      to be set.
      """

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

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

    MinAltitude = 2 meter
      """
      Minimum height above the sea floor for the entire mission.
      """

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

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

  output {
    DiveMode = 0 count
      """
      Mission variable (don't change). The mission sets this variable to
      switch between dive modes. Initialized to DoingComms.
      """

    DoingComms = 0 count
      """
      Mission variable (don't change). The mission will run in this to mode
      when doing surface comms.
      """

    InitialDive = 1 count
      """
      Mission variable (don't change). The mission will run in this mode after
      surface comms are done to dive the vehicle to the approach depth.
      """

    SettleAtDepth = 2 count
      """
      Mission variable (don't change). The mission will run in this mode to
      settle the vehicle at the target depth.
      """

    MaintainDepth = 3 count
      """
      Mission variable (don't change). The mission will run in this mode to
      maintain the vehicle at the target depth.
      """

    LegDepth = Depth1
      """
      Mission variable to track the current depth for the current leg.
      """
  }

  # Mission timeout

  timeout duration=MissionTimeout

  # Science!

  insert Insert/Science.tl {
    """
    Run the science sensors.
    """
  }

  # 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 = MissionTimeout

  assign in sequence NeedComms:WaitForPitchUp = 0 minute

  insert Insert/BackseatDriver.tl
  assign in parallel BackseatDriver:EnableBackseat = true

  insert Insert/PowerOnly.tl
  assign in parallel PowerOnly:SampleLoad1 = true

  assign in sequence Sensor:MultiRay.lightModeCommand = 2 count
  readData strategy="MinError" {
    while ( Sensor:MultiRay.loadAtStartup )

    Sensor:MultiRay.lightModeLog
  }

  behavior Guidance:Buoyancy {
    run in parallel

    set position = BuoyancyNeutral
  }

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

    assign in sequence DiveMode = DoingComms

    call refId="NeedComms"

    assign in sequence DiveMode = InitialDive
  }

  aggregate DiveCmd {
    """
    Called when the vehicle should be underwater. Arbitrates between 4
    dive modes: 1) descend from the surface to initial depth. 2) settle
    at target depth using the VB. 3) cruise at target depth and go slow
    while within depth deviation bounds if a slow speed is set.
    """

    run when ( called )

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

      run while ( DiveMode == InitialDive )

      aggregate dive {
        run in sequence

        assign in parallel Control:VerticalControl.pitchLimit = ApproachPitchLimit

        assign in parallel Control:VerticalControl.kpDepth = kpDepth

        behavior Guidance:Mass {
          run in parallel

          set position = MassDefault
        }

        # behavior Guidance:Buoyancy {
        #   run in parallel

        #   set position = BuoyancyNeutral
        # }

        syslog info "Waiting for "
             + ApproachSettleTimePreDive~minute + "while pumping down to neutral."

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

          run in sequence

          set duration = ApproachSettleTimePreDive
        }

        syslog "Moving to " + ApproachDepth~meter

        aggregate ApproachDepth {
          run in sequence

          behavior Guidance:SetSpeed {
            run in parallel

            set speed = ApproachSpeed
          }

          behavior Guidance:Pitch {
            run in sequence

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

              behavior Guidance:Execute {
                run in sequence

                set command = "stop"
              }
            }

            set depth = ApproachDepth
            set depthRate = ApproachDepthRate
          }
        }

        assign in sequence DiveMode = SettleAtDepth
      }
    }

    aggregate SettleAtDepth {
      """
      Take a few more moments here to make sure the vehicle is settled
      at the target depth.
      """

      run while ( DiveMode == SettleAtDepth )

      aggregate dive {
        run in sequence

        syslog info "Reached " + Universal:depth~meter + ", settling for "
             + ApproachSettleTimePostDive~minute

        behavior Guidance:Pitch {
          run in parallel

          set depth = LegDepth
        }

        behavior Guidance:Wait {
          run in sequence

          set duration = ApproachSettleTimePostDive
        }

        assign in sequence DiveMode = MaintainDepth
      }
    }

    aggregate MaintainDepth {
      """
      Cruise at the target depth.
      """

      run while (
        DiveMode == MaintainDepth
        and ( Universal:depth > ( LegDepth + DepthDeviationSlow ) )
        or ( Universal:depth < ( LegDepth - DepthDeviationSlow ) )
      )

      aggregate dive {
        run in parallel

        aggregate ThrusterDive {
          run while ( FastSpeed > 0.0 meter_per_second )

          behavior Guidance:Mass {
            run in parallel

            set position = MassDefault
          }

          # behavior Guidance:Buoyancy {
          #   run in parallel

          #   set position = BuoyancyNeutral
          # }

          behavior Guidance:SetSpeed {
            run in parallel

            set speed = FastSpeed
          }
        }

        behavior Guidance:Pitch {
          run in parallel

          set depth = LegDepth
        }
      }
    }

    aggregate MaintainDepthSlow {
      """
      Cruise slow at the target depth.
      """

      run while (
        ( not isNaN ( SlowSpeed ) )
        and ( DiveMode == MaintainDepth )
        and ( Universal:depth <= ( LegDepth + DepthDeviationSlow ) )
        and ( Universal:depth >= ( LegDepth - DepthDeviationSlow ) )
      )

      behavior Guidance:SetSpeed {
        run in parallel

        set speed = SlowSpeed
      }

      # Let's make sure the vertical control depth deadband doesn't interfere with our mission
      # level version of the deadband. And we'll add an extra 3m so we don't trigger any
      # faults inside vertical control when attempting to regain the commanded depth.
      assign in parallel Control:VerticalControl.depthDeadband = ( DepthDeviationSlow + 3 m )

      behavior Guidance:Buoyancy {
        run in parallel

        set position = NaN cc
      }

      behavior Guidance:Pitch {
        run in parallel

        set depth = LegDepth
      }
    }
  }

  # Start mission sequence

  call id="StartingMission" refId="SurfaceComms"

  aggregate Lap {
    run in sequence repeat=Repeat

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

      call refId="DiveCmd"
    }

    # Default behavior: Depths correspond to laps
    # Run through all waypoints at each depth
    aggregate DepthByLap {
      run in sequence

      break if ( DepthPerLeg )

      assign in sequence LegDepth = Depth1

      aggregate Wpt1 {
        run in sequence

        behavior Guidance:Waypoint {
          run in sequence

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

      macro $i = 2..8 {
        aggregate Wpt$i {
          run in sequence

          behavior Guidance:Waypoint {
            run in sequence

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

      macro $j = 2..8 {
        aggregate Leg$j {
          run in sequence

          break if ( isNaN ( Depth[$j] ) )

          syslog important "Transiting waypoints at depth " + Depth[$j]~meter
          assign in sequence LegDepth = Depth[$j]

          macro $i = 1..8 {
            aggregate Wpt$i {
              run in sequence

              behavior Guidance:Waypoint {
                run in sequence

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

    # Non-default behavior: depth by leg
    # Transit to waypoint at corresponding depth, repeat per lap
    # (e.g. Transit to waypoint 1 at depth 1, waypoint 2 at depth 2, and so on)
    aggregate DepthByLeg {
      run in sequence

      break if ( not DepthPerLeg )

      aggregate Leg1 {
        run in sequence

        assign in sequence LegDepth = Depth1

        behavior Guidance:Waypoint {
          run in sequence

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

      macro $i = 2..8 {
        aggregate Leg$i {
          run in sequence

          break if ( isNaN ( Depth[$i] ) )

          syslog info "Transiting to next waypoint at depth " + Depth[$i]~meter
          assign in sequence LegDepth = Depth[$i]

          aggregate Wpt$i {
            run in sequence

            behavior Guidance:Waypoint {
              run in sequence

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


2025-03-13T02:53:49.592Z,1741834429.592 [CommandExec](IMPORTANT): Loaded ./Missions/Science/sci2_noyo_optim.tl id=sci2_noyo_optim
2025-03-13T02:54:22.267Z,1741834462.267 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2025-03-13T02:54:22.271Z,1741834462.271 [Default:CheckIn:C.Wait] Stopped
2025-03-13T02:54:22.271Z,1741834462.271 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2025-03-13T02:54:22.271Z,1741834462.271 [Default:CheckIn:D] Running Loop=1
2025-03-13T02:54:22.658Z,1741834462.658 [Default:CheckIn:D] Stopped
2025-03-13T02:54:22.658Z,1741834462.658 [Default:CheckIn:E] Running Loop=1
2025-03-13T02:54:23.082Z,1741834463.082 [Default:CheckIn:E](IMPORTANT): Default mission has been running for  23.004281 min 
2025-03-13T02:54:23.082Z,1741834463.082 [Default:CheckIn:E] Stopped
2025-03-13T02:54:23.082Z,1741834463.082 [Default:CheckIn](INFO): Completed Default:CheckIn
2025-03-13T02:54:23.082Z,1741834463.082 [Default:CheckIn] Stopped
2025-03-13T02:54:23.082Z,1741834463.082 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-03-13T02:54:23.083Z,1741834463.083 [Default:CheckIn](INFO): Running loop #3
2025-03-13T02:54:23.083Z,1741834463.083 [Default:CheckIn] Running Loop=3
2025-03-13T02:54:23.083Z,1741834463.083 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-03-13T02:54:23.083Z,1741834463.083 [Default:CheckIn:Read_GPS] Running Loop=1
2025-03-13T02:54:25.062Z,1741834465.062 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,025424.00,A,3647.45665,N,12153.07380,W,1.283,91.86,130325,,,A*4B
2025-03-13T02:54:25.065Z,1741834465.065 [NAL9602](INFO): GPS fix at 20250313T025424: (36.790944, -121.884563)
2025-03-13T02:54:25.106Z,1741834465.106 [Default:CheckIn:Read_GPS] Stopped
2025-03-13T02:54:25.106Z,1741834465.106 [Default:CheckIn:Read_Iridium] Running Loop=1
2025-03-13T02:54:26.805Z,1741834466.805 [CommandExec](IMPORTANT): got command set sci2_noyo_optim.MissionTimeout 13 hour
2025-03-13T02:54:26.806Z,1741834466.806 [CommandExec](IMPORTANT): got command set sci2_noyo_optim.NeedCommsTime 90 minute
2025-03-13T02:54:26.809Z,1741834466.809 [CommandExec](IMPORTANT): got command set sci2_noyo_optim.Depth1 250 meter
2025-03-13T02:54:26.812Z,1741834466.812 [CommandExec](IMPORTANT): got command set sci2_noyo_optim.Depth2 250 meter
2025-03-13T02:54:26.813Z,1741834466.813 [CommandExec](IMPORTANT): got command set sci2_noyo_optim.Depth3 NaN meter
2025-03-13T02:54:35.748Z,1741834475.748 [DataOverHttps](INFO): Sending 71 bytes from file Logs/20250311T232940/Courier0222.lzma
2025-03-13T02:54:36.750Z,1741834476.750 [DataOverHttps](INFO): Moved sent file to Logs/20250311T232940/Courier0222.lzma.bak
2025-03-13T02:54:36.750Z,1741834476.750 [DataOverHttps](INFO): SBD MOMSN=24220688
2025-03-13T02:55:00.165Z,1741834500.165 [DataOverHttps](INFO): Sending 678 bytes from file Logs/20250311T232940/Express0223.lzma
2025-03-13T02:55:01.166Z,1741834501.166 [DataOverHttps](INFO): Moved sent file to Logs/20250311T232940/Express0223.lzma.bak
2025-03-13T02:55:01.166Z,1741834501.166 [DataOverHttps](INFO): SBD MOMSN=24220691
2025-03-13T02:55:01.429Z,1741834501.429 [CommandExec](IMPORTANT): got command set sci2_noyo_optim.Repeat 12 count
2025-03-13T02:55:01.429Z,1741834501.429 [CommandExec](IMPORTANT): got command set sci2_noyo_optim.Lat1 36.79279 degree
2025-03-13T02:55:01.430Z,1741834501.430 [CommandExec](IMPORTANT): got command set sci2_noyo_optim.Lon1 -121.88919 degree
2025-03-13T02:55:01.431Z,1741834501.431 [CommandExec](IMPORTANT): got command set sci2_noyo_optim.Lat2 36.78427 degree
2025-03-13T02:55:01.432Z,1741834501.432 [CommandExec](IMPORTANT): got command set sci2_noyo_optim.Lon2 -121.91339 degree
2025-03-13T02:55:02.587Z,1741834502.587 [Default:CheckIn:Read_Iridium] Stopped
2025-03-13T02:55:02.587Z,1741834502.587 [Default:CheckIn:C.Wait] Running Loop=1
2025-03-13T02:55:02.587Z,1741834502.587 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2025-03-13T02:55:35.815Z,1741834535.815 [CommandExec](IMPORTANT): got command set sci2_noyo_optim.ApproachDepth 10 meter
2025-03-13T02:55:35.816Z,1741834535.816 [CommandExec](IMPORTANT): got command set sci2_noyo_optim.ApproachSpeed 1.0 meter_per_second
2025-03-13T02:55:35.817Z,1741834535.817 [CommandExec](IMPORTANT): got command set sci2_noyo_optim.SlowSpeed 0.4 meter_per_second
2025-03-13T02:55:35.817Z,1741834535.817 [CommandExec](IMPORTANT): got command set sci2_noyo_optim.MinAltitude 10 meter
2025-03-13T02:55:35.818Z,1741834535.818 [CommandExec](IMPORTANT): got command set sci2_noyo_optim.MaxDepth 270 meter
2025-03-13T02:55:51.067Z,1741834551.067 [CommandExec](IMPORTANT): got command set sci2_noyo_optim:PowerOnly.SampleLoad1 1 bool
2025-03-13T02:55:51.081Z,1741834551.081 [CommandExec](IMPORTANT): got command run
2025-03-13T02:55:51.084Z,1741834551.084 [CommandExec](IMPORTANT): Running 
2025-03-13T02:55:51.329Z,1741834551.329 [Default] Stopped
2025-03-13T02:55:51.330Z,1741834551.330 [Default](DEBUG): Aggregate::uninitialize Default
2025-03-13T02:55:51.330Z,1741834551.330 [Default:B.GoToSurface] Stopped
2025-03-13T02:55:51.330Z,1741834551.330 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-03-13T02:55:51.330Z,1741834551.330 [Default:CheckIn] Stopped
2025-03-13T02:55:51.330Z,1741834551.330 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-03-13T02:55:51.330Z,1741834551.330 [Default:CheckIn:C.Wait] Stopped
2025-03-13T02:55:51.330Z,1741834551.330 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2025-03-13T02:55:51.330Z,1741834551.330 [MissionManager](IMPORTANT): Started mission sci2_noyo_optim
2025-03-13T02:55:51.330Z,1741834551.330 [sci2_noyo_optim] Running Loop=1
2025-03-13T02:55:51.331Z,1741834551.331 [sci2_noyo_optim](DEBUG): Aggregate::initialize sci2_noyo_optim
2025-03-13T02:55:51.331Z,1741834551.331 [sci2_noyo_optim:Science] Running Loop=1
2025-03-13T02:55:51.331Z,1741834551.331 [sci2_noyo_optim:Science](DEBUG): Aggregate::initialize sci2_noyo_optim:Science
2025-03-13T02:55:51.331Z,1741834551.331 [sci2_noyo_optim:Science:A] Running Loop=1
2025-03-13T02:55:51.331Z,1741834551.331 [sci2_noyo_optim:Science:B] Running Loop=1
2025-03-13T02:55:51.331Z,1741834551.331 [sci2_noyo_optim:Science:C] Running Loop=1
2025-03-13T02:55:51.331Z,1741834551.331 [sci2_noyo_optim:Science:D] Running Loop=1
2025-03-13T02:55:51.331Z,1741834551.331 [sci2_noyo_optim:Science:E] Running Loop=1
2025-03-13T02:55:51.331Z,1741834551.331 [sci2_noyo_optim:Science:F] Running Loop=1
2025-03-13T02:55:51.331Z,1741834551.331 [sci2_noyo_optim:Science:Read_Oil] Running Loop=1
2025-03-13T02:55:51.332Z,1741834551.332 [sci2_noyo_optim:Science:PeakDetectChl] Running Loop=1
2025-03-13T02:55:51.332Z,1741834551.332 [sci2_noyo_optim:Science:PeakDetectChl](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:PeakDetectChl
2025-03-13T02:55:51.332Z,1741834551.332 [sci2_noyo_optim:Science:PeakDetectChl:A] Running Loop=1
2025-03-13T02:55:51.332Z,1741834551.332 [sci2_noyo_optim:Science:EdgeDetectChl] Running Loop=1
2025-03-13T02:55:51.332Z,1741834551.332 [sci2_noyo_optim:Science:EdgeDetectChl](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:EdgeDetectChl
2025-03-13T02:55:51.332Z,1741834551.332 [sci2_noyo_optim:Science:EdgeDetectChl:A] Running Loop=1
2025-03-13T02:55:51.332Z,1741834551.332 [sci2_noyo_optim:Science:HighestChlPeakReport] Running Loop=1
2025-03-13T02:55:51.332Z,1741834551.332 [sci2_noyo_optim:Science:HighestChlPeakReport](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:HighestChlPeakReport
2025-03-13T02:55:51.332Z,1741834551.332 [sci2_noyo_optim:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-03-13T02:55:51.333Z,1741834551.333 [sci2_noyo_optim:Science:HighestChlPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-03-13T02:55:51.333Z,1741834551.333 [sci2_noyo_optim:Science:PeakDetectNO3] Running Loop=1
2025-03-13T02:55:51.333Z,1741834551.333 [sci2_noyo_optim:Science:PeakDetectNO3](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:PeakDetectNO3
2025-03-13T02:55:51.333Z,1741834551.333 [sci2_noyo_optim:Science:PeakDetectNO3:A] Running Loop=1
2025-03-13T02:55:51.333Z,1741834551.333 [sci2_noyo_optim:Science:PeakDetectOil] Running Loop=1
2025-03-13T02:55:51.333Z,1741834551.333 [sci2_noyo_optim:Science:PeakDetectOil](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:PeakDetectOil
2025-03-13T02:55:51.334Z,1741834551.334 [sci2_noyo_optim:Science:PeakDetectOil:A] Running Loop=1
2025-03-13T02:55:51.334Z,1741834551.334 [sci2_noyo_optim:Science:HighestOilPeakReport] Running Loop=1
2025-03-13T02:55:51.334Z,1741834551.334 [sci2_noyo_optim:Science:HighestOilPeakReport](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:HighestOilPeakReport
2025-03-13T02:55:51.334Z,1741834551.334 [sci2_noyo_optim:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-03-13T02:55:51.334Z,1741834551.334 [sci2_noyo_optim:Science:HighestOilPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-03-13T02:55:51.334Z,1741834551.334 [sci2_noyo_optim:Science:PeakDetectFDOM] Running Loop=1
2025-03-13T02:55:51.334Z,1741834551.334 [sci2_noyo_optim:Science:PeakDetectFDOM](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:PeakDetectFDOM
2025-03-13T02:55:51.335Z,1741834551.335 [sci2_noyo_optim:Science:PeakDetectFDOM:A] Running Loop=1
2025-03-13T02:55:51.335Z,1741834551.335 [sci2_noyo_optim:Science:PeakDetectSalinity] Running Loop=1
2025-03-13T02:55:51.335Z,1741834551.335 [sci2_noyo_optim:Science:PeakDetectSalinity](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:PeakDetectSalinity
2025-03-13T02:55:51.335Z,1741834551.335 [sci2_noyo_optim:Science:PeakDetectSalinity:A] Running Loop=1
2025-03-13T02:55:51.367Z,1741834551.367 [sci2_noyo_optim:Science:HighestSaltPeakReport] Running Loop=1
2025-03-13T02:55:51.367Z,1741834551.367 [sci2_noyo_optim:Science:HighestSaltPeakReport](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:HighestSaltPeakReport
2025-03-13T02:55:51.367Z,1741834551.367 [sci2_noyo_optim:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-03-13T02:55:51.368Z,1741834551.368 [sci2_noyo_optim:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-03-13T02:55:51.368Z,1741834551.368 [sci2_noyo_optim:Science:PeakDetectPlanktivoreLMavgROI] Running Loop=1
2025-03-13T02:55:51.368Z,1741834551.368 [sci2_noyo_optim:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:PeakDetectPlanktivoreLMavgROI
2025-03-13T02:55:51.368Z,1741834551.368 [sci2_noyo_optim:Science:PeakDetectPlanktivoreLMavgROI:A] Running Loop=1
2025-03-13T02:55:51.368Z,1741834551.368 [sci2_noyo_optim:Science:EdgeDetectPlanktivoreLMavgROI] Running Loop=1
2025-03-13T02:55:51.368Z,1741834551.368 [sci2_noyo_optim:Science:EdgeDetectPlanktivoreLMavgROI](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:EdgeDetectPlanktivoreLMavgROI
2025-03-13T02:55:51.369Z,1741834551.369 [sci2_noyo_optim:Science:EdgeDetectPlanktivoreLMavgROI:A] Running Loop=1
2025-03-13T02:55:51.369Z,1741834551.369 [sci2_noyo_optim:Science:PeakDetectPlanktivoreHMavgROI] Running Loop=1
2025-03-13T02:55:51.369Z,1741834551.369 [sci2_noyo_optim:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:PeakDetectPlanktivoreHMavgROI
2025-03-13T02:55:51.369Z,1741834551.369 [sci2_noyo_optim:Science:PeakDetectPlanktivoreHMavgROI:A] Running Loop=1
2025-03-13T02:55:51.369Z,1741834551.369 [sci2_noyo_optim:Science:PeakDetectPlanktivoreDiatoms] Running Loop=1
2025-03-13T02:55:51.369Z,1741834551.369 [sci2_noyo_optim:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:PeakDetectPlanktivoreDiatoms
2025-03-13T02:55:51.370Z,1741834551.370 [sci2_noyo_optim:Science:PeakDetectPlanktivoreDiatoms:A] Running Loop=1
2025-03-13T02:55:51.370Z,1741834551.370 [sci2_noyo_optim:Science:PeakDetectPlanktivoreDinoflagellates] Running Loop=1
2025-03-13T02:55:51.370Z,1741834551.370 [sci2_noyo_optim:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:PeakDetectPlanktivoreDinoflagellates
2025-03-13T02:55:51.370Z,1741834551.370 [sci2_noyo_optim:Science:PeakDetectPlanktivoreDinoflagellates:A] Running Loop=1
2025-03-13T02:55:51.370Z,1741834551.370 [sci2_noyo_optim:Science:ChlThreshTrigger] Running Loop=1
2025-03-13T02:55:51.370Z,1741834551.370 [sci2_noyo_optim:Science:ChlThreshTrigger](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:ChlThreshTrigger
2025-03-13T02:55:51.370Z,1741834551.370 [sci2_noyo_optim:Science:ChlThreshTrigger:A.ValueDetect] Running Loop=1
2025-03-13T02:55:51.370Z,1741834551.370 [sci2_noyo_optim:Science:ChlThreshTrigger:A.ValueDetect](INFO): Initialize.
2025-03-13T02:55:51.371Z,1741834551.371 [sci2_noyo_optim:Science:OceanCurrent] Running Loop=1
2025-03-13T02:55:51.371Z,1741834551.371 [sci2_noyo_optim:Science:OceanCurrent](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:OceanCurrent
2025-03-13T02:55:51.371Z,1741834551.371 [sci2_noyo_optim:Science:OceanCurrent:A.] Running Loop=1
2025-03-13T02:55:51.371Z,1741834551.371 [sci2_noyo_optim:Science:OceanCurrent:A.](INFO): Initializing CurrentEstimator.
2025-03-13T02:55:51.375Z,1741834551.375 [sci2_noyo_optim:StandardEnvelopes] Running Loop=1
2025-03-13T02:55:51.375Z,1741834551.375 [sci2_noyo_optim:StandardEnvelopes](DEBUG): Aggregate::initialize sci2_noyo_optim:StandardEnvelopes
2025-03-13T02:55:51.375Z,1741834551.375 [sci2_noyo_optim:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-03-13T02:55:51.376Z,1741834551.376 [sci2_noyo_optim:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-03-13T02:55:51.376Z,1741834551.376 [sci2_noyo_optim:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-03-13T02:55:51.376Z,1741834551.376 [sci2_noyo_optim:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-03-13T02:55:51.376Z,1741834551.376 [sci2_noyo_optim:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-03-13T02:55:51.376Z,1741834551.376 [sci2_noyo_optim:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-03-13T02:55:51.376Z,1741834551.376 [sci2_noyo_optim:BackseatDriver] Running Loop=1
2025-03-13T02:55:51.376Z,1741834551.376 [sci2_noyo_optim:BackseatDriver](DEBUG): Aggregate::initialize sci2_noyo_optim:BackseatDriver
2025-03-13T02:55:51.376Z,1741834551.376 [sci2_noyo_optim:BackseatDriver:A.BackseatDriver] Running Loop=1
2025-03-13T02:55:51.376Z,1741834551.376 [sci2_noyo_optim:J] Running Loop=1
2025-03-13T02:55:51.377Z,1741834551.377 [sci2_noyo_optim:PowerOnly] Running Loop=1
2025-03-13T02:55:51.377Z,1741834551.377 [sci2_noyo_optim:PowerOnly](DEBUG): Aggregate::initialize sci2_noyo_optim:PowerOnly
2025-03-13T02:55:51.377Z,1741834551.377 [sci2_noyo_optim:PowerOnly:A] Running Loop=1
2025-03-13T02:55:51.377Z,1741834551.377 [sci2_noyo_optim:PowerOnly:B] Running Loop=1
2025-03-13T02:55:51.377Z,1741834551.377 [sci2_noyo_optim:PowerOnly:C] Running Loop=1
2025-03-13T02:55:51.377Z,1741834551.377 [sci2_noyo_optim:PowerOnly:D] Running Loop=1
2025-03-13T02:55:51.377Z,1741834551.377 [sci2_noyo_optim:PowerOnly:E.Wait] Running Loop=1
2025-03-13T02:55:51.377Z,1741834551.377 [sci2_noyo_optim:PowerOnly:E.Wait](DEBUG): Initialize Wait Component.
2025-03-13T02:55:51.377Z,1741834551.377 [sci2_noyo_optim:L] Running Loop=1
2025-03-13T02:55:51.377Z,1741834551.377 [sci2_noyo_optim:N] Running Loop=1
2025-03-13T02:55:51.377Z,1741834551.377 [sci2_noyo_optim:O.Buoyancy] Running Loop=1
2025-03-13T02:55:51.377Z,1741834551.377 [sci2_noyo_optim:O.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-03-13T02:55:51.378Z,1741834551.378 [sci2_noyo_optim:C] Running Loop=1
2025-03-13T02:55:51.379Z,1741834551.379 [sci2_noyo_optim:O.Buoyancy] Running Loop=1
2025-03-13T02:55:51.391Z,1741834551.391 [sci2_noyo_optim:N] Running Loop=1
2025-03-13T02:55:51.392Z,1741834551.392 [sci2_noyo_optim:N](DEBUG): Initialize ReadDataComponent to sense MultiRay.lightModeLog
2025-03-13T02:55:51.392Z,1741834551.392 [sci2_noyo_optim:L] Running Loop=1
2025-03-13T02:55:51.392Z,1741834551.392 [sci2_noyo_optim:PowerOnly] Running Loop=1
2025-03-13T02:55:51.393Z,1741834551.393 [sci2_noyo_optim:PowerOnly:D] Stopped
2025-03-13T02:55:51.393Z,1741834551.393 [sci2_noyo_optim:PowerOnly:C] Stopped
2025-03-13T02:55:51.393Z,1741834551.393 [sci2_noyo_optim:PowerOnly:B] Running Loop=1
2025-03-13T02:55:51.393Z,1741834551.393 [sci2_noyo_optim:PowerOnly:B](DEBUG): Initialize ReadDataComponent to sense PowerOnly.sampleLoad1
2025-03-13T02:55:51.393Z,1741834551.393 [sci2_noyo_optim:PowerOnly:A] Stopped
2025-03-13T02:55:51.393Z,1741834551.393 [sci2_noyo_optim:J] Running Loop=1
2025-03-13T02:55:51.394Z,1741834551.394 [sci2_noyo_optim:BackseatDriver] Running Loop=1
2025-03-13T02:55:51.394Z,1741834551.394 [sci2_noyo_optim:BackseatDriver:A.BackseatDriver](INFO): Initializing backseat
2025-03-13T02:55:51.474Z,1741834551.474 [sci2_noyo_optim:C] Stopped
2025-03-13T02:55:51.474Z,1741834551.474 [sci2_noyo_optim:D] Running Loop=1
2025-03-13T02:55:51.474Z,1741834551.474 [sci2_noyo_optim:StandardEnvelopes] Running Loop=1
2025-03-13T02:55:51.474Z,1741834551.474 [sci2_noyo_optim:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-03-13T02:55:51.474Z,1741834551.474 [sci2_noyo_optim:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-03-13T02:55:51.474Z,1741834551.474 [sci2_noyo_optim:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-03-13T02:55:51.475Z,1741834551.475 [sci2_noyo_optim:Science] Running Loop=1
2025-03-13T02:55:51.488Z,1741834551.488 [sci2_noyo_optim:Science:ChlThreshTrigger] Stopped
2025-03-13T02:55:51.489Z,1741834551.489 [sci2_noyo_optim:Science:ChlThreshTrigger](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:ChlThreshTrigger
2025-03-13T02:55:51.489Z,1741834551.489 [sci2_noyo_optim:Science:ChlThreshTrigger:A.ValueDetect] Stopped
2025-03-13T02:55:51.489Z,1741834551.489 [sci2_noyo_optim:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Uninitialize.
2025-03-13T02:55:51.489Z,1741834551.489 [sci2_noyo_optim:Science:PeakDetectPlanktivoreDinoflagellates] Stopped
2025-03-13T02:55:51.489Z,1741834551.489 [sci2_noyo_optim:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:PeakDetectPlanktivoreDinoflagellates
2025-03-13T02:55:51.489Z,1741834551.489 [sci2_noyo_optim:Science:PeakDetectPlanktivoreDinoflagellates:A] Stopped
2025-03-13T02:55:51.489Z,1741834551.489 [sci2_noyo_optim:Science:PeakDetectPlanktivoreDiatoms] Stopped
2025-03-13T02:55:51.489Z,1741834551.489 [sci2_noyo_optim:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:PeakDetectPlanktivoreDiatoms
2025-03-13T02:55:51.489Z,1741834551.489 [sci2_noyo_optim:Science:PeakDetectPlanktivoreDiatoms:A] Stopped
2025-03-13T02:55:51.489Z,1741834551.489 [sci2_noyo_optim:Science:PeakDetectPlanktivoreHMavgROI] Stopped
2025-03-13T02:55:51.489Z,1741834551.489 [sci2_noyo_optim:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:PeakDetectPlanktivoreHMavgROI
2025-03-13T02:55:51.489Z,1741834551.489 [sci2_noyo_optim:Science:PeakDetectPlanktivoreHMavgROI:A] Stopped
2025-03-13T02:55:51.489Z,1741834551.490 [sci2_noyo_optim:Science:EdgeDetectPlanktivoreLMavgROI] Stopped
2025-03-13T02:55:51.490Z,1741834551.490 [sci2_noyo_optim:Science:EdgeDetectPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:EdgeDetectPlanktivoreLMavgROI
2025-03-13T02:55:51.490Z,1741834551.490 [sci2_noyo_optim:Science:EdgeDetectPlanktivoreLMavgROI:A] Stopped
2025-03-13T02:55:51.490Z,1741834551.490 [sci2_noyo_optim:Science:PeakDetectPlanktivoreLMavgROI] Stopped
2025-03-13T02:55:51.490Z,1741834551.490 [sci2_noyo_optim:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:PeakDetectPlanktivoreLMavgROI
2025-03-13T02:55:51.490Z,1741834551.490 [sci2_noyo_optim:Science:PeakDetectPlanktivoreLMavgROI:A] Stopped
2025-03-13T02:55:51.490Z,1741834551.490 [sci2_noyo_optim:Science:HighestSaltPeakReport] Stopped
2025-03-13T02:55:51.490Z,1741834551.490 [sci2_noyo_optim:Science:HighestSaltPeakReport](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:HighestSaltPeakReport
2025-03-13T02:55:51.490Z,1741834551.490 [sci2_noyo_optim:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Stopped
2025-03-13T02:55:51.490Z,1741834551.490 [sci2_noyo_optim:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-03-13T02:55:51.490Z,1741834551.490 [sci2_noyo_optim:Science:PeakDetectSalinity] Stopped
2025-03-13T02:55:51.490Z,1741834551.490 [sci2_noyo_optim:Science:PeakDetectSalinity](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:PeakDetectSalinity
2025-03-13T02:55:51.490Z,1741834551.490 [sci2_noyo_optim:Science:PeakDetectSalinity:A] Stopped
2025-03-13T02:55:51.491Z,1741834551.491 [sci2_noyo_optim:Science:PeakDetectFDOM] Stopped
2025-03-13T02:55:51.491Z,1741834551.491 [sci2_noyo_optim:Science:PeakDetectFDOM](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:PeakDetectFDOM
2025-03-13T02:55:51.491Z,1741834551.491 [sci2_noyo_optim:Science:PeakDetectFDOM:A] Stopped
2025-03-13T02:55:51.491Z,1741834551.491 [sci2_noyo_optim:Science:HighestOilPeakReport] Stopped
2025-03-13T02:55:51.491Z,1741834551.491 [sci2_noyo_optim:Science:HighestOilPeakReport](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:HighestOilPeakReport
2025-03-13T02:55:51.495Z,1741834551.495 [sci2_noyo_optim:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Stopped
2025-03-13T02:55:51.495Z,1741834551.495 [sci2_noyo_optim:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-03-13T02:55:51.495Z,1741834551.495 [sci2_noyo_optim:Science:PeakDetectOil] Stopped
2025-03-13T02:55:51.495Z,1741834551.495 [sci2_noyo_optim:Science:PeakDetectOil](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:PeakDetectOil
2025-03-13T02:55:51.496Z,1741834551.496 [sci2_noyo_optim:Science:PeakDetectOil:A] Stopped
2025-03-13T02:55:51.496Z,1741834551.496 [sci2_noyo_optim:Science:PeakDetectNO3] Stopped
2025-03-13T02:55:51.496Z,1741834551.496 [sci2_noyo_optim:Science:PeakDetectNO3](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:PeakDetectNO3
2025-03-13T02:55:51.496Z,1741834551.496 [sci2_noyo_optim:Science:PeakDetectNO3:A] Stopped
2025-03-13T02:55:51.496Z,1741834551.496 [sci2_noyo_optim:Science:HighestChlPeakReport] Stopped
2025-03-13T02:55:51.496Z,1741834551.496 [sci2_noyo_optim:Science:HighestChlPeakReport](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:HighestChlPeakReport
2025-03-13T02:55:51.496Z,1741834551.496 [sci2_noyo_optim:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Stopped
2025-03-13T02:55:51.496Z,1741834551.496 [sci2_noyo_optim:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-03-13T02:55:51.496Z,1741834551.496 [sci2_noyo_optim:Science:EdgeDetectChl] Stopped
2025-03-13T02:55:51.496Z,1741834551.496 [sci2_noyo_optim:Science:EdgeDetectChl](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:EdgeDetectChl
2025-03-13T02:55:51.496Z,1741834551.496 [sci2_noyo_optim:Science:EdgeDetectChl:A] Stopped
2025-03-13T02:55:51.496Z,1741834551.496 [sci2_noyo_optim:Science:PeakDetectChl] Stopped
2025-03-13T02:55:51.497Z,1741834551.497 [sci2_noyo_optim:Science:PeakDetectChl](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:PeakDetectChl
2025-03-13T02:55:51.497Z,1741834551.497 [sci2_noyo_optim:Science:PeakDetectChl:A] Stopped
2025-03-13T02:55:51.497Z,1741834551.497 [sci2_noyo_optim:Science:OceanCurrent:A.] Running Loop=1
2025-03-13T02:55:51.497Z,1741834551.497 [sci2_noyo_optim:Science:Read_Oil] Stopped
2025-03-13T02:55:51.497Z,1741834551.497 [sci2_noyo_optim:Science:F] Stopped
2025-03-13T02:55:51.497Z,1741834551.497 [sci2_noyo_optim:Science:E] Running Loop=1
2025-03-13T02:55:51.497Z,1741834551.497 [sci2_noyo_optim:Science:E](DEBUG): Initialize ReadDataComponent to sense mass_concentration_of_chlorophyll_in_sea_water
2025-03-13T02:55:51.498Z,1741834551.498 [sci2_noyo_optim:Science:D] Stopped
2025-03-13T02:55:51.498Z,1741834551.498 [sci2_noyo_optim:Science:C] Running Loop=1
2025-03-13T02:55:51.498Z,1741834551.498 [sci2_noyo_optim:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_temperature
2025-03-13T02:55:51.498Z,1741834551.498 [sci2_noyo_optim:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_salinity
2025-03-13T02:55:51.499Z,1741834551.499 [sci2_noyo_optim:Science:B] Running Loop=1
2025-03-13T02:55:51.500Z,1741834551.500 [sci2_noyo_optim:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_temperature
2025-03-13T02:55:51.500Z,1741834551.500 [sci2_noyo_optim:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_salinity
2025-03-13T02:55:51.501Z,1741834551.501 [sci2_noyo_optim:Science:A] Stopped
2025-03-13T02:55:51.511Z,1741834551.511 [BackseatComponent](INFO): Powering up
2025-03-13T02:55:51.512Z,1741834551.512 [BackseatComponent](INFO): Subscribing to LCM channels.
2025-03-13T02:55:51.544Z,1741834551.544 [WetLabsBB2FL](INFO): Powering up
2025-03-13T02:55:51.766Z,1741834551.766 [PowerOnly](INFO): Powering up loadControl
2025-03-13T02:55:51.827Z,1741834551.827 [sci2_noyo_optim:D] Stopped
2025-03-13T02:55:51.832Z,1741834551.832 [sci2_noyo_optim:E] Running Loop=1
2025-03-13T02:55:52.184Z,1741834552.184 [sci2_noyo_optim:E] Stopped
2025-03-13T02:55:52.184Z,1741834552.184 [sci2_noyo_optim:G] Running Loop=1
2025-03-13T02:55:52.556Z,1741834552.556 [sci2_noyo_optim:G] Stopped
2025-03-13T02:55:52.556Z,1741834552.556 [sci2_noyo_optim:H] Running Loop=1
2025-03-13T02:55:52.955Z,1741834552.955 [sci2_noyo_optim:H] Stopped
2025-03-13T02:55:52.956Z,1741834552.956 [sci2_noyo_optim:M] Running Loop=1
2025-03-13T02:55:53.442Z,1741834553.442 [sci2_noyo_optim:M] Stopped
2025-03-13T02:55:53.442Z,1741834553.442 [sci2_noyo_optim:StartingMission] Running Loop=1
2025-03-13T02:55:53.442Z,1741834553.442 [sci2_noyo_optim:StartingMission](DEBUG): Aggregate::initialize sci2_noyo_optim:StartingMission
2025-03-13T02:55:53.749Z,1741834553.749 [sci2_noyo_optim:SurfaceComms] Running Loop=1
2025-03-13T02:55:53.749Z,1741834553.749 [sci2_noyo_optim:SurfaceComms](DEBUG): Aggregate::initialize sci2_noyo_optim:SurfaceComms
2025-03-13T02:55:53.750Z,1741834553.750 [sci2_noyo_optim:SurfaceComms:A] Running Loop=1
2025-03-13T02:55:53.750Z,1741834553.750 [sci2_noyo_optim:SurfaceComms:A] Stopped
2025-03-13T02:55:53.750Z,1741834553.750 [sci2_noyo_optim:SurfaceComms:B] Running Loop=1
2025-03-13T02:55:53.750Z,1741834553.750 [sci2_noyo_optim:SurfaceComms:B](DEBUG): Aggregate::initialize sci2_noyo_optim:SurfaceComms:B
2025-03-13T02:55:53.833Z,1741834553.833 [CTD_Seabird](ERROR): Pressure reading out of range: -10.100000 decibar
2025-03-13T02:55:53.835Z,1741834553.835 [CTD_Seabird](INFO): some bad data, not updating bins
2025-03-13T02:55:54.211Z,1741834554.211 [sci2_noyo_optim:NeedComms] Running Loop=1
2025-03-13T02:55:54.211Z,1741834554.211 [sci2_noyo_optim:NeedComms](DEBUG): Aggregate::initialize sci2_noyo_optim:NeedComms
2025-03-13T02:55:54.212Z,1741834554.212 [sci2_noyo_optim:NeedComms:B.GoToSurface] Running Loop=1
2025-03-13T02:55:54.212Z,1741834554.212 [sci2_noyo_optim:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-03-13T02:55:54.212Z,1741834554.212 [sci2_noyo_optim:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-03-13T02:55:54.212Z,1741834554.212 [sci2_noyo_optim:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-03-13T02:55:54.213Z,1741834554.213 [sci2_noyo_optim:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-03-13T02:55:54.213Z,1741834554.213 [sci2_noyo_optim:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-03-13T02:55:54.213Z,1741834554.213 [sci2_noyo_optim:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-03-13T02:55:54.214Z,1741834554.214 [sci2_noyo_optim:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-03-13T02:55:54.214Z,1741834554.214 [sci2_noyo_optim:NeedComms:A] Running Loop=1
2025-03-13T02:55:54.215Z,1741834554.215 [sci2_noyo_optim:NeedComms:A](INFO): last time_fix was:  1741834464.000000 second since 1970/01/01T00:00:00Z 
2025-03-13T02:55:54.216Z,1741834554.216 [sci2_noyo_optim:NeedComms:A] Stopped
2025-03-13T02:55:54.608Z,1741834554.608 [sci2_noyo_optim:NeedComms:C] Running Loop=1
2025-03-13T02:55:54.992Z,1741834554.992 [sci2_noyo_optim:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-03-13T02:55:55.754Z,1741834555.754 [MultiRay](IMPORTANT): MultiRay white lights ON
2025-03-13T02:56:49.700Z,1741834609.700 [BackseatComponent](IMPORTANT): ikshana: running backseat application.
2025-03-13T02:58:05.442Z,1741834685.442 [NAL9602](INFO): SBD MO Status=2, MOMSN=18530, MT Status=2, MTMSN=0
2025-03-13T02:58:05.442Z,1741834685.442 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-03-13T02:58:47.451Z,1741834727.451 [BPC1](INFO): Calculating totals. Valid battery stick count: 49. Valid reserve battery stick count: 5.
2025-03-13T02:58:47.454Z,1741834727.454 [BPC1](FAULT): Failed to receive data from 3 sticks prior to timeout. Will not retry this scan cycle. Missing stick IDs are: 19, 21, 24.
2025-03-13T02:59:27.445Z,1741834767.445 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2025-03-13T02:59:31.920Z,1741834771.920 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,025931.00,A,3647.45677,N,12153.01445,W,0.855,52.60,130325,,,A*4E
2025-03-13T02:59:31.922Z,1741834771.922 [NAL9602](INFO): GPS fix at 20250313T025931: (36.790946, -121.883574)
2025-03-13T02:59:31.935Z,1741834771.935 [sci2_noyo_optim:NeedComms:C] Stopped
2025-03-13T02:59:31.936Z,1741834771.936 [sci2_noyo_optim:NeedComms:D] Running Loop=1
2025-03-13T02:59:32.344Z,1741834772.344 [sci2_noyo_optim:NeedComms:D](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-03-13T02:59:39.587Z,1741834779.587 [DataOverHttps](INFO): Sending 82 bytes from file Logs/20250311T232940/Courier0225.lzma
2025-03-13T02:59:40.589Z,1741834780.589 [DataOverHttps](INFO): Moved sent file to Logs/20250311T232940/Courier0225.lzma.bak
2025-03-13T02:59:40.590Z,1741834780.590 [DataOverHttps](INFO): SBD MOMSN=24220718
2025-03-13T03:00:00.765Z,1741834800.765 [DataOverHttps](INFO): Sending 689 bytes from file Logs/20250311T232940/Express0228.lzma
2025-03-13T03:00:01.765Z,1741834801.765 [DataOverHttps](INFO): Moved sent file to Logs/20250311T232940/Express0228.lzma.bak
2025-03-13T03:00:01.766Z,1741834801.766 [DataOverHttps](INFO): SBD MOMSN=24220721
2025-03-13T03:00:03.079Z,1741834803.079 [sci2_noyo_optim:NeedComms:D] Stopped
2025-03-13T03:00:03.080Z,1741834803.080 [sci2_noyo_optim:NeedComms:E] Running Loop=1
2025-03-13T03:00:03.492Z,1741834803.492 [sci2_noyo_optim:NeedComms:E](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-03-13T03:00:05.078Z,1741834805.078 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,030004.00,A,3647.45675,N,12153.00962,W,0.622,54.81,130325,,,A*49
2025-03-13T03:00:05.089Z,1741834805.089 [NAL9602](INFO): GPS fix at 20250313T030004: (36.790946, -121.883494)
2025-03-13T03:00:05.107Z,1741834805.107 [sci2_noyo_optim:NeedComms:E] Stopped
2025-03-13T03:00:05.109Z,1741834805.109 [sci2_noyo_optim:NeedComms](INFO): Completed sci2_noyo_optim:NeedComms
2025-03-13T03:00:05.109Z,1741834805.109 [sci2_noyo_optim:NeedComms] Stopped
2025-03-13T03:00:05.109Z,1741834805.109 [sci2_noyo_optim:NeedComms](DEBUG): Aggregate::uninitialize sci2_noyo_optim:NeedComms
2025-03-13T03:00:05.109Z,1741834805.109 [sci2_noyo_optim:NeedComms:B.GoToSurface] Stopped
2025-03-13T03:00:05.109Z,1741834805.109 [sci2_noyo_optim:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-03-13T03:00:05.524Z,1741834805.524 [sci2_noyo_optim:SurfaceComms:B](INFO): Completed sci2_noyo_optim:SurfaceComms:B
2025-03-13T03:00:05.524Z,1741834805.524 [sci2_noyo_optim:SurfaceComms:B] Stopped
2025-03-13T03:00:05.524Z,1741834805.524 [sci2_noyo_optim:SurfaceComms:B](DEBUG): Aggregate::uninitialize sci2_noyo_optim:SurfaceComms:B
2025-03-13T03:00:05.525Z,1741834805.525 [sci2_noyo_optim:SurfaceComms:C] Running Loop=1
2025-03-13T03:00:05.927Z,1741834805.927 [sci2_noyo_optim:SurfaceComms:C] Stopped
2025-03-13T03:00:05.928Z,1741834805.928 [sci2_noyo_optim:SurfaceComms](INFO): Completed sci2_noyo_optim:SurfaceComms
2025-03-13T03:00:05.928Z,1741834805.928 [sci2_noyo_optim:SurfaceComms] Stopped
2025-03-13T03:00:05.928Z,1741834805.928 [sci2_noyo_optim:SurfaceComms](DEBUG): Aggregate::uninitialize sci2_noyo_optim:SurfaceComms
2025-03-13T03:00:06.312Z,1741834806.312 [sci2_noyo_optim:StartingMission](INFO): Completed sci2_noyo_optim:StartingMission
2025-03-13T03:00:06.312Z,1741834806.312 [sci2_noyo_optim:StartingMission] Stopped
2025-03-13T03:00:06.312Z,1741834806.312 [sci2_noyo_optim:StartingMission](DEBUG): Aggregate::uninitialize sci2_noyo_optim:StartingMission
2025-03-13T03:00:06.313Z,1741834806.313 [sci2_noyo_optim:Lap] Running Loop=1
2025-03-13T03:00:06.313Z,1741834806.313 [sci2_noyo_optim:Lap](DEBUG): Aggregate::initialize sci2_noyo_optim:Lap
2025-03-13T03:00:06.313Z,1741834806.313 [sci2_noyo_optim:Lap:Dive] Running Loop=1
2025-03-13T03:00:06.313Z,1741834806.313 [sci2_noyo_optim:Lap:Dive](DEBUG): Aggregate::initialize sci2_noyo_optim:Lap:Dive
2025-03-13T03:00:06.313Z,1741834806.313 [sci2_noyo_optim:Lap:Dive:A] Running Loop=1
2025-03-13T03:00:06.313Z,1741834806.313 [sci2_noyo_optim:Lap:Dive:A](DEBUG): Aggregate::initialize sci2_noyo_optim:Lap:Dive:A
2025-03-13T03:00:06.313Z,1741834806.313 [sci2_noyo_optim:Lap:DepthByLap] Running Loop=1
2025-03-13T03:00:06.313Z,1741834806.313 [sci2_noyo_optim:Lap:DepthByLap](DEBUG): Aggregate::initialize sci2_noyo_optim:Lap:DepthByLap
2025-03-13T03:00:06.314Z,1741834806.314 [sci2_noyo_optim:Lap:DepthByLap:A] Running Loop=1
2025-03-13T03:00:06.734Z,1741834806.734 [sci2_noyo_optim:Lap:DepthByLap:A] Stopped
2025-03-13T03:00:06.734Z,1741834806.734 [sci2_noyo_optim:Lap:DepthByLap:Wpt1] Running Loop=1
2025-03-13T03:00:06.735Z,1741834806.735 [sci2_noyo_optim:Lap:DepthByLap:Wpt1](DEBUG): Aggregate::initialize sci2_noyo_optim:Lap:DepthByLap:Wpt1
2025-03-13T03:00:06.735Z,1741834806.735 [sci2_noyo_optim:Lap:DepthByLap:Wpt1:A.Waypoint] Running Loop=1
2025-03-13T03:00:06.735Z,1741834806.735 [sci2_noyo_optim:Lap:DepthByLap:Wpt1:A.Waypoint](DEBUG): Initialize WaypointComponent.
2025-03-13T03:00:06.740Z,1741834806.740 [sci2_noyo_optim:Lap:DepthByLap:Wpt1:A.Waypoint](IMPORTANT): Navigating to waypoint: 36.792789,-121.889191
2025-03-13T03:00:06.740Z,1741834806.740 [sci2_noyo_optim:Lap:Dive] Running Loop=1
2025-03-13T03:00:06.740Z,1741834806.740 [sci2_noyo_optim:DiveCmd] Running Loop=1
2025-03-13T03:00:06.740Z,1741834806.740 [sci2_noyo_optim:DiveCmd](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd
2025-03-13T03:00:06.740Z,1741834806.740 [sci2_noyo_optim:DiveCmd:InitialDive] Running Loop=1
2025-03-13T03:00:06.740Z,1741834806.740 [sci2_noyo_optim:DiveCmd:InitialDive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:InitialDive
2025-03-13T03:00:06.740Z,1741834806.740 [sci2_noyo_optim:DiveCmd:InitialDive:dive] Running Loop=1
2025-03-13T03:00:06.741Z,1741834806.741 [sci2_noyo_optim:DiveCmd:InitialDive:dive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:InitialDive:dive
2025-03-13T03:00:06.741Z,1741834806.741 [sci2_noyo_optim:DiveCmd:InitialDive:dive:A] Running Loop=1
2025-03-13T03:00:06.741Z,1741834806.741 [sci2_noyo_optim:DiveCmd:InitialDive:dive:B] Running Loop=1
2025-03-13T03:00:06.741Z,1741834806.741 [sci2_noyo_optim:DiveCmd:InitialDive:dive:C.Mass] Running Loop=1
2025-03-13T03:00:06.741Z,1741834806.741 [sci2_noyo_optim:DiveCmd:InitialDive:dive:C.Mass](DEBUG): Initialize.
2025-03-13T03:00:06.741Z,1741834806.741 [sci2_noyo_optim:DiveCmd:InitialDive:dive:D] Running Loop=1
2025-03-13T03:00:06.741Z,1741834806.741 [sci2_noyo_optim:DiveCmd:SettleAtDepth] Running Loop=1
2025-03-13T03:00:06.741Z,1741834806.741 [sci2_noyo_optim:DiveCmd:SettleAtDepth](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:SettleAtDepth
2025-03-13T03:00:06.742Z,1741834806.742 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive] Running Loop=1
2025-03-13T03:00:06.742Z,1741834806.742 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:SettleAtDepth:dive
2025-03-13T03:00:06.742Z,1741834806.742 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:B.Pitch] Running Loop=1
2025-03-13T03:00:06.742Z,1741834806.742 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:B.Pitch](DEBUG): Initialize.
2025-03-13T03:00:06.743Z,1741834806.743 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:A] Running Loop=1
2025-03-13T03:00:06.743Z,1741834806.743 [sci2_noyo_optim:DiveCmd:MaintainDepth] Running Loop=1
2025-03-13T03:00:06.743Z,1741834806.743 [sci2_noyo_optim:DiveCmd:MaintainDepth](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepth
2025-03-13T03:00:06.743Z,1741834806.743 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive] Running Loop=1
2025-03-13T03:00:06.747Z,1741834806.747 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive
2025-03-13T03:00:06.747Z,1741834806.747 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive] Running Loop=1
2025-03-13T03:00:06.747Z,1741834806.747 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive
2025-03-13T03:00:06.748Z,1741834806.748 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass] Running Loop=1
2025-03-13T03:00:06.748Z,1741834806.748 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass](DEBUG): Initialize.
2025-03-13T03:00:06.748Z,1741834806.748 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed] Running Loop=1
2025-03-13T03:00:06.748Z,1741834806.748 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed](DEBUG): Initialize.
2025-03-13T03:00:06.748Z,1741834806.748 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:B.Pitch] Running Loop=1
2025-03-13T03:00:06.748Z,1741834806.748 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:B.Pitch](DEBUG): Initialize.
2025-03-13T03:00:06.748Z,1741834806.748 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow] Running Loop=1
2025-03-13T03:00:06.748Z,1741834806.748 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepthSlow
2025-03-13T03:00:06.748Z,1741834806.748 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:A.SetSpeed] Running Loop=1
2025-03-13T03:00:06.749Z,1741834806.749 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:A.SetSpeed](DEBUG): Initialize.
2025-03-13T03:00:06.749Z,1741834806.749 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:B] Running Loop=1
2025-03-13T03:00:06.749Z,1741834806.749 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:C.Buoyancy] Running Loop=1
2025-03-13T03:00:06.749Z,1741834806.749 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:C.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-03-13T03:00:06.749Z,1741834806.749 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:D.Pitch] Running Loop=1
2025-03-13T03:00:06.749Z,1741834806.749 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:D.Pitch](DEBUG): Initialize.
2025-03-13T03:00:06.750Z,1741834806.750 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow] Stopped
2025-03-13T03:00:06.750Z,1741834806.750 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepthSlow
2025-03-13T03:00:06.750Z,1741834806.750 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:A.SetSpeed] Stopped
2025-03-13T03:00:06.750Z,1741834806.750 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:A.SetSpeed](DEBUG): Uninitialize.
2025-03-13T03:00:06.750Z,1741834806.750 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:B] Stopped
2025-03-13T03:00:06.750Z,1741834806.750 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:C.Buoyancy] Stopped
2025-03-13T03:00:06.750Z,1741834806.750 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-03-13T03:00:06.750Z,1741834806.750 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:D.Pitch] Stopped
2025-03-13T03:00:06.750Z,1741834806.750 [sci2_noyo_optim:DiveCmd:MaintainDepth] Running Loop=1
2025-03-13T03:00:06.750Z,1741834806.750 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive] Running Loop=1
2025-03-13T03:00:06.751Z,1741834806.751 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:B.Pitch] Running Loop=1
2025-03-13T03:00:06.768Z,1741834806.768 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive] Running Loop=1
2025-03-13T03:00:06.768Z,1741834806.768 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed] Running Loop=1
2025-03-13T03:00:06.768Z,1741834806.768 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass] Running Loop=1
2025-03-13T03:00:06.768Z,1741834806.768 [sci2_noyo_optim:DiveCmd:SettleAtDepth] Stopped
2025-03-13T03:00:06.768Z,1741834806.768 [sci2_noyo_optim:DiveCmd:SettleAtDepth](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:SettleAtDepth
2025-03-13T03:00:06.769Z,1741834806.769 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive] Stopped
2025-03-13T03:00:06.769Z,1741834806.769 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:SettleAtDepth:dive
2025-03-13T03:00:06.769Z,1741834806.769 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:A] Stopped
2025-03-13T03:00:06.769Z,1741834806.769 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:B.Pitch] Stopped
2025-03-13T03:00:06.769Z,1741834806.769 [sci2_noyo_optim:DiveCmd:InitialDive] Running Loop=1
2025-03-13T03:00:06.769Z,1741834806.769 [sci2_noyo_optim:DiveCmd:InitialDive:dive:D](INFO): Waiting for  1.000000 min while pumping down to neutral.
2025-03-13T03:00:06.769Z,1741834806.769 [sci2_noyo_optim:DiveCmd:InitialDive:dive:D] Stopped
2025-03-13T03:00:06.770Z,1741834806.770 [sci2_noyo_optim:DiveCmd:InitialDive:dive:E.Wait] Running Loop=1
2025-03-13T03:00:06.770Z,1741834806.770 [sci2_noyo_optim:DiveCmd:InitialDive:dive:E.Wait](DEBUG): Initialize Wait Component.
2025-03-13T03:00:06.770Z,1741834806.770 [sci2_noyo_optim:DiveCmd:InitialDive:dive:C.Mass] Running Loop=1
2025-03-13T03:00:06.770Z,1741834806.770 [sci2_noyo_optim:DiveCmd:InitialDive:dive:B] Running Loop=1
2025-03-13T03:00:06.770Z,1741834806.770 [sci2_noyo_optim:DiveCmd:InitialDive:dive:A] Running Loop=1
2025-03-13T03:00:07.141Z,1741834807.141 [sci2_noyo_optim:Lap:DepthByLap:Wpt1:A.Waypoint](INFO): Navigating to waypoint: 36.792789,-121.889191
2025-03-13T03:00:37.410Z,1741834837.410 [NAL9602](INFO): Not Powering down - fast GPS
2025-03-13T03:01:07.193Z,1741834867.193 [sci2_noyo_optim:DiveCmd:InitialDive:dive:E.Wait](INFO): Done Waiting.
2025-03-13T03:01:07.193Z,1741834867.193 [sci2_noyo_optim:DiveCmd:InitialDive:dive:E.Wait] Stopped
2025-03-13T03:01:07.193Z,1741834867.193 [sci2_noyo_optim:DiveCmd:InitialDive:dive:E.Wait](DEBUG): Uninitialize Wait Component.
2025-03-13T03:01:07.194Z,1741834867.194 [sci2_noyo_optim:DiveCmd:InitialDive:dive:F] Running Loop=1
2025-03-13T03:01:07.580Z,1741834867.580 [sci2_noyo_optim:DiveCmd:InitialDive:dive:F](INFO): Moving to  10.000000 m 
2025-03-13T03:01:07.580Z,1741834867.580 [sci2_noyo_optim:DiveCmd:InitialDive:dive:F] Stopped
2025-03-13T03:01:07.580Z,1741834867.580 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth] Running Loop=1
2025-03-13T03:01:07.580Z,1741834867.580 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth
2025-03-13T03:01:07.580Z,1741834867.580 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:A.SetSpeed] Running Loop=1
2025-03-13T03:01:07.580Z,1741834867.580 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:A.SetSpeed](DEBUG): Initialize.
2025-03-13T03:01:07.581Z,1741834867.581 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:B.Pitch] Running Loop=1
2025-03-13T03:01:07.581Z,1741834867.581 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:B.Pitch](DEBUG): Initialize.
2025-03-13T03:01:07.988Z,1741834867.988 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:A.SetSpeed] Running Loop=1
2025-03-13T03:01:08.240Z,1741834868.240 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T03:01:11.252Z,1741834871.252 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.243317
2025-03-13T03:01:43.388Z,1741834903.388 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T03:02:18.528Z,1741834938.528 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T03:02:34.855Z,1741834954.855 [Radio_Surface](INFO): Powering down
2025-03-13T03:02:53.676Z,1741834973.676 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T03:02:54.681Z,1741834974.681 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-03-13T03:03:22.164Z,1741835002.164 [Waterlinked](ERROR): only read 0 of 5 data items. Device response::BI    +0,    +0,    +0,V
2025-03-13T03:03:32.245Z,1741835012.245 [DAT](INFO): DAT read: Rx Time:03:03:31.5278

2025-03-13T03:03:32.247Z,1741835012.247 [DAT](INFO): Rx dataTimestamp_ set to:1741835012.245663
2025-03-13T03:03:32.248Z,1741835012.248 [DAT](INFO): DAT read: 

2025-03-13T03:03:32.250Z,1741835012.250 [DAT](INFO): DAT read: $Packet for address 0

2025-03-13T03:03:32.252Z,1741835012.252 [DAT](INFO): received a packet notification
2025-03-13T03:03:56.462Z,1741835036.462 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:B.Pitch] Stopped
2025-03-13T03:03:56.463Z,1741835036.463 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth](INFO): Completed sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth
2025-03-13T03:03:56.463Z,1741835036.463 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth] Stopped
2025-03-13T03:03:56.463Z,1741835036.463 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth
2025-03-13T03:03:56.463Z,1741835036.463 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:A.SetSpeed] Stopped
2025-03-13T03:03:56.463Z,1741835036.463 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:A.SetSpeed](DEBUG): Uninitialize.
2025-03-13T03:03:56.463Z,1741835036.463 [sci2_noyo_optim:DiveCmd:InitialDive:dive:H] Running Loop=1
2025-03-13T03:03:56.812Z,1741835036.812 [sci2_noyo_optim:DiveCmd:InitialDive:dive:H] Stopped
2025-03-13T03:03:56.813Z,1741835036.813 [sci2_noyo_optim:DiveCmd:InitialDive:dive](INFO): Completed sci2_noyo_optim:DiveCmd:InitialDive:dive
2025-03-13T03:03:56.813Z,1741835036.813 [sci2_noyo_optim:DiveCmd:InitialDive:dive] Stopped
2025-03-13T03:03:56.813Z,1741835036.813 [sci2_noyo_optim:DiveCmd:InitialDive:dive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:InitialDive:dive
2025-03-13T03:03:56.813Z,1741835036.813 [sci2_noyo_optim:DiveCmd:InitialDive:dive:A] Stopped
2025-03-13T03:03:56.813Z,1741835036.813 [sci2_noyo_optim:DiveCmd:InitialDive:dive:B] Stopped
2025-03-13T03:03:56.813Z,1741835036.813 [sci2_noyo_optim:DiveCmd:InitialDive:dive:C.Mass] Stopped
2025-03-13T03:03:56.814Z,1741835036.814 [sci2_noyo_optim:DiveCmd:InitialDive:dive:C.Mass](DEBUG): Uninitialize.
2025-03-13T03:03:56.814Z,1741835036.814 [sci2_noyo_optim:DiveCmd:InitialDive](INFO): Completed sci2_noyo_optim:DiveCmd:InitialDive
2025-03-13T03:03:57.174Z,1741835037.174 [sci2_noyo_optim:DiveCmd:SettleAtDepth] Running Loop=1
2025-03-13T03:03:57.174Z,1741835037.174 [sci2_noyo_optim:DiveCmd:SettleAtDepth](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:SettleAtDepth
2025-03-13T03:03:57.175Z,1741835037.175 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive] Running Loop=1
2025-03-13T03:03:57.175Z,1741835037.175 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:SettleAtDepth:dive
2025-03-13T03:03:57.175Z,1741835037.175 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:B.Pitch] Running Loop=1
2025-03-13T03:03:57.175Z,1741835037.175 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:B.Pitch](DEBUG): Initialize.
2025-03-13T03:03:57.175Z,1741835037.175 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:A] Running Loop=1
2025-03-13T03:03:57.175Z,1741835037.175 [sci2_noyo_optim:DiveCmd:SettleAtDepth] Running Loop=1
2025-03-13T03:03:57.175Z,1741835037.175 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:B.Pitch] Running Loop=1
2025-03-13T03:03:57.177Z,1741835037.177 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:A](INFO): Reached  10.063305 m , settling for  3.000000 min 
2025-03-13T03:03:57.177Z,1741835037.177 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:A] Stopped
2025-03-13T03:03:57.177Z,1741835037.177 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:C.Wait] Running Loop=1
2025-03-13T03:03:57.177Z,1741835037.177 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:C.Wait](DEBUG): Initialize Wait Component.
2025-03-13T03:06:50.302Z,1741835210.302 [sci2_noyo_optim:BackseatDriver:A.BackseatDriver](INFO): Created data writer for _.data_dir_logging_rate with code: 2169
2025-03-13T03:06:57.817Z,1741835217.817 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:C.Wait](INFO): Done Waiting.
2025-03-13T03:06:57.817Z,1741835217.817 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:C.Wait] Stopped
2025-03-13T03:06:57.817Z,1741835217.817 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:C.Wait](DEBUG): Uninitialize Wait Component.
2025-03-13T03:06:57.818Z,1741835217.818 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:D] Running Loop=1
2025-03-13T03:06:58.255Z,1741835218.255 [Waterlinked](ERROR): only read 1 of 5 data items. Device response::BI,    0.00
2025-03-13T03:06:58.285Z,1741835218.285 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:D] Stopped
2025-03-13T03:06:58.285Z,1741835218.285 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive](INFO): Completed sci2_noyo_optim:DiveCmd:SettleAtDepth:dive
2025-03-13T03:06:58.285Z,1741835218.285 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive] Stopped
2025-03-13T03:06:58.285Z,1741835218.285 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:SettleAtDepth:dive
2025-03-13T03:06:58.285Z,1741835218.285 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:B.Pitch] Stopped
2025-03-13T03:06:58.285Z,1741835218.285 [sci2_noyo_optim:DiveCmd:SettleAtDepth](INFO): Completed sci2_noyo_optim:DiveCmd:SettleAtDepth
2025-03-13T03:09:40.280Z,1741835380.280 [CTD_Seabird](ERROR): Failed to parse device response: .98
2025-03-13T03:10:10.558Z,1741835410.558 [sci2_noyo_optim:Lap:DepthByLap:Wpt1:A.Waypoint](IMPORTANT): Reached waypoint: 36.792789,-121.889191
2025-03-13T03:10:10.558Z,1741835410.558 [sci2_noyo_optim:Lap:DepthByLap:Wpt1:A.Waypoint] Stopped
2025-03-13T03:10:10.558Z,1741835410.558 [sci2_noyo_optim:Lap:DepthByLap:Wpt1:A.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-03-13T03:10:10.558Z,1741835410.558 [sci2_noyo_optim:Lap:DepthByLap:Wpt1](INFO): Completed sci2_noyo_optim:Lap:DepthByLap:Wpt1
2025-03-13T03:10:10.558Z,1741835410.558 [sci2_noyo_optim:Lap:DepthByLap:Wpt1] Stopped
2025-03-13T03:10:10.558Z,1741835410.558 [sci2_noyo_optim:Lap:DepthByLap:Wpt1](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Lap:DepthByLap:Wpt1
2025-03-13T03:10:10.559Z,1741835410.559 [sci2_noyo_optim:Lap:DepthByLap:Wpt2] Running Loop=1
2025-03-13T03:10:10.559Z,1741835410.559 [sci2_noyo_optim:Lap:DepthByLap:Wpt2](DEBUG): Aggregate::initialize sci2_noyo_optim:Lap:DepthByLap:Wpt2
2025-03-13T03:10:10.559Z,1741835410.559 [sci2_noyo_optim:Lap:DepthByLap:Wpt2:A.Waypoint] Running Loop=1
2025-03-13T03:10:10.563Z,1741835410.563 [sci2_noyo_optim:Lap:DepthByLap:Wpt2:A.Waypoint](DEBUG): Initialize WaypointComponent.
2025-03-13T03:10:10.564Z,1741835410.564 [sci2_noyo_optim:Lap:DepthByLap:Wpt2:A.Waypoint](IMPORTANT): Navigating to waypoint: 36.784271,-121.913391
2025-03-13T03:10:10.935Z,1741835410.935 [sci2_noyo_optim:Lap:DepthByLap:Wpt2:A.Waypoint](INFO): Navigating to waypoint: 36.784271,-121.913391
2025-03-13T03:17:41.304Z,1741835861.304 [CTD_Seabird](ERROR): Failed to parse device response: .13
2025-03-13T03:19:29.442Z,1741835969.442 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow] Running Loop=1
2025-03-13T03:19:29.442Z,1741835969.442 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepthSlow
2025-03-13T03:19:29.442Z,1741835969.442 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:A.SetSpeed] Running Loop=1
2025-03-13T03:19:29.442Z,1741835969.442 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:A.SetSpeed](DEBUG): Initialize.
2025-03-13T03:19:29.442Z,1741835969.442 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:B] Running Loop=1
2025-03-13T03:19:29.442Z,1741835969.442 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:C.Buoyancy] Running Loop=1
2025-03-13T03:19:29.442Z,1741835969.442 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:C.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-03-13T03:19:29.442Z,1741835969.442 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:D.Pitch] Running Loop=1
2025-03-13T03:19:29.442Z,1741835969.442 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:D.Pitch](DEBUG): Initialize.
2025-03-13T03:19:29.443Z,1741835969.443 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow] Running Loop=1
2025-03-13T03:19:29.443Z,1741835969.443 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:D.Pitch] Running Loop=1
2025-03-13T03:19:29.459Z,1741835969.459 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:C.Buoyancy] Running Loop=1
2025-03-13T03:19:29.459Z,1741835969.459 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:B] Running Loop=1
2025-03-13T03:19:29.460Z,1741835969.460 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:A.SetSpeed] Running Loop=1
2025-03-13T03:19:29.460Z,1741835969.460 [sci2_noyo_optim:DiveCmd:MaintainDepth] Stopped
2025-03-13T03:19:29.460Z,1741835969.460 [sci2_noyo_optim:DiveCmd:MaintainDepth](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepth
2025-03-13T03:19:29.460Z,1741835969.460 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive] Stopped
2025-03-13T03:19:29.460Z,1741835969.460 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive
2025-03-13T03:19:29.460Z,1741835969.460 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive] Stopped
2025-03-13T03:19:29.461Z,1741835969.461 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive
2025-03-13T03:19:29.461Z,1741835969.461 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass] Stopped
2025-03-13T03:19:29.461Z,1741835969.461 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass](DEBUG): Uninitialize.
2025-03-13T03:19:29.461Z,1741835969.461 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed] Stopped
2025-03-13T03:19:29.461Z,1741835969.461 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed](DEBUG): Uninitialize.
2025-03-13T03:19:29.461Z,1741835969.461 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:B.Pitch] Stopped
2025-03-13T03:26:50.661Z,1741836410.661 [BackseatComponent](CRITICAL): ikshana: Data dir size (745.34 GB) did not increase within 10 minutes
2025-03-13T03:26:50.662Z,1741836410.662 [BackseatComponent] Data Fault, FailCount= 1
2025-03-13T03:26:50.662Z,1741836410.662 [BackseatComponent](ERROR): Data Fault
2025-03-13T03:26:50.945Z,1741836410.945 [CBIT](INFO): Critical error at 20250313T032650
2025-03-13T03:26:50.945Z,1741836410.945 [Supervisor](INFO): Stop Mission called by CBIT::checkCriticals
2025-03-13T03:26:50.947Z,1741836410.947 [CBIT](ERROR): Data Fault in component: BackseatComponent
2025-03-13T03:26:51.069Z,1741836411.069 [BackseatComponent](INFO): Sent LCM shutdown request.
2025-03-13T03:26:51.070Z,1741836411.070 [BackseatComponent](INFO): Shutdown requested. Waiting (18.00 sec to power down.).
2025-03-13T03:26:51.278Z,1741836411.278 [MissionManager](INFO): MissionManager is completed.
2025-03-13T03:26:51.278Z,1741836411.278 [MissionManager](INFO): Uninitializing Mission sci2_noyo_optim
2025-03-13T03:26:51.278Z,1741836411.278 [sci2_noyo_optim] Stopped
2025-03-13T03:26:51.278Z,1741836411.278 [sci2_noyo_optim](DEBUG): Aggregate::uninitialize sci2_noyo_optim
2025-03-13T03:26:51.278Z,1741836411.278 [sci2_noyo_optim:Science] Stopped
2025-03-13T03:26:51.278Z,1741836411.278 [sci2_noyo_optim:Science](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science
2025-03-13T03:26:51.278Z,1741836411.278 [sci2_noyo_optim:Science:B] Stopped
2025-03-13T03:26:51.278Z,1741836411.278 [sci2_noyo_optim:Science:C] Stopped
2025-03-13T03:26:51.278Z,1741836411.278 [sci2_noyo_optim:Science:E] Stopped
2025-03-13T03:26:51.278Z,1741836411.278 [sci2_noyo_optim:Science:OceanCurrent] Stopped
2025-03-13T03:26:51.279Z,1741836411.279 [sci2_noyo_optim:Science:OceanCurrent](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:OceanCurrent
2025-03-13T03:26:51.279Z,1741836411.279 [sci2_noyo_optim:Science:OceanCurrent:A.] Stopped
2025-03-13T03:26:51.279Z,1741836411.279 [sci2_noyo_optim:StandardEnvelopes] Stopped
2025-03-13T03:26:51.279Z,1741836411.279 [sci2_noyo_optim:StandardEnvelopes](DEBUG): Aggregate::uninitialize sci2_noyo_optim:StandardEnvelopes
2025-03-13T03:26:51.279Z,1741836411.279 [sci2_noyo_optim:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-03-13T03:26:51.291Z,1741836411.291 [sci2_noyo_optim:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-03-13T03:26:51.291Z,1741836411.291 [sci2_noyo_optim:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-03-13T03:26:51.291Z,1741836411.291 [sci2_noyo_optim:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-03-13T03:26:51.291Z,1741836411.291 [sci2_noyo_optim:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-03-13T03:26:51.291Z,1741836411.291 [sci2_noyo_optim:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-03-13T03:26:51.292Z,1741836411.292 [sci2_noyo_optim:BackseatDriver] Stopped
2025-03-13T03:26:51.292Z,1741836411.292 [sci2_noyo_optim:BackseatDriver](DEBUG): Aggregate::uninitialize sci2_noyo_optim:BackseatDriver
2025-03-13T03:26:51.292Z,1741836411.292 [sci2_noyo_optim:BackseatDriver:A.BackseatDriver] Stopped
2025-03-13T03:26:51.292Z,1741836411.292 [sci2_noyo_optim:J] Stopped
2025-03-13T03:26:51.292Z,1741836411.292 [sci2_noyo_optim:PowerOnly] Stopped
2025-03-13T03:26:51.292Z,1741836411.292 [sci2_noyo_optim:PowerOnly](DEBUG): Aggregate::uninitialize sci2_noyo_optim:PowerOnly
2025-03-13T03:26:51.292Z,1741836411.292 [sci2_noyo_optim:PowerOnly:B] Stopped
2025-03-13T03:26:51.292Z,1741836411.292 [sci2_noyo_optim:PowerOnly:E.Wait] Stopped
2025-03-13T03:26:51.292Z,1741836411.292 [sci2_noyo_optim:PowerOnly:E.Wait](DEBUG): Uninitialize Wait Component.
2025-03-13T03:26:51.292Z,1741836411.292 [sci2_noyo_optim:L] Stopped
2025-03-13T03:26:51.292Z,1741836411.292 [sci2_noyo_optim:N] Stopped
2025-03-13T03:26:51.292Z,1741836411.292 [sci2_noyo_optim:O.Buoyancy] Stopped
2025-03-13T03:26:51.293Z,1741836411.293 [sci2_noyo_optim:O.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-03-13T03:26:51.293Z,1741836411.293 [sci2_noyo_optim:DiveCmd] Stopped
2025-03-13T03:26:51.293Z,1741836411.293 [sci2_noyo_optim:DiveCmd](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd
2025-03-13T03:26:51.293Z,1741836411.293 [sci2_noyo_optim:DiveCmd:InitialDive] Stopped
2025-03-13T03:26:51.293Z,1741836411.293 [sci2_noyo_optim:DiveCmd:InitialDive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:InitialDive
2025-03-13T03:26:51.293Z,1741836411.293 [sci2_noyo_optim:DiveCmd:SettleAtDepth] Stopped
2025-03-13T03:26:51.293Z,1741836411.293 [sci2_noyo_optim:DiveCmd:SettleAtDepth](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:SettleAtDepth
2025-03-13T03:26:51.293Z,1741836411.293 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow] Stopped
2025-03-13T03:26:51.293Z,1741836411.293 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepthSlow
2025-03-13T03:26:51.293Z,1741836411.293 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:A.SetSpeed] Stopped
2025-03-13T03:26:51.293Z,1741836411.293 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:A.SetSpeed](DEBUG): Uninitialize.
2025-03-13T03:26:51.293Z,1741836411.293 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:B] Stopped
2025-03-13T03:26:51.293Z,1741836411.293 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:C.Buoyancy] Stopped
2025-03-13T03:26:51.294Z,1741836411.294 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-03-13T03:26:51.294Z,1741836411.294 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:D.Pitch] Stopped
2025-03-13T03:26:51.294Z,1741836411.294 [sci2_noyo_optim:Lap] Stopped
2025-03-13T03:26:51.294Z,1741836411.294 [sci2_noyo_optim:Lap](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Lap
2025-03-13T03:26:51.294Z,1741836411.294 [sci2_noyo_optim:Lap:Dive] Stopped
2025-03-13T03:26:51.294Z,1741836411.294 [sci2_noyo_optim:Lap:Dive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Lap:Dive
2025-03-13T03:26:51.294Z,1741836411.294 [sci2_noyo_optim:Lap:Dive:A] Stopped
2025-03-13T03:26:51.294Z,1741836411.294 [sci2_noyo_optim:Lap:Dive:A](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Lap:Dive:A
2025-03-13T03:26:51.294Z,1741836411.294 [sci2_noyo_optim:Lap:DepthByLap] Stopped
2025-03-13T03:26:51.294Z,1741836411.294 [sci2_noyo_optim:Lap:DepthByLap](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Lap:DepthByLap
2025-03-13T03:26:51.294Z,1741836411.294 [sci2_noyo_optim:Lap:DepthByLap:Wpt2] Stopped
2025-03-13T03:26:51.294Z,1741836411.294 [sci2_noyo_optim:Lap:DepthByLap:Wpt2](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Lap:DepthByLap:Wpt2
2025-03-13T03:26:51.294Z,1741836411.294 [sci2_noyo_optim:Lap:DepthByLap:Wpt2:A.Waypoint] Stopped
2025-03-13T03:26:51.295Z,1741836411.295 [sci2_noyo_optim:Lap:DepthByLap:Wpt2:A.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-03-13T03:26:51.651Z,1741836411.651 [WetLabsBB2FL](INFO): Powering down
2025-03-13T03:26:51.844Z,1741836411.844 [MissionManager](IMPORTANT): Started mission Default
2025-03-13T03:26:51.844Z,1741836411.844 [Default] Running Loop=1
2025-03-13T03:26:51.845Z,1741836411.845 [Default](DEBUG): Aggregate::initialize Default
2025-03-13T03:26:51.845Z,1741836411.845 [Default:B.GoToSurface] Running Loop=1
2025-03-13T03:26:51.845Z,1741836411.845 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-03-13T03:26:51.845Z,1741836411.845 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-03-13T03:26:51.845Z,1741836411.845 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-03-13T03:26:51.846Z,1741836411.846 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-03-13T03:26:51.846Z,1741836411.846 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-03-13T03:26:51.846Z,1741836411.846 [Default:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-03-13T03:26:51.846Z,1741836411.846 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-03-13T03:26:51.847Z,1741836411.847 [Default:A.Wait] Running Loop=1
2025-03-13T03:26:51.847Z,1741836411.847 [Default:A.Wait](DEBUG): Initialize Wait Component.
2025-03-13T03:26:52.400Z,1741836412.400 [Radio_Surface](INFO): Powering up
2025-03-13T03:26:57.700Z,1741836417.700 [DataOverHttps](INFO): Radio surface powered ON.
2025-03-13T03:27:05.234Z,1741836425.234 [Default:A.Wait](INFO): Done Waiting.
2025-03-13T03:27:05.234Z,1741836425.234 [Default:A.Wait] Stopped
2025-03-13T03:27:05.234Z,1741836425.234 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2025-03-13T03:27:09.281Z,1741836429.281 [BackseatComponent](INFO): Powering down and starting shutdown timer (18.00 sec).
2025-03-13T03:27:09.282Z,1741836429.282 [BackseatComponent](INFO): Unsubscribing from LCM channels.
2025-03-13T03:27:09.283Z,1741836429.283 [LcmUniversalReporter](INFO): Deactivating messaging.
2025-03-13T03:27:27.824Z,1741836447.824 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T03:27:28.091Z,1741836448.091 [CBIT](INFO): Clearing failed state for component BackseatComponent
2025-03-13T03:27:28.092Z,1741836448.092 [BackseatComponent] No Fault, FailCount= 0
2025-03-13T03:27:28.279Z,1741836448.279 [BackseatComponent](INFO): Powering up
2025-03-13T03:27:28.280Z,1741836448.280 [BackseatComponent](INFO): Subscribing to LCM channels.
2025-03-13T03:27:49.181Z,1741836469.181 [BackseatComponent](INFO): Sent LCM shutdown request.
2025-03-13T03:27:49.181Z,1741836469.181 [BackseatComponent](INFO): Shutdown requested. Waiting (18.00 sec to power down.).
2025-03-13T03:28:02.980Z,1741836482.980 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T03:28:07.362Z,1741836487.362 [BackseatComponent](INFO): Powering down and starting shutdown timer (18.00 sec).
2025-03-13T03:28:07.363Z,1741836487.363 [BackseatComponent](INFO): Unsubscribing from LCM channels.
2025-03-13T03:28:07.363Z,1741836487.363 [LcmUniversalReporter](INFO): Deactivating messaging.
2025-03-13T03:28:21.913Z,1741836501.913 [PowerOnly](INFO): Powering down loadControl
2025-03-13T03:28:38.148Z,1741836518.148 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T03:29:13.292Z,1741836553.292 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T03:29:48.432Z,1741836588.432 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T03:30:23.579Z,1741836623.579 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T03:30:58.740Z,1741836658.740 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T03:31:33.888Z,1741836693.888 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T03:32:09.048Z,1741836729.048 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T03:32:44.210Z,1741836764.210 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T03:33:19.348Z,1741836799.348 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T03:33:54.505Z,1741836834.505 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T03:34:19.808Z,1741836859.808 [Waterlinked](ERROR): only read 0 of 1 data item for BIT error. Device response::TS,24052713350604,.0,   0.0,1475.0,  0
2025-03-13T03:34:29.660Z,1741836869.660 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T03:35:04.800Z,1741836904.800 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T03:35:39.940Z,1741836939.940 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T03:36:15.084Z,1741836975.084 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T03:36:34.902Z,1741836994.902 [Default:CheckIn] Running Loop=1
2025-03-13T03:36:34.902Z,1741836994.902 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-03-13T03:36:34.902Z,1741836994.902 [Default:CheckIn:Read_GPS] Running Loop=1
2025-03-13T03:36:35.304Z,1741836995.304 [Waterlinked](INFO): Powering down
2025-03-13T03:36:50.224Z,1741837010.224 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T03:37:07.493Z,1741837027.493 [NAL9602](ERROR): Failed to receive proper response when querying signal strength for MT queue check.
2025-03-13T03:37:07.567Z,1741837027.567 [NAL9602](ERROR): received: 
+CSQ:1

OK530, 2, 0, 0, 0

OK
2025-03-13T03:37:11.960Z,1741837031.960 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003924
2025-03-13T03:37:57.594Z,1741837077.594 [NAL9602](INFO): SBD MO Status=0, MOMSN=18530, MT Status=0, MTMSN=0
2025-03-13T03:37:57.594Z,1741837077.594 [NAL9602](INFO): No messages in MT queue
2025-03-13T03:37:58.799Z,1741837078.799 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,033758.00,A,3647.42968,N,12153.79680,W,1.030,87.72,130325,,,A*4B
2025-03-13T03:37:58.801Z,1741837078.801 [NAL9602](INFO): GPS fix at 20250313T033758: (36.790495, -121.896613)
2025-03-13T03:37:58.859Z,1741837078.859 [UniversalFixResidualReporter](INFO): Fix residual: 25.4 %DT, over the last 1741.6 m. Residual distance 442.7 m at bearing -99.9 degrees. Fix at (36.7905, -121.8966) with 1169.4 m made good.
2025-03-13T03:37:58.860Z,1741837078.860 [Default:CheckIn:Read_GPS] Stopped
2025-03-13T03:37:58.860Z,1741837078.860 [Default:CheckIn:Read_Iridium] Running Loop=1
2025-03-13T03:38:06.083Z,1741837086.083 [DataOverHttps](INFO): Sending 156 bytes from file Logs/20250311T232940/Courier0230.lzma
2025-03-13T03:38:07.085Z,1741837087.085 [DataOverHttps](INFO): Moved sent file to Logs/20250311T232940/Courier0230.lzma.bak
2025-03-13T03:38:07.086Z,1741837087.086 [DataOverHttps](INFO): SBD MOMSN=24220929
2025-03-13T03:38:23.176Z,1741837103.176 [DataOverHttps](INFO): Sending 499 bytes from file Logs/20250311T232940/Express0231.lzma
2025-03-13T03:38:24.177Z,1741837104.177 [DataOverHttps](INFO): Moved sent file to Logs/20250311T232940/Express0231.lzma.bak
2025-03-13T03:38:24.178Z,1741837104.178 [DataOverHttps](INFO): SBD MOMSN=24220933
2025-03-13T03:38:25.478Z,1741837105.478 [Default:CheckIn:Read_Iridium] Stopped
2025-03-13T03:38:25.478Z,1741837105.478 [Default:CheckIn:C.Wait] Running Loop=1
2025-03-13T03:38:25.478Z,1741837105.478 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2025-03-13T03:38:31.529Z,1741837111.529 [NAL9602](INFO): Not Powering down - fast GPS
2025-03-13T03:39:49.492Z,1741837189.492 [BPC1](INFO): Calculating totals. Valid battery stick count: 50. Valid reserve battery stick count: 5.
2025-03-13T03:39:49.496Z,1741837189.496 [BPC1](FAULT): Failed to receive data from 3 sticks prior to timeout. Will not retry this scan cycle. Missing stick IDs are: 19, 21, 24.
2025-03-13T03:43:26.056Z,1741837406.056 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2025-03-13T03:43:26.056Z,1741837406.056 [Default:CheckIn:C.Wait] Stopped
2025-03-13T03:43:26.056Z,1741837406.056 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2025-03-13T03:43:26.056Z,1741837406.056 [Default:CheckIn:D] Running Loop=1
2025-03-13T03:43:26.454Z,1741837406.454 [Default:CheckIn:D] Stopped
2025-03-13T03:43:26.454Z,1741837406.454 [Default:CheckIn:E] Running Loop=1
2025-03-13T03:43:26.859Z,1741837406.859 [Default:CheckIn:E](IMPORTANT): Default mission has been running for  16.576822 min 
2025-03-13T03:43:26.859Z,1741837406.859 [Default:CheckIn:E] Stopped
2025-03-13T03:43:26.860Z,1741837406.860 [Default:CheckIn](INFO): Completed Default:CheckIn
2025-03-13T03:43:26.860Z,1741837406.860 [Default:CheckIn] Stopped
2025-03-13T03:43:26.860Z,1741837406.860 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-03-13T03:43:26.860Z,1741837406.860 [Default:CheckIn](INFO): Running loop #2
2025-03-13T03:43:26.860Z,1741837406.860 [Default:CheckIn] Running Loop=2
2025-03-13T03:43:26.860Z,1741837406.860 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-03-13T03:43:26.860Z,1741837406.860 [Default:CheckIn:Read_GPS] Running Loop=1
2025-03-13T03:43:28.868Z,1741837408.868 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,034328.00,A,3647.42008,N,12153.75620,W,0.816,74.25,130325,,,A*45
2025-03-13T03:43:28.870Z,1741837408.870 [NAL9602](INFO): GPS fix at 20250313T034328: (36.790335, -121.895937)
2025-03-13T03:43:28.881Z,1741837408.881 [Default:CheckIn:Read_GPS] Stopped
2025-03-13T03:43:28.881Z,1741837408.881 [Default:CheckIn:Read_Iridium] Running Loop=1
2025-03-13T03:43:37.243Z,1741837417.243 [DataOverHttps](INFO): Sending 84 bytes from file Logs/20250311T232940/Courier0233.lzma
2025-03-13T03:43:38.246Z,1741837418.246 [DataOverHttps](INFO): Moved sent file to Logs/20250311T232940/Courier0233.lzma.bak
2025-03-13T03:43:38.246Z,1741837418.246 [DataOverHttps](INFO): SBD MOMSN=24220972
2025-03-13T03:43:47.250Z,1741837427.250 [DataOverHttps](IMPORTANT): SBD MTMSN=20250313T034346
2025-03-13T03:43:57.172Z,1741837437.172 [DataOverHttps](INFO): Sending 257 bytes from file Logs/20250311T232940/Express0234.lzma
2025-03-13T03:43:57.175Z,1741837437.175 [DataOverHttps](INFO): Received command: sched asap "load Science/sci2_noyo_optim.tl;set sci2_noyo_optim.MissionTimeout 13 h;set sci2_noyo_optim.NeedCommsTime 90 min;set sci2_noyo_optim.Depth1 50 m;set sci2_noyo_optim.Depth2 50 m;set sci2_noyo_optim.Depth3 NaN m" 33ecq 1 4
2025-03-13T03:43:57.248Z,1741837437.248 [CommandExec](IMPORTANT): got command schedule asap "load Science/sci2_noyo_optim.tl;set sci2_noyo_optim.MissionTimeout 13 h;set sci2_noyo_optim.NeedCommsTime 90 min;set sci2_noyo_optim.Depth1 50 m;set sci2_noyo_optim.Depth2 50 m;set sci2_noyo_optim.Depth3 NaN m" 33ecq 1 4.000000
2025-03-13T03:43:57.248Z,1741837437.248 [CommandExec](IMPORTANT): Scheduling command #1 of 4 with id=33ecq
2025-03-13T03:43:57.249Z,1741837437.249 [CommandExec](IMPORTANT): Scheduled #39 (#1 of 4 with id='33ecq'): "load Science/sci2_noyo_optim.tl;set sci2_noyo_optim.MissionTimeout 13 h;set sci2_noyo_optim.NeedCommsTime 90 min;set sci2_noyo_optim.Depth1 50 m;set sci2_noyo_optim.Depth2 50 m;set sci2_noyo_optim.Depth3 NaN m", ASAP
2025-03-13T03:43:58.368Z,1741837438.368 [DataOverHttps](INFO): Moved sent file to Logs/20250311T232940/Express0234.lzma.bak
2025-03-13T03:43:58.369Z,1741837438.369 [DataOverHttps](IMPORTANT): SBD MOMSN=24220976, MTMSN=20250313T034357
2025-03-13T03:44:05.644Z,1741837445.644 [DataOverHttps](INFO): Received command: sched asap "set sci2_noyo_optim.Repeat 12 count;set sci2_noyo_optim.Lat1 36.79279 degree;set sci2_noyo_optim.Lon1 -121.88919 degree;set sci2_noyo_optim.Lat2 36.78427 degree;set sci2_noyo_optim.Lon2 -121.91339 degree" 33ecq 2 4
2025-03-13T03:44:05.684Z,1741837445.684 [CommandExec](IMPORTANT): got command schedule asap "set sci2_noyo_optim.Repeat 12 count;set sci2_noyo_optim.Lat1 36.79279 degree;set sci2_noyo_optim.Lon1 -121.88919 degree;set sci2_noyo_optim.Lat2 36.78427 degree;set sci2_noyo_optim.Lon2 -121.91339 degree" 33ecq 2 4.000000
2025-03-13T03:44:05.684Z,1741837445.684 [CommandExec](IMPORTANT): Scheduling command #2 of 4 with id=33ecq
2025-03-13T03:44:05.685Z,1741837445.685 [CommandExec](IMPORTANT): Scheduled #40 (#2 of 4 with id='33ecq'): "set sci2_noyo_optim.Repeat 12 count;set sci2_noyo_optim.Lat1 36.79279 degree;set sci2_noyo_optim.Lon1 -121.88919 degree;set sci2_noyo_optim.Lat2 36.78427 degree;set sci2_noyo_optim.Lon2 -121.91339 degree", ASAP
2025-03-13T03:44:06.833Z,1741837446.833 [DataOverHttps](IMPORTANT): SBD MTMSN=20250313T034405
2025-03-13T03:44:14.079Z,1741837454.079 [DataOverHttps](INFO): Sending 39 bytes from file Logs/20250311T232940/Courier0236.lzma
2025-03-13T03:44:14.081Z,1741837454.081 [DataOverHttps](INFO): Received command: sched asap "set sci2_noyo_optim.ApproachDepth 10 m;set sci2_noyo_optim.ApproachSpeed 1.0 m/s;set sci2_noyo_optim.SlowSpeed 0.4 m/s;set sci2_noyo_optim.MinAltitude 10 m;set sci2_noyo_optim.MaxDepth 60 m" 33ecq 3 4
2025-03-13T03:44:14.112Z,1741837454.112 [CommandExec](IMPORTANT): got command schedule asap "set sci2_noyo_optim.ApproachDepth 10 m;set sci2_noyo_optim.ApproachSpeed 1.0 m/s;set sci2_noyo_optim.SlowSpeed 0.4 m/s;set sci2_noyo_optim.MinAltitude 10 m;set sci2_noyo_optim.MaxDepth 60 m" 33ecq 3 4.000000
2025-03-13T03:44:14.112Z,1741837454.112 [CommandExec](IMPORTANT): Scheduling command #3 of 4 with id=33ecq
2025-03-13T03:44:14.113Z,1741837454.113 [CommandExec](IMPORTANT): Scheduled #41 (#3 of 4 with id='33ecq'): "set sci2_noyo_optim.ApproachDepth 10 m;set sci2_noyo_optim.ApproachSpeed 1.0 m/s;set sci2_noyo_optim.SlowSpeed 0.4 m/s;set sci2_noyo_optim.MinAltitude 10 m;set sci2_noyo_optim.MaxDepth 60 m", ASAP
2025-03-13T03:44:15.269Z,1741837455.269 [DataOverHttps](INFO): Moved sent file to Logs/20250311T232940/Courier0236.lzma.bak
2025-03-13T03:44:15.270Z,1741837455.270 [DataOverHttps](IMPORTANT): SBD MOMSN=24220982, MTMSN=20250313T034414
2025-03-13T03:44:22.560Z,1741837462.560 [DataOverHttps](INFO): Received command: sched asap "set sci2_noyo_optim:PowerOnly.SampleLoad1 1 bool;run" 33ecq 4 4
2025-03-13T03:44:22.586Z,1741837462.586 [CommandExec](IMPORTANT): got command schedule asap "set sci2_noyo_optim:PowerOnly.SampleLoad1 1 bool;run" 33ecq 4 4.000000
2025-03-13T03:44:22.587Z,1741837462.587 [CommandExec](IMPORTANT): Scheduling command #4 of 4 with id=33ecq
2025-03-13T03:44:22.588Z,1741837462.588 [CommandExec](IMPORTANT): Scheduled #42 (#4 of 4 with id='33ecq'): "set sci2_noyo_optim:PowerOnly.SampleLoad1 1 bool;run", ASAP
2025-03-13T03:44:22.760Z,1741837462.760 [CommandExec](IMPORTANT): got command load ./Missions/Science/sci2_noyo_optim.tl
2025-03-13T03:44:22.761Z,1741837462.761 [MissionManager](INFO): Loading Mission from file: ./Missions/Science/sci2_noyo_optim.tl
2025-03-13T03:44:22.761Z,1741837462.761 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Science/sci2_noyo_optim.tl
2025-03-13T03:44:22.764Z,1741837462.764 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Science/sci2_noyo_optim.tl
2025-03-13T03:44:28.322Z,1741837468.322 [NAL9602](INFO): SBD MO Status=0, MOMSN=18531, MT Status=0, MTMSN=0
2025-03-13T03:44:28.322Z,1741837468.322 [NAL9602](INFO): No messages in MT queue
2025-03-13T03:44:29.073Z,1741837469.073 [MissionManager](DEBUG): TethyslAPI: ./Missions/Science/sci2_noyo_optim.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Mission Id="sci2_noyo_optim">
    <DefineArg Name="MissionTimeout">
        <Units:hour />
        <Value>2</Value>
    </DefineArg>
    <DefineArg Name="NeedCommsTime">
        <Units:minute />
        <Value>60</Value>
    </DefineArg>
    <DefineArg Name="Depth1">
        <Units:meter />
        <Value>35</Value>
    </DefineArg>
    <DefineArg Name="Depth2">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Depth3">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Depth4">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Depth5">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Depth6">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Depth7">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Depth8">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="DepthPerLeg">
        <False />
    </DefineArg>
    <DefineArg Name="Repeat">
        <Units:count />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="Lat1">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lat2">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lat3">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lat4">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lat5">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lat6">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lat7">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lat8">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lon1">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lon2">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lon3">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lon4">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lon5">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lon6">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lon7">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lon8">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="FastSpeed">
        <Units:meter_per_second />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="ApproachDepth">
        <Units:meter />
        <Value>30</Value>
    </DefineArg>
    <DefineArg Name="ApproachSpeed">
        <Units:meter_per_second />
        <Value>0.7</Value>
    </DefineArg>
    <DefineArg Name="ApproachDepthRate">
        <Units:meter_per_second />
        <Value>0.05</Value>
    </DefineArg>
    <DefineArg Name="ApproachPitchLimit">
        <Units:degree />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="ApproachDepthTimeout">
        <Units:minute />
        <Value>15</Value>
    </DefineArg>
    <DefineArg Name="ApproachSettleTimePreDive">
        <Units:minute />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="ApproachSettleTimePostDive">
        <Units:minute />
        <Value>3</Value>
    </DefineArg>
    <DefineArg Name="kpDepth">
        <Units:radian_per_meter />
        <Value>0.07</Value>
    </DefineArg>
    <DefineArg Name="SlowSpeed">
        <Units:meter_per_second />
        <Value>0.25</Value>
    </DefineArg>
    <DefineArg Name="DepthDeviationSlow">
        <Units:meter />
        <Value>3</Value>
    </DefineArg>
    <DefineArg Name="BuoyancyNeutral">
        <Control:VerticalControl.buoyancyNeutral />
    </DefineArg>
    <DefineArg Name="MassDefault">
        <Control:VerticalControl.massDefault />
    </DefineArg>
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>2</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>50</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:kilometer />
        <Value>2</Value>
    </DefineArg>
    <DefineOutput Name="DiveMode">
        <Units:count />
        <Value>0</Value>
    </DefineOutput>
    <DefineOutput Name="DoingComms">
        <Units:count />
        <Value>0</Value>
    </DefineOutput>
    <DefineOutput Name="InitialDive">
        <Units:count />
        <Value>1</Value>
    </DefineOutput>
    <DefineOutput Name="SettleAtDepth">
        <Units:count />
        <Value>2</Value>
    </DefineOutput>
    <DefineOutput Name="MaintainDepth">
        <Units:count />
        <Value>3</Value>
    </DefineOutput>
    <DefineOutput Name="LegDepth">
        <Arg Name="Depth1" />
    </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="MissionTimeout" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="NeedComms:WaitForPitchUp" />
        <Units:minute />
        <Value>0</Value>
    </Assign>
    <Insert Filename="Insert/BackseatDriver.tl" />
    <Assign>
        <Parallel />
        <Arg Name="BackseatDriver:EnableBackseat" />
        <True />
    </Assign>
    <Insert Filename="Insert/PowerOnly.tl" />
    <Assign>
        <Parallel />
        <Arg Name="PowerOnly:SampleLoad1" />
        <True />
    </Assign>
    <Assign>
        <Sequence />
        <Sensor:MultiRay.lightModeCommand />
        <Units:count />
        <Value>2</Value>
    </Assign>
    <ReadData Strategy="MinError">
        <While>
            <Sensor:MultiRay.loadAtStartup />
        </While>
        <Sensor:MultiRay.lightModeLog />
    </ReadData>
    <Guidance:Buoyancy>
        <Parallel />
        <Setting>
            <Guidance:Buoyancy.position />
            <Arg Name="BuoyancyNeutral" />
        </Setting>
    </Guidance:Buoyancy>
    <Aggregate Id="SurfaceComms">
        <When>
            <Called />
            <Or>
                <Elapsed>
                    <Universal:time_fix />
                </Elapsed>
                <Gt>
                    <Arg Name="NeedCommsTime" />
                </Gt>
            </Or>
        </When>
        <Assign>
            <Sequence />
            <Arg Name="DiveMode" />
            <Arg Name="DoingComms" />
        </Assign>
        <Call RefId="NeedComms" />
        <Assign>
            <Sequence />
            <Arg Name="DiveMode" />
            <Arg Name="InitialDive" />
        </Assign>
    </Aggregate>
    <Aggregate Id="DiveCmd">
        <When>
            <Called />
        </When>
        <Aggregate Id="InitialDive">
            <While>
                <Arg Name="DiveMode" />
                <Eq>
                    <Arg Name="InitialDive" />
                </Eq>
            </While>
            <Aggregate Id="dive">
                <Sequence />
                <Assign>
                    <Parallel />
                    <Control:VerticalControl.pitchLimit />
                    <Arg Name="ApproachPitchLimit" />
                </Assign>
                <Assign>
                    <Parallel />
                    <Control:VerticalControl.kpDepth />
                    <Arg Name="kpDepth" />
                </Assign>
                <Guidance:Mass>
                    <Parallel />
                    <Setting>
                        <Guidance:Mass.position />
                        <Arg Name="MassDefault" />
                    </Setting>
                </Guidance:Mass>
                <Syslog Severity="Info">
                    Waiting for 
                    <Arg Name="ApproachSettleTimePreDive" />
                    <Units:minute />
                    while pumping down to neutral.
                </Syslog>
                <Guidance:Wait>
                    <Sequence />
                    <Setting>
                        <Guidance:Wait.duration />
                        <Arg Name="ApproachSettleTimePreDive" />
                    </Setting>
                </Guidance:Wait>
                <Syslog>
                    Moving to 
                    <Arg Name="ApproachDepth" />
                    <Units:meter />
                </Syslog>
                <Aggregate Id="ApproachDepth">
                    <Sequence />
                    <Guidance:SetSpeed>
                        <Parallel />
                        <Setting>
                            <Guidance:SetSpeed.speed />
                            <Arg Name="ApproachSpeed" />
                        </Setting>
                    </Guidance:SetSpeed>
                    <Guidance:Pitch>
                        <Sequence />
                        <Timeout Duration="ApproachDepthTimeout">
                            <Syslog Severity="Important">
                                Timed out while trying to reach target depth at current depth of 
                                <Universal:depth />
                                <Units:meter />
                            </Syslog>
                            <Guidance:Execute>
                                <Sequence />
                                <Setting>
                                    <Guidance:Execute.command />
                                    <String>stop</String>
                                </Setting>
                            </Guidance:Execute>
                        </Timeout>
                        <Setting>
                            <Guidance:Pitch.depth />
                            <Arg Name="ApproachDepth" />
                        </Setting>
                        <Setting>
                            <Guidance:Pitch.depthRate />
                            <Arg Name="ApproachDepthRate" />
                        </Setting>
                    </Guidance:Pitch>
                </Aggregate>
                <Assign>
                    <Sequence />
                    <Arg Name="DiveMode" />
                    <Arg Name="SettleAtDepth" />
                </Assign>
            </Aggregate>
        </Aggregate>
        <Aggregate Id="SettleAtDepth">
            <While>
                <Arg Name="DiveMode" />
                <Eq>
                    <Arg Name="SettleAtDepth" />
                </Eq>
            </While>
            <Aggregate Id="dive">
                <Sequence />
                <Syslog Severity="Info">
                    Reached 
                    <Universal:depth />
                    <Units:meter />
                    , settling for 
                    <Arg Name="ApproachSettleTimePostDive" />
                    <Units:minute />
                </Syslog>
                <Guidance:Pitch>
                    <Parallel />
                    <Setting>
                        <Guidance:Pitch.depth />
                        <Arg Name="LegDepth" />
                    </Setting>
                </Guidance:Pitch>
                <Guidance:Wait>
                    <Sequence />
                    <Setting>
                        <Guidance:Wait.duration />
                        <Arg Name="ApproachSettleTimePostDive" />
                    </Setting>
                </Guidance:Wait>
                <Assign>
                    <Sequence />
                    <Arg Name="DiveMode" />
                    <Arg Name="MaintainDepth" />
                </Assign>
            </Aggregate>
        </Aggregate>
        <Aggregate Id="MaintainDepth">
            <While>
                <Arg Name="DiveMode" />
                <Eq>
                    <Arg Name="MaintainDepth" />
                </Eq>
                <And>
                    <Universal:depth />
                    <Gt>
                        <Arg Name="LegDepth" />
                        <Add>
                            <Arg Name="DepthDeviationSlow" />
                        </Add>
                    </Gt>
                </And>
                <Or>
                    <Universal:depth />
                    <Lt>
                        <Arg Name="LegDepth" />
                        <Sub>
                            <Arg Name="DepthDeviationSlow" />
                        </Sub>
                    </Lt>
                </Or>
            </While>
            <Aggregate Id="dive">
                <Parallel />
                <Aggregate Id="ThrusterDive">
                    <While>
                        <Arg Name="FastSpeed" />
                        <Gt>
                            <Units:meter_per_second />
                            <Value>0.0</Value>
                        </Gt>
                    </While>
                    <Guidance:Mass>
                        <Parallel />
                        <Setting>
                            <Guidance:Mass.position />
                            <Arg Name="MassDefault" />
                        </Setting>
                    </Guidance:Mass>
                    <Guidance:SetSpeed>
                        <Parallel />
                        <Setting>
                            <Guidance:SetSpeed.speed />
                            <Arg Name="FastSpeed" />
                        </Setting>
                    </Guidance:SetSpeed>
                </Aggregate>
                <Guidance:Pitch>
                    <Parallel />
                    <Setting>
                        <Guidance:Pitch.depth />
                        <Arg Name="LegDepth" />
                    </Setting>
                </Guidance:Pitch>
            </Aggregate>
        </Aggregate>
        <Aggregate Id="MaintainDepthSlow">
            <While>
                <Not>
                    <IsNaN>
                        <Arg Name="SlowSpeed" />
                    </IsNaN>
                </Not>
                <And>
                    <Arg Name="DiveMode" />
                    <Eq>
                        <Arg Name="MaintainDepth" />
                    </Eq>
                </And>
                <And>
                    <Universal:depth />
                    <Le>
                        <Arg Name="LegDepth" />
                        <Add>
                            <Arg Name="DepthDeviationSlow" />
                        </Add>
                    </Le>
                </And>
                <And>
                    <Universal:depth />
                    <Ge>
                        <Arg Name="LegDepth" />
                        <Sub>
                            <Arg Name="DepthDeviationSlow" />
                        </Sub>
                    </Ge>
                </And>
            </While>
            <Guidance:SetSpeed>
                <Parallel />
                <Setting>
                    <Guidance:SetSpeed.speed />
                    <Arg Name="SlowSpeed" />
                </Setting>
            </Guidance:SetSpeed>
            <Assign>
                <Parallel />
                <Control:VerticalControl.depthDeadband />
                <Arg Name="DepthDeviationSlow" />
                <Add>
                    <Units:meter />
                    <Value>3</Value>
                </Add>
            </Assign>
            <Guidance:Buoyancy>
                <Parallel />
                <Setting>
                    <Guidance:Buoyancy.position />
                    <Units:cubic_centimeter />
                    <Value>NaN</Value>
                </Setting>
            </Guidance:Buoyancy>
            <Guidance:Pitch>
                <Parallel />
                <Setting>
                    <Guidance:Pitch.depth />
                    <Arg Name="LegDepth" />
                </Setting>
            </Guidance:Pitch>
        </Aggregate>
    </Aggregate>
    <Call RefId="SurfaceComms" Id="StartingMission" />
    <Aggregate Id="Lap">
        <Sequence Repeat="Repeat" />
        <Aggregate Id="Dive">
            <While>
                <Not>
                    <Arg Name="DiveMode" />
                    <Eq>
                        <Arg Name="DoingComms" />
                    </Eq>
                </Not>
            </While>
            <Call RefId="DiveCmd" />
        </Aggregate>
        <Aggregate Id="DepthByLap">
            <Sequence />
            <Break>
                <Arg Name="DepthPerLeg" />
            </Break>
            <Assign>
                <Sequence />
                <Arg Name="LegDepth" />
                <Arg Name="Depth1" />
            </Assign>
            <Aggregate Id="Wpt1">
                <Sequence />
                <Guidance:Waypoint>
                    <Sequence />
                    <Setting>
                        <Guidance:Waypoint.latitude />
                        <Arg Name="Lat1" />
                    </Setting>
                    <Setting>
                        <Guidance:Waypoint.longitude />
                        <Arg Name="Lon1" />
                    </Setting>
                </Guidance:Waypoint>
            </Aggregate>
            <Aggregate Id="Wpt2">
                <Sequence />
                <Guidance:Waypoint>
                    <Sequence />
                    <Setting>
                        <Guidance:Waypoint.latitude />
                        <Arg Name="Lat2" />
                    </Setting>
                    <Setting>
                        <Guidance:Waypoint.longitude />
                        <Arg Name="Lon2" />
                    </Setting>
                </Guidance:Waypoint>
            </Aggregate>
            <Aggregate Id="Wpt3">
                <Sequence />
                <Guidance:Waypoint>
                    <Sequence />
                    <Setting>
                        <Guidance:Waypoint.latitude />
                        <Arg Name="Lat3" />
                    </Setting>
                    <Setting>
                        <Guidance:Waypoint.longitude />
                        <Arg Name="Lon3" />
                    </Setting>
                </Guidance:Waypoint>
            </Aggregate>
            <Aggregate Id="Wpt4">
                <Sequence />
                <Guidance:Waypoint>
                    <Sequence />
                    <Setting>
                        <Guidance:Waypoint.latitude />
                        <Arg Name="Lat4" />
                    </Setting>
                    <Setting>
                        <Guidance:Waypoint.longitude />
                        <Arg Name="Lon4" />
                    </Setting>
                </Guidance:Waypoint>
            </Aggregate>
            <Aggregate Id="Wpt5">
                <Sequence />
                <Guidance:Waypoint>
                    <Sequence />
                    <Setting>
                        <Guidance:Waypoint.latitude />
                        <Arg Name="Lat5" />
                    </Setting>
                    <Setting>
                        <Guidance:Waypoint.longitude />
                        <Arg Name="Lon5" />
                    </Setting>
                </Guidance:Waypoint>
            </Aggregate>
            <Aggregate Id="Wpt6">
                <Sequence />
                <Guidance:Waypoint>
                    <Sequence />
                    <Setting>
                        <Guidance:Waypoint.latitude />
                        <Arg Name="Lat6" />
                    </Setting>
                    <Setting>
                        <Guidance:Waypoint.longitude />
                        <Arg Name="Lon6" />
                    </Setting>
                </Guidance:Waypoint>
            </Aggregate>
            <Aggregate Id="Wpt7">
                <Sequence />
                <Guidance:Waypoint>
                    <Sequence />
                    <Setting>
                        <Guidance:Waypoint.latitude />
                        <Arg Name="Lat7" />
                    </Setting>
                    <Setting>
                        <Guidance:Waypoint.longitude />
                        <Arg Name="Lon7" />
                    </Setting>
                </Guidance:Waypoint>
            </Aggregate>
            <Aggregate Id="Wpt8">
                <Sequence />
                <Guidance:Waypoint>
                    <Sequence />
                    <Setting>
                        <Guidance:Waypoint.latitude />
                        <Arg Name="Lat8" />
                    </Setting>
                    <Setting>
                        <Guidance:Waypoint.longitude />
                        <Arg Name="Lon8" />
                    </Setting>
                </Guidance:Waypoint>
            </Aggregate>
            <Aggregate Id="Leg2">
                <Sequence />
                <Break>
                    <IsNaN>
                        <Arg Name="Depth2" />
                    </IsNaN>
                </Break>
                <Syslog Severity="Important">
                    Transiting waypoints at depth 
                    <Arg Name="Depth2" />
                    <Units:meter />
                </Syslog>
                <Assign>
                    <Sequence />
                    <Arg Name="LegDepth" />
                    <Arg Name="Depth2" />
                </Assign>
                <Aggregate Id="Wpt1">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat1" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon1" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt2">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat2" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon2" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt3">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat3" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon3" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt4">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat4" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon4" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt5">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat5" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon5" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt6">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat6" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon6" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt7">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat7" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon7" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt8">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat8" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon8" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
            </Aggregate>
            <Aggregate Id="Leg3">
                <Sequence />
                <Break>
                    <IsNaN>
                        <Arg Name="Depth3" />
                    </IsNaN>
                </Break>
                <Syslog Severity="Important">
                    Transiting waypoints at depth 
                    <Arg Name="Depth3" />
                    <Units:meter />
                </Syslog>
                <Assign>
                    <Sequence />
                    <Arg Name="LegDepth" />
                    <Arg Name="Depth3" />
                </Assign>
                <Aggregate Id="Wpt1">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat1" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon1" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt2">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat2" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon2" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt3">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat3" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon3" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt4">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat4" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon4" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt5">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat5" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon5" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt6">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat6" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon6" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt7">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat7" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon7" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt8">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat8" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon8" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
            </Aggregate>
            <Aggregate Id="Leg4">
                <Sequence />
                <Break>
                    <IsNaN>
                        <Arg Name="Depth4" />
                    </IsNaN>
                </Break>
                <Syslog Severity="Important">
                    Transiting waypoints at depth 
                    <Arg Name="Depth4" />
                    <Units:meter />
                </Syslog>
                <Assign>
                    <Sequence />
                    <Arg Name="LegDepth" />
                    <Arg Name="Depth4" />
                </Assign>
                <Aggregate Id="Wpt1">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat1" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon1" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt2">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat2" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon2" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt3">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat3" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon3" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt4">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat4" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon4" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt5">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat5" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon5" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt6">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat6" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon6" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt7">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat7" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon7" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt8">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat8" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon8" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
            </Aggregate>
            <Aggregate Id="Leg5">
                <Sequence />
                <Break>
                    <IsNaN>
                        <Arg Name="Depth5" />
                    </IsNaN>
                </Break>
                <Syslog Severity="Important">
                    Transiting waypoints at depth 
                    <Arg Name="Depth5" />
                    <Units:meter />
                </Syslog>
                <Assign>
                    <Sequence />
                    <Arg Name="LegDepth" />
                    <Arg Name="Depth5" />
                </Assign>
                <Aggregate Id="Wpt1">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat1" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon1" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt2">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat2" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon2" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt3">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat3" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon3" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt4">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat4" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon4" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt5">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat5" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon5" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt6">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat6" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon6" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt7">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat7" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon7" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt8">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat8" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon8" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
            </Aggregate>
            <Aggregate Id="Leg6">
                <Sequence />
                <Break>
                    <IsNaN>
                        <Arg Name="Depth6" />
                    </IsNaN>
                </Break>
                <Syslog Severity="Important">
                    Transiting waypoints at depth 
                    <Arg Name="Depth6" />
                    <Units:meter />
                </Syslog>
                <Assign>
                    <Sequence />
                    <Arg Name="LegDepth" />
                    <Arg Name="Depth6" />
                </Assign>
                <Aggregate Id="Wpt1">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat1" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon1" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt2">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat2" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon2" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt3">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat3" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon3" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt4">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat4" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon4" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt5">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat5" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon5" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt6">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat6" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon6" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt7">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat7" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon7" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt8">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat8" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon8" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
            </Aggregate>
            <Aggregate Id="Leg7">
                <Sequence />
                <Break>
                    <IsNaN>
                        <Arg Name="Depth7" />
                    </IsNaN>
                </Break>
                <Syslog Severity="Important">
                    Transiting waypoints at depth 
                    <Arg Name="Depth7" />
                    <Units:meter />
                </Syslog>
                <Assign>
                    <Sequence />
                    <Arg Name="LegDepth" />
                    <Arg Name="Depth7" />
                </Assign>
                <Aggregate Id="Wpt1">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat1" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon1" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt2">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat2" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon2" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt3">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat3" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon3" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt4">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat4" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon4" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt5">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat5" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon5" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt6">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat6" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon6" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt7">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat7" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon7" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt8">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat8" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon8" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
            </Aggregate>
            <Aggregate Id="Leg8">
                <Sequence />
                <Break>
                    <IsNaN>
                        <Arg Name="Depth8" />
                    </IsNaN>
                </Break>
                <Syslog Severity="Important">
                    Transiting waypoints at depth 
                    <Arg Name="Depth8" />
                    <Units:meter />
                </Syslog>
                <Assign>
                    <Sequence />
                    <Arg Name="LegDepth" />
                    <Arg Name="Depth8" />
                </Assign>
                <Aggregate Id="Wpt1">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat1" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon1" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt2">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat2" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon2" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt3">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat3" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon3" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt4">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat4" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon4" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt5">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat5" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon5" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt6">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat6" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon6" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt7">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat7" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon7" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt8">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat8" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon8" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
            </Aggregate>
        </Aggregate>
        <Aggregate Id="DepthByLeg">
            <Sequence />
            <Break>
                <Not>
                    <Arg Name="DepthPerLeg" />
                </Not>
            </Break>
            <Aggregate Id="Leg1">
                <Sequence />
                <Assign>
                    <Sequence />
                    <Arg Name="LegDepth" />
                    <Arg Name="Depth1" />
                </Assign>
                <Guidance:Waypoint>
                    <Sequence />
                    <Setting>
                        <Guidance:Waypoint.latitude />
                        <Arg Name="Lat1" />
                    </Setting>
                    <Setting>
                        <Guidance:Waypoint.longitude />
                        <Arg Name="Lon1" />
                    </Setting>
                </Guidance:Waypoint>
            </Aggregate>
            <Aggregate Id="Leg2">
                <Sequence />
                <Break>
                    <IsNaN>
                        <Arg Name="Depth2" />
                    </IsNaN>
                </Break>
                <Syslog Severity="Info">
                    Transiting to next waypoint at depth 
                    <Arg Name="Depth2" />
                    <Units:meter />
                </Syslog>
                <Assign>
                    <Sequence />
                    <Arg Name="LegDepth" />
                    <Arg Name="Depth2" />
                </Assign>
                <Aggregate Id="Wpt2">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat2" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon2" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
            </Aggregate>
            <Aggregate Id="Leg3">
                <Sequence />
                <Break>
                    <IsNaN>
                        <Arg Name="Depth3" />
                    </IsNaN>
                </Break>
                <Syslog Severity="Info">
                    Transiting to next waypoint at depth 
                    <Arg Name="Depth3" />
                    <Units:meter />
                </Syslog>
                <Assign>
                    <Sequence />
                    <Arg Name="LegDepth" />
                    <Arg Name="Depth3" />
                </Assign>
                <Aggregate Id="Wpt3">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat3" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon3" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
            </Aggregate>
            <Aggregate Id="Leg4">
                <Sequence />
                <Break>
                    <IsNaN>
                        <Arg Name="Depth4" />
                    </IsNaN>
                </Break>
                <Syslog Severity="Info">
                    Transiting to next waypoint at depth 
                    <Arg Name="Depth4" />
                    <Units:meter />
                </Syslog>
                <Assign>
                    <Sequence />
                    <Arg Name="LegDepth" />
                    <Arg Name="Depth4" />
                </Assign>
                <Aggregate Id="Wpt4">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat4" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon4" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
            </Aggregate>
            <Aggregate Id="Leg5">
                <Sequence />
                <Break>
                    <IsNaN>
                        <Arg Name="Depth5" />
                    </IsNaN>
                </Break>
                <Syslog Severity="Info">
                    Transiting to next waypoint at depth 
                    <Arg Name="Depth5" />
                    <Units:meter />
                </Syslog>
                <Assign>
                    <Sequence />
                    <Arg Name="LegDepth" />
                    <Arg Name="Depth5" />
                </Assign>
                <Aggregate Id="Wpt5">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat5" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon5" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
            </Aggregate>
            <Aggregate Id="Leg6">
                <Sequence />
                <Break>
                    <IsNaN>
                        <Arg Name="Depth6" />
                    </IsNaN>
                </Break>
                <Syslog Severity="Info">
                    Transiting to next waypoint at depth 
                    <Arg Name="Depth6" />
                    <Units:meter />
                </Syslog>
                <Assign>
                    <Sequence />
                    <Arg Name="LegDepth" />
                    <Arg Name="Depth6" />
                </Assign>
                <Aggregate Id="Wpt6">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat6" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon6" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
            </Aggregate>
            <Aggregate Id="Leg7">
                <Sequence />
                <Break>
                    <IsNaN>
                        <Arg Name="Depth7" />
                    </IsNaN>
                </Break>
                <Syslog Severity="Info">
                    Transiting to next waypoint at depth 
                    <Arg Name="Depth7" />
                    <Units:meter />
                </Syslog>
                <Assign>
                    <Sequence />
                    <Arg Name="LegDepth" />
                    <Arg Name="Depth7" />
                </Assign>
                <Aggregate Id="Wpt7">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat7" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon7" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
            </Aggregate>
            <Aggregate Id="Leg8">
                <Sequence />
                <Break>
                    <IsNaN>
                        <Arg Name="Depth8" />
                    </IsNaN>
                </Break>
                <Syslog Severity="Info">
                    Transiting to next waypoint at depth 
                    <Arg Name="Depth8" />
                    <Units:meter />
                </Syslog>
                <Assign>
                    <Sequence />
                    <Arg Name="LegDepth" />
                    <Arg Name="Depth8" />
                </Assign>
                <Aggregate Id="Wpt8">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat8" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon8" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
            </Aggregate>
        </Aggregate>
    </Aggregate>
</Mission>

2025-03-13T03:44:29.176Z,1741837469.176 [MissionManager](INFO): DefineArg sci2_noyo_optim.MissionTimeout = 2.000000 h
2025-03-13T03:44:29.178Z,1741837469.178 [MissionManager](INFO): DefineArg sci2_noyo_optim.NeedCommsTime = 60.000000 min
2025-03-13T03:44:29.205Z,1741837469.205 [MissionManager](INFO): DefineArg sci2_noyo_optim.Depth1 = 35.000000 m
2025-03-13T03:44:29.219Z,1741837469.219 [MissionManager](INFO): DefineArg sci2_noyo_optim.Depth2 = nan m
2025-03-13T03:44:29.221Z,1741837469.221 [MissionManager](INFO): DefineArg sci2_noyo_optim.Depth3 = nan m
2025-03-13T03:44:29.223Z,1741837469.223 [MissionManager](INFO): DefineArg sci2_noyo_optim.Depth4 = nan m
2025-03-13T03:44:29.225Z,1741837469.225 [MissionManager](INFO): DefineArg sci2_noyo_optim.Depth5 = nan m
2025-03-13T03:44:29.246Z,1741837469.246 [MissionManager](INFO): DefineArg sci2_noyo_optim.Depth6 = nan m
2025-03-13T03:44:29.248Z,1741837469.248 [MissionManager](INFO): DefineArg sci2_noyo_optim.Depth7 = nan m
2025-03-13T03:44:29.250Z,1741837469.250 [MissionManager](INFO): DefineArg sci2_noyo_optim.Depth8 = nan m
2025-03-13T03:44:29.276Z,1741837469.276 [MissionManager](INFO): DefineArg sci2_noyo_optim.DepthPerLeg = 0 bool
2025-03-13T03:44:29.278Z,1741837469.278 [MissionManager](INFO): DefineArg sci2_noyo_optim.Repeat = 1.000000 count
2025-03-13T03:44:29.280Z,1741837469.280 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lat1 = nan arcdeg
2025-03-13T03:44:29.282Z,1741837469.282 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lat2 = nan arcdeg
2025-03-13T03:44:29.300Z,1741837469.300 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lat3 = nan arcdeg
2025-03-13T03:44:29.302Z,1741837469.302 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lat4 = nan arcdeg
2025-03-13T03:44:29.305Z,1741837469.305 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lat5 = nan arcdeg
2025-03-13T03:44:29.307Z,1741837469.307 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lat6 = nan arcdeg
2025-03-13T03:44:29.334Z,1741837469.334 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lat7 = nan arcdeg
2025-03-13T03:44:29.336Z,1741837469.336 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lat8 = nan arcdeg
2025-03-13T03:44:29.338Z,1741837469.338 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lon1 = nan arcdeg
2025-03-13T03:44:29.355Z,1741837469.355 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lon2 = nan arcdeg
2025-03-13T03:44:29.357Z,1741837469.357 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lon3 = nan arcdeg
2025-03-13T03:44:29.371Z,1741837469.371 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lon4 = nan arcdeg
2025-03-13T03:44:29.373Z,1741837469.374 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lon5 = nan arcdeg
2025-03-13T03:44:29.388Z,1741837469.388 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lon6 = nan arcdeg
2025-03-13T03:44:29.390Z,1741837469.390 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lon7 = nan arcdeg
2025-03-13T03:44:29.400Z,1741837469.400 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lon8 = nan arcdeg
2025-03-13T03:44:29.402Z,1741837469.402 [MissionManager](INFO): DefineArg sci2_noyo_optim.FastSpeed = 1.000000 m/s
2025-03-13T03:44:29.425Z,1741837469.425 [MissionManager](INFO): DefineArg sci2_noyo_optim.ApproachDepth = 30.000000 m
2025-03-13T03:44:29.427Z,1741837469.427 [MissionManager](INFO): DefineArg sci2_noyo_optim.ApproachSpeed = 0.700000 m/s
2025-03-13T03:44:29.447Z,1741837469.447 [MissionManager](INFO): DefineArg sci2_noyo_optim.ApproachDepthRate = 0.050000 m/s
2025-03-13T03:44:29.457Z,1741837469.457 [MissionManager](INFO): DefineArg sci2_noyo_optim.ApproachPitchLimit = 20.000000 arcdeg
2025-03-13T03:44:29.472Z,1741837469.472 [MissionManager](INFO): DefineArg sci2_noyo_optim.ApproachDepthTimeout = 15.000000 min
2025-03-13T03:44:29.474Z,1741837469.474 [MissionManager](INFO): DefineArg sci2_noyo_optim.ApproachSettleTimePreDive = 1.000000 min
2025-03-13T03:44:29.490Z,1741837469.490 [MissionManager](INFO): DefineArg sci2_noyo_optim.ApproachSettleTimePostDive = 3.000000 min
2025-03-13T03:44:29.501Z,1741837469.501 [MissionManager](INFO): DefineArg sci2_noyo_optim.kpDepth = 0.070000 rad/m
2025-03-13T03:44:29.507Z,1741837469.507 [MissionManager](INFO): DefineArg sci2_noyo_optim.SlowSpeed = 0.250000 m/s
2025-03-13T03:44:29.510Z,1741837469.510 [MissionManager](INFO): DefineArg sci2_noyo_optim.DepthDeviationSlow = 3.000000 m
2025-03-13T03:44:29.548Z,1741837469.548 [MissionManager](INFO): DefineArg sci2_noyo_optim.BuoyancyNeutral = 373.087250 cc
2025-03-13T03:44:29.563Z,1741837469.563 [MissionManager](INFO): DefineArg sci2_noyo_optim.MassDefault = 0.684636 cm
2025-03-13T03:44:29.565Z,1741837469.565 [MissionManager](INFO): DefineArg sci2_noyo_optim.MinAltitude = 2.000000 m
2025-03-13T03:44:29.584Z,1741837469.584 [MissionManager](INFO): DefineArg sci2_noyo_optim.MaxDepth = 50.000000 m
2025-03-13T03:44:29.586Z,1741837469.586 [MissionManager](INFO): DefineArg sci2_noyo_optim.MinOffshore = 2.000000 km
2025-03-13T03:44:29.605Z,1741837469.605 [MissionManager](INFO): DefineOutput sci2_noyo_optim.DiveMode = 0.000000 count
2025-03-13T03:44:29.615Z,1741837469.615 [MissionManager](INFO): DefineOutput sci2_noyo_optim.DoingComms = 0.000000 count
2025-03-13T03:44:29.618Z,1741837469.618 [MissionManager](INFO): DefineOutput sci2_noyo_optim.InitialDive = 1.000000 count
2025-03-13T03:44:29.628Z,1741837469.628 [MissionManager](INFO): DefineOutput sci2_noyo_optim.SettleAtDepth = 2.000000 count
2025-03-13T03:44:29.631Z,1741837469.631 [MissionManager](INFO): DefineOutput sci2_noyo_optim.MaintainDepth = 3.000000 count
2025-03-13T03:44:29.638Z,1741837469.638 [MissionManager](INFO): DefineOutput sci2_noyo_optim.LegDepth = 35.000000 m
2025-03-13T03:44:29.638Z,1741837469.638 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/Science.tl
2025-03-13T03:44:29.638Z,1741837469.638 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/Science.tl
2025-03-13T03:44:29.658Z,1741837469.658 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/Science.tl
2025-03-13T03:44:34.244Z,1741837474.244 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/Science.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="Science">
    <DefineArg Name="PeakDetectChlActive">
        <False />
    </DefineArg>
    <DefineArg Name="EdgeDetectChlActive">
        <False />
    </DefineArg>
    <DefineArg Name="TimeWindowPeakReport">
        <Units:minute />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="HighestChlPeakReportActive">
        <False />
    </DefineArg>
    <DefineArg Name="HighestSaltPeakReportActive">
        <False />
    </DefineArg>
    <DefineArg Name="HighestOilPeakReportActive">
        <False />
    </DefineArg>
    <DefineArg Name="PatchTracking">
        <False />
    </DefineArg>
    <DefineArg Name="FilterWidthHorizontal">
        <Units:count />
        <Value>3</Value>
    </DefineArg>
    <DefineArg Name="NumProfilesSlidingwindow">
        <Units:count />
        <Value>100</Value>
    </DefineArg>
    <DefineArg Name="OffPeakFractionHorizontal">
        <Units:percent />
        <Value>80</Value>
    </DefineArg>
    <DefineArg Name="PeakDetectNO3Active">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectOilActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectFDOMActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectSalinityActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreLMavgROIActive">
        <False />
    </DefineArg>
    <DefineArg Name="EdgeDetectPlanktivoreLMavgROIActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreHMavgROIActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreDiatomsActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreDinoflagellatesActive">
        <False />
    </DefineArg>
    <DefineArg Name="UpwardDerivativeOfTemperatureActive">
        <False />
    </DefineArg>
    <DefineArg Name="EnabledAanderaaO2">
        <Science:Aanderaa_O2.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledNeilBrown">
        <Science:CTD_NeilBrown.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledSeabird">
        <Science:CTD_Seabird.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledWetLabsBB2FL">
        <Science:WetLabsBB2FL.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledWetLabsSeaOWL_UV_A">
        <Science:WetLabsSeaOWL_UV_A.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledWetLabsUBAT">
        <Science:WetLabsUBAT.loadAtStartup />
    </DefineArg>
    <DefineArg Name="LowPassWindowLength">
        <Units:count />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="MedianFilterLen">
        <Units:count />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="ShallowBound">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="DeepBound">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="DepChangeThreshForAttitudeFlip">
        <Units:meter />
        <Value>2.0</Value>
    </DefineArg>
    <DefineArg Name="OffPeakFractionVertical">
        <Units:percent />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="ChlPeakThresh">
        <Units:microgram_per_liter />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="ChlThreshTriggerActive">
        <False />
    </DefineArg>
    <DefineArg Name="ChlLowerThresh">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="ChlUpperThresh">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="NumProfilesThresh">
        <Units:count />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="PlanktivoreLMavgROIPeakThresh">
        <Units:count_per_second />
        <Value>0</Value>
    </DefineArg>
    <DefineOutput Name="GoDown">
        <True />
    </DefineOutput>
    <DefineOutput Name="PeakChl">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChl">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChlDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChlTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChlLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChlLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3">
        <Units:micromole_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3Depth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3Latitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3Longitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOil">
        <Units:kilogram_per_cubic_meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOilDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOilLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOilLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOM">
        <Units:part_per_billion />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSalt">
        <Units:practical_salinity_unit />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROI">
        <Units:count_per_second />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROIDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROITemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROILatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROILongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROI">
        <Units:count_per_second />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROIDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROITemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROILatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROILongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROI">
        <Units:count_per_second />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROIDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROITemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROILatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROILongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatoms">
        <Units:count_per_milliliter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellates">
        <Units:count_per_milliliter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChl">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlDistance">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSalt">
        <Units:practical_salinity_unit />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltDistance">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOil">
        <Units:practical_salinity_unit />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilDistance">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="TriggeredOnChl">
        <False />
    </DefineOutput>
    <DefineOutput Name="ChlTriggering">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <Parallel />
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledAanderaaO2" />
        </While>
        <Universal:mass_concentration_of_oxygen_in_sea_water />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledNeilBrown" />
            <Or>
                <Arg Name="EnabledSeabird" />
            </Or>
        </While>
        <Universal:sea_water_temperature />
        <Universal:sea_water_salinity />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledSeabird" />
        </While>
        <Science:CTD_Seabird.sea_water_temperature />
        <Science:CTD_Seabird.sea_water_salinity />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledNeilBrown" />
            <Or>
                <Arg Name="EnabledSeabird" />
            </Or>
            <And>
                <Arg Name="UpwardDerivativeOfTemperatureActive" />
            </And>
        </While>
        <Universal:upward_derivative_of_sea_water_temperature />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledWetLabsBB2FL" />
            <Or>
                <Arg Name="PeakDetectChlActive" />
            </Or>
        </While>
        <Universal:mass_concentration_of_chlorophyll_in_sea_water />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledWetLabsUBAT" />
        </While>
        <Science:WetLabsUBAT.average_bioluminescence />
    </ReadData>
    <ReadData Id="Read_Oil" Strategy="MinError">
        <While>
            <Arg Name="EnabledWetLabsSeaOWL_UV_A" />
            <Or>
                <Arg Name="PeakDetectOilActive" />
            </Or>
        </While>
        <Universal:mass_concentration_of_petroleum_hydrocarbons_in_sea_water />
    </ReadData>
    <Aggregate Id="OceanCurrent">
        <Sequence />
        <Estimation:CurrentEstimator>
            <Parallel />
        </Estimation:CurrentEstimator>
    </Aggregate>
    <Aggregate Id="PeakDetectChl">
        <While>
            <Arg Name="PeakDetectChlActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:mass_concentration_of_chlorophyll_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakChl">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakChlDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakChlTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakChlLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakChlLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakChl" />
            <Arg Name="PeakChlDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="EdgeDetectChl">
        <While>
            <Arg Name="EdgeDetectChlActive" />
        </While>
        <Syslog Severity="Debug">EdgeDetectVsDepth</Syslog>
        <Trigger:EdgeDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:EdgeDetectVsDepth.detect />
                <Universal:mass_concentration_of_chlorophyll_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFraction />
                <Arg Name="OffPeakFractionVertical" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.peakThresh />
                <Arg Name="ChlPeakThresh" />
            </Setting>
            <OutputArg Name="GoDown">
                <Trigger:EdgeDetectVsDepth.goDown />
            </OutputArg>
            <OutputArg Name="PeakChl">
                <Trigger:EdgeDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakChlDepth">
                <Trigger:EdgeDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakChlTemperature">
                <Trigger:EdgeDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakChlLatitude">
                <Trigger:EdgeDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakChlLongitude">
                <Trigger:EdgeDetectVsDepth.peakLongitude />
            </OutputArg>
            <OutputArg Name="EdgeChl">
                <Trigger:EdgeDetectVsDepth.edgeDetect />
            </OutputArg>
            <OutputArg Name="EdgeChlDepth">
                <Trigger:EdgeDetectVsDepth.edgeDepth />
            </OutputArg>
            <OutputArg Name="EdgeChlTemperature">
                <Trigger:EdgeDetectVsDepth.edgeTemperature />
            </OutputArg>
            <OutputArg Name="EdgeChlLatitude">
                <Trigger:EdgeDetectVsDepth.edgeLatitude />
            </OutputArg>
            <OutputArg Name="EdgeChlLongitude">
                <Trigger:EdgeDetectVsDepth.edgeLongitude />
            </OutputArg>
        </Trigger:EdgeDetectVsDepth>
        <Syslog Severity="Info">
            GoDown, ChlPeakThresh, PeakChl, PeakChlDepth, EdgeChl, EdgeChlDepth = 
            <Arg Name="GoDown" />
            <Units:bool />
            , 
            <Arg Name="ChlPeakThresh" />
            <Units:microgram_per_liter />
            , 
            <Arg Name="PeakChl" />
            <Units:microgram_per_liter />
            , 
            <Arg Name="PeakChlDepth" />
            <Units:meter />
            , 
            <Arg Name="EdgeChl" />
            <Units:microgram_per_liter />
            , 
            <Arg Name="EdgeChlDepth" />
            <Units:meter />
        </Syslog>
        <SendData Service="Express">
            <Arg Name="PeakChl" />
            <Arg Name="PeakChlDepth" />
            <Arg Name="EdgeChl" />
            <Arg Name="EdgeChlDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="HighestChlPeakReport">
        <While>
            <Arg Name="HighestChlPeakReportActive" />
        </While>
        <Trigger:PeakDetectHorizontal>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectHorizontal.detectFrom />
                <Arg Name="PeakChl" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.depthFrom />
                <Arg Name="PeakChlDepth" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.latitudeFrom />
                <Arg Name="PeakChlLatitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.longitudeFrom />
                <Arg Name="PeakChlLongitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.patchTracking />
                <Arg Name="PatchTracking" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.filterWidth />
                <Arg Name="FilterWidthHorizontal" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.numProfilesSlidingwindow />
                <Arg Name="NumProfilesSlidingwindow" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.offPeakFraction />
                <Arg Name="OffPeakFractionHorizontal" />
            </Setting>
            <OutputArg Name="PatchChl">
                <Trigger:PeakDetectHorizontal.peakDetect />
            </OutputArg>
            <OutputArg Name="PatchChlDepth">
                <Trigger:PeakDetectHorizontal.peakDepth />
            </OutputArg>
            <OutputArg Name="PatchChlLatitude">
                <Trigger:PeakDetectHorizontal.peakLatitude />
            </OutputArg>
            <OutputArg Name="PatchChlLongitude">
                <Trigger:PeakDetectHorizontal.peakLongitude />
            </OutputArg>
            <OutputArg Name="PatchChlDistance">
                <Trigger:PeakDetectHorizontal.peakDistance />
            </OutputArg>
        </Trigger:PeakDetectHorizontal>
    </Aggregate>
    <Aggregate Id="PeakDetectNO3">
        <While>
            <Arg Name="PeakDetectNO3Active" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:mole_concentration_of_nitrate_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <OutputArg Name="PeakNO3">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakNO3Depth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakNO3Latitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakNO3Longitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakNO3" />
            <Arg Name="PeakNO3Depth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectOil">
        <While>
            <Arg Name="PeakDetectOilActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:mass_concentration_of_petroleum_hydrocarbons_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <OutputArg Name="PeakOil">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakOilDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakOilLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakOilLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakOil" />
            <Arg Name="PeakOilDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="HighestOilPeakReport">
        <While>
            <Arg Name="HighestOilPeakReportActive" />
        </While>
        <Trigger:PeakDetectHorizontal>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectHorizontal.detectFrom />
                <Arg Name="PeakOil" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.depthFrom />
                <Arg Name="PeakOilDepth" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.latitudeFrom />
                <Arg Name="PeakOilLatitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.longitudeFrom />
                <Arg Name="PeakOilLongitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.patchTracking />
                <Arg Name="PatchTracking" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.filterWidth />
                <Arg Name="FilterWidthHorizontal" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.numProfilesSlidingwindow />
                <Arg Name="NumProfilesSlidingwindow" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.offPeakFraction />
                <Arg Name="OffPeakFractionHorizontal" />
            </Setting>
            <OutputArg Name="PatchOil">
                <Trigger:PeakDetectHorizontal.peakDetect />
            </OutputArg>
            <OutputArg Name="PatchOilDepth">
                <Trigger:PeakDetectHorizontal.peakDepth />
            </OutputArg>
            <OutputArg Name="PatchOilLatitude">
                <Trigger:PeakDetectHorizontal.peakLatitude />
            </OutputArg>
            <OutputArg Name="PatchOilLongitude">
                <Trigger:PeakDetectHorizontal.peakLongitude />
            </OutputArg>
            <OutputArg Name="PatchOilDistance">
                <Trigger:PeakDetectHorizontal.peakDistance />
            </OutputArg>
        </Trigger:PeakDetectHorizontal>
    </Aggregate>
    <Aggregate Id="PeakDetectFDOM">
        <While>
            <Arg Name="PeakDetectFDOMActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:concentration_of_colored_dissolved_organic_matter_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <OutputArg Name="PeakFDOM">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakFDOMDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakFDOMTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakFDOMLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakFDOMLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakFDOM" />
            <Arg Name="PeakFDOMDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectSalinity">
        <While>
            <Arg Name="PeakDetectSalinityActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:sea_water_salinity />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakSalt">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakSaltDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakSaltTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakSaltLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakSaltLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakSalt" />
            <Arg Name="PeakSaltDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="HighestSaltPeakReport">
        <While>
            <Arg Name="HighestSaltPeakReportActive" />
        </While>
        <Trigger:PeakDetectHorizontal>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectHorizontal.detectFrom />
                <Arg Name="PeakSalt" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.depthFrom />
                <Arg Name="PeakSaltDepth" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.latitudeFrom />
                <Arg Name="PeakSaltLatitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.longitudeFrom />
                <Arg Name="PeakSaltLongitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.patchTracking />
                <Arg Name="PatchTracking" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.filterWidth />
                <Arg Name="FilterWidthHorizontal" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.numProfilesSlidingwindow />
                <Arg Name="NumProfilesSlidingwindow" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.offPeakFraction />
                <Arg Name="OffPeakFractionHorizontal" />
            </Setting>
            <OutputArg Name="PatchSalt">
                <Trigger:PeakDetectHorizontal.peakDetect />
            </OutputArg>
            <OutputArg Name="PatchSaltDepth">
                <Trigger:PeakDetectHorizontal.peakDepth />
            </OutputArg>
            <OutputArg Name="PatchSaltLatitude">
                <Trigger:PeakDetectHorizontal.peakLatitude />
            </OutputArg>
            <OutputArg Name="PatchSaltLongitude">
                <Trigger:PeakDetectHorizontal.peakLongitude />
            </OutputArg>
            <OutputArg Name="PatchSaltDistance">
                <Trigger:PeakDetectHorizontal.peakDistance />
            </OutputArg>
        </Trigger:PeakDetectHorizontal>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreLMavgROI">
        <While>
            <Arg Name="PeakDetectPlanktivoreLMavgROIActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_LM_AvgRois</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreLMavgROI">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROIDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROITemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROILatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROILongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreLMavgROI" />
            <Arg Name="PeakPlanktivoreLMavgROIDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="EdgeDetectPlanktivoreLMavgROI">
        <While>
            <Arg Name="EdgeDetectPlanktivoreLMavgROIActive" />
        </While>
        <Syslog Severity="Debug">EdgeDetectVsDepth</Syslog>
        <Trigger:EdgeDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:EdgeDetectVsDepth.detect />
                <String>_.planktivore_LM_AvgRois</String>
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFraction />
                <Arg Name="OffPeakFractionVertical" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.peakThresh />
                <Arg Name="PlanktivoreLMavgROIPeakThresh" />
            </Setting>
            <OutputArg Name="GoDown">
                <Trigger:EdgeDetectVsDepth.goDown />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROI">
                <Trigger:EdgeDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROIDepth">
                <Trigger:EdgeDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROITemperature">
                <Trigger:EdgeDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROILatitude">
                <Trigger:EdgeDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROILongitude">
                <Trigger:EdgeDetectVsDepth.peakLongitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROI">
                <Trigger:EdgeDetectVsDepth.edgeDetect />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROIDepth">
                <Trigger:EdgeDetectVsDepth.edgeDepth />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROITemperature">
                <Trigger:EdgeDetectVsDepth.edgeTemperature />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROILatitude">
                <Trigger:EdgeDetectVsDepth.edgeLatitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROILongitude">
                <Trigger:EdgeDetectVsDepth.edgeLongitude />
            </OutputArg>
        </Trigger:EdgeDetectVsDepth>
        <Syslog Severity="Important">
            GoDown, PlanktivoreLMavgROIPeakThresh, PeakPlanktivoreLMavgROI, PeakPlanktivoreLMavgROIDepth, EdgePlanktivoreLMavgROI, EdgePlanktivoreLMavgROIDepth = 
            <Arg Name="GoDown" />
            <Units:bool />
            , 
            <Arg Name="PlanktivoreLMavgROIPeakThresh" />
            <Units:microgram_per_liter />
            , 
            <Arg Name="PeakPlanktivoreLMavgROI" />
            <Units:microgram_per_liter />
            , 
            <Arg Name="PeakPlanktivoreLMavgROIDepth" />
            <Units:meter />
            , 
            <Arg Name="EdgePlanktivoreLMavgROI" />
            <Units:microgram_per_liter />
            , 
            <Arg Name="EdgePlanktivoreLMavgROIDepth" />
            <Units:meter />
        </Syslog>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreLMavgROI" />
            <Arg Name="PeakPlanktivoreLMavgROIDepth" />
            <Arg Name="EdgePlanktivoreLMavgROI" />
            <Arg Name="EdgePlanktivoreLMavgROIDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreHMavgROI">
        <While>
            <Arg Name="PeakDetectPlanktivoreHMavgROIActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_HM_AvgRois</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreHMavgROI">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROIDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROITemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROILatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROILongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreHMavgROI" />
            <Arg Name="PeakPlanktivoreHMavgROIDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreDiatoms">
        <While>
            <Arg Name="PeakDetectPlanktivoreDiatomsActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_diatoms</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreDiatoms">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreDiatoms" />
            <Arg Name="PeakPlanktivoreDiatomsDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreDinoflagellates">
        <While>
            <Arg Name="PeakDetectPlanktivoreDinoflagellatesActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_dinoflagellates</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreDinoflagellates">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreDinoflagellates" />
            <Arg Name="PeakPlanktivoreDinoflagellatesDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="ChlThreshTrigger">
        <While>
            <Arg Name="ChlThreshTriggerActive" />
        </While>
        <Trigger:ValueDetect>
            <Sequence />
            <Setting>
                <Trigger:ValueDetect.detect />
                <Arg Name="PeakChl" />
            </Setting>
            <Setting>
                <Trigger:ValueDetect.lowerThreshold />
                <Arg Name="ChlLowerThresh" />
            </Setting>
            <Setting>
                <Trigger:ValueDetect.upperThreshold />
                <Arg Name="ChlUpperThresh" />
            </Setting>
            <Setting>
                <Trigger:ValueDetect.numProfilesThreshold />
                <Arg Name="NumProfilesThresh" />
            </Setting>
            <OutputArg Name="ChlTriggering">
                <Trigger:ValueDetect.outputValue />
            </OutputArg>
        </Trigger:ValueDetect>
        <Assign>
            <Sequence />
            <Arg Name="TriggeredOnChl" />
            <True />
        </Assign>
        <Syslog Severity="Important">
            Triggered. PeakChl values on 
            <Arg Name="NumProfilesThresh" />
            <Units:count />
             consecutive yo-yo profiles fall in [
            <Arg Name="ChlLowerThresh" />
            <Units:microgram_per_liter />
            <Arg Name="ChlUpperThresh" />
            <Units:microgram_per_liter />
            ] (NaN bound is ignored).
        </Syslog>
    </Aggregate>
</Aggregate>

2025-03-13T03:44:34.264Z,1741837474.264 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.PeakDetectChlActive = 0 bool
2025-03-13T03:44:34.266Z,1741837474.266 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.EdgeDetectChlActive = 0 bool
2025-03-13T03:44:34.268Z,1741837474.268 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.TimeWindowPeakReport = nan min
2025-03-13T03:44:34.270Z,1741837474.270 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.HighestChlPeakReportActive = 0 bool
2025-03-13T03:44:34.272Z,1741837474.272 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.HighestSaltPeakReportActive = 0 bool
2025-03-13T03:44:34.274Z,1741837474.274 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.HighestOilPeakReportActive = 0 bool
2025-03-13T03:44:34.276Z,1741837474.276 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.PatchTracking = 0 bool
2025-03-13T03:44:34.278Z,1741837474.278 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.FilterWidthHorizontal = 3.000000 count
2025-03-13T03:44:34.305Z,1741837474.305 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.NumProfilesSlidingwindow = 100.000000 count
2025-03-13T03:44:34.310Z,1741837474.310 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.OffPeakFractionHorizontal = 80.000000 %
2025-03-13T03:44:34.312Z,1741837474.312 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.PeakDetectNO3Active = 0 bool
2025-03-13T03:44:34.314Z,1741837474.314 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.PeakDetectOilActive = 0 bool
2025-03-13T03:44:34.324Z,1741837474.324 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.PeakDetectFDOMActive = 0 bool
2025-03-13T03:44:34.326Z,1741837474.326 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.PeakDetectSalinityActive = 0 bool
2025-03-13T03:44:34.328Z,1741837474.328 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.PeakDetectPlanktivoreLMavgROIActive = 0 bool
2025-03-13T03:44:34.330Z,1741837474.330 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.EdgeDetectPlanktivoreLMavgROIActive = 0 bool
2025-03-13T03:44:34.344Z,1741837474.344 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.PeakDetectPlanktivoreHMavgROIActive = 0 bool
2025-03-13T03:44:34.346Z,1741837474.346 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.PeakDetectPlanktivoreDiatomsActive = 0 bool
2025-03-13T03:44:34.348Z,1741837474.348 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.PeakDetectPlanktivoreDinoflagellatesActive = 0 bool
2025-03-13T03:44:34.350Z,1741837474.350 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2025-03-13T03:44:34.396Z,1741837474.396 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.EnabledAanderaaO2 = 0 bool
2025-03-13T03:44:34.398Z,1741837474.398 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.EnabledNeilBrown = 0 bool
2025-03-13T03:44:34.413Z,1741837474.413 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.EnabledSeabird = 1 bool
2025-03-13T03:44:34.428Z,1741837474.428 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.EnabledWetLabsBB2FL = 1 bool
2025-03-13T03:44:34.430Z,1741837474.430 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.EnabledWetLabsSeaOWL_UV_A = 0 bool
2025-03-13T03:44:34.437Z,1741837474.437 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.EnabledWetLabsUBAT = 0 bool
2025-03-13T03:44:34.453Z,1741837474.453 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.LowPassWindowLength = 20.000000 count
2025-03-13T03:44:34.457Z,1741837474.457 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.MedianFilterLen = 5.000000 count
2025-03-13T03:44:34.459Z,1741837474.459 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.ShallowBound = nan m
2025-03-13T03:44:34.461Z,1741837474.461 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.DeepBound = nan m
2025-03-13T03:44:34.467Z,1741837474.467 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.DepChangeThreshForAttitudeFlip = 2.000000 m
2025-03-13T03:44:34.469Z,1741837474.469 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.OffPeakFractionVertical = nan %
2025-03-13T03:44:34.480Z,1741837474.480 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.ChlPeakThresh = 0.000000 ug/l
2025-03-13T03:44:34.482Z,1741837474.482 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.ChlThreshTriggerActive = 0 bool
2025-03-13T03:44:34.489Z,1741837474.489 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.ChlLowerThresh = nan ug/l
2025-03-13T03:44:34.500Z,1741837474.500 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.ChlUpperThresh = nan ug/l
2025-03-13T03:44:34.502Z,1741837474.502 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.NumProfilesThresh = 5.000000 count
2025-03-13T03:44:34.519Z,1741837474.519 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.PlanktivoreLMavgROIPeakThresh = 0.000000 count/s
2025-03-13T03:44:34.521Z,1741837474.521 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.GoDown = 1 bool
2025-03-13T03:44:34.528Z,1741837474.528 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakChl = nan ug/l
2025-03-13T03:44:34.530Z,1741837474.530 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakChlDepth = nan m
2025-03-13T03:44:34.541Z,1741837474.541 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakChlTemperature = nan degC
2025-03-13T03:44:34.548Z,1741837474.548 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakChlLatitude = nan arcdeg
2025-03-13T03:44:34.550Z,1741837474.550 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakChlLongitude = nan arcdeg
2025-03-13T03:44:34.552Z,1741837474.552 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.EdgeChl = nan ug/l
2025-03-13T03:44:34.555Z,1741837474.555 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.EdgeChlDepth = nan m
2025-03-13T03:44:34.565Z,1741837474.565 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.EdgeChlTemperature = nan degC
2025-03-13T03:44:34.573Z,1741837474.573 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.EdgeChlLatitude = nan arcdeg
2025-03-13T03:44:34.578Z,1741837474.578 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.EdgeChlLongitude = nan arcdeg
2025-03-13T03:44:34.589Z,1741837474.589 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakNO3 = nan umol/l
2025-03-13T03:44:34.595Z,1741837474.595 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakNO3Depth = nan m
2025-03-13T03:44:34.598Z,1741837474.598 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakNO3Latitude = nan arcdeg
2025-03-13T03:44:34.601Z,1741837474.601 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakNO3Longitude = nan arcdeg
2025-03-13T03:44:34.611Z,1741837474.611 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakOil = nan kg/m3
2025-03-13T03:44:34.614Z,1741837474.614 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakOilDepth = nan m
2025-03-13T03:44:34.617Z,1741837474.617 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakOilLatitude = nan arcdeg
2025-03-13T03:44:34.628Z,1741837474.628 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakOilLongitude = nan arcdeg
2025-03-13T03:44:34.630Z,1741837474.630 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakFDOM = nan ppb
2025-03-13T03:44:34.637Z,1741837474.637 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakFDOMDepth = nan m
2025-03-13T03:44:34.639Z,1741837474.639 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakFDOMTemperature = nan degC
2025-03-13T03:44:34.642Z,1741837474.642 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakFDOMLatitude = nan arcdeg
2025-03-13T03:44:34.656Z,1741837474.656 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakFDOMLongitude = nan arcdeg
2025-03-13T03:44:34.658Z,1741837474.658 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakSalt = nan psu
2025-03-13T03:44:34.665Z,1741837474.665 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakSaltDepth = nan m
2025-03-13T03:44:34.668Z,1741837474.668 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakSaltTemperature = nan degC
2025-03-13T03:44:34.670Z,1741837474.670 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakSaltLatitude = nan arcdeg
2025-03-13T03:44:34.677Z,1741837474.677 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakSaltLongitude = nan arcdeg
2025-03-13T03:44:34.684Z,1741837474.684 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreLMavgROI = nan count/s
2025-03-13T03:44:34.686Z,1741837474.686 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreLMavgROIDepth = nan m
2025-03-13T03:44:34.693Z,1741837474.693 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreLMavgROITemperature = nan degC
2025-03-13T03:44:34.699Z,1741837474.699 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreLMavgROILatitude = nan arcdeg
2025-03-13T03:44:34.702Z,1741837474.702 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreLMavgROILongitude = nan arcdeg
2025-03-13T03:44:34.712Z,1741837474.712 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.EdgePlanktivoreLMavgROI = nan count/s
2025-03-13T03:44:34.715Z,1741837474.715 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.EdgePlanktivoreLMavgROIDepth = nan m
2025-03-13T03:44:34.721Z,1741837474.721 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.EdgePlanktivoreLMavgROITemperature = nan degC
2025-03-13T03:44:34.728Z,1741837474.728 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.EdgePlanktivoreLMavgROILatitude = nan arcdeg
2025-03-13T03:44:34.730Z,1741837474.730 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.EdgePlanktivoreLMavgROILongitude = nan arcdeg
2025-03-13T03:44:34.742Z,1741837474.742 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreHMavgROI = nan count/s
2025-03-13T03:44:34.749Z,1741837474.749 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreHMavgROIDepth = nan m
2025-03-13T03:44:34.751Z,1741837474.751 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreHMavgROITemperature = nan degC
2025-03-13T03:44:34.753Z,1741837474.753 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreHMavgROILatitude = nan arcdeg
2025-03-13T03:44:34.755Z,1741837474.755 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreHMavgROILongitude = nan arcdeg
2025-03-13T03:44:34.758Z,1741837474.758 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreDiatoms = nan count/ml
2025-03-13T03:44:34.775Z,1741837474.775 [DataOverHttps](INFO): Sending 39 bytes from file Logs/20250311T232940/Courier0239.lzma
2025-03-13T03:44:34.808Z,1741837474.808 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreDiatomsDepth = nan m
2025-03-13T03:44:34.811Z,1741837474.811 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreDiatomsTemperature = nan degC
2025-03-13T03:44:34.829Z,1741837474.829 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreDiatomsLatitude = nan arcdeg
2025-03-13T03:44:34.844Z,1741837474.844 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreDiatomsLongitude = nan arcdeg
2025-03-13T03:44:34.846Z,1741837474.846 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreDinoflagellates = nan count/ml
2025-03-13T03:44:34.854Z,1741837474.854 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreDinoflagellatesDepth = nan m
2025-03-13T03:44:34.856Z,1741837474.856 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreDinoflagellatesTemperature = nan degC
2025-03-13T03:44:34.859Z,1741837474.859 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreDinoflagellatesLatitude = nan arcdeg
2025-03-13T03:44:34.865Z,1741837474.865 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreDinoflagellatesLongitude = nan arcdeg
2025-03-13T03:44:34.869Z,1741837474.869 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchChl = nan ug/l
2025-03-13T03:44:34.880Z,1741837474.880 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchChlDepth = nan m
2025-03-13T03:44:34.882Z,1741837474.882 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchChlLatitude = nan arcdeg
2025-03-13T03:44:34.889Z,1741837474.889 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchChlLongitude = nan arcdeg
2025-03-13T03:44:34.900Z,1741837474.900 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchChlDistance = nan m
2025-03-13T03:44:34.902Z,1741837474.902 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchSalt = nan psu
2025-03-13T03:44:34.919Z,1741837474.919 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchSaltDepth = nan m
2025-03-13T03:44:34.922Z,1741837474.922 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchSaltLatitude = nan arcdeg
2025-03-13T03:44:34.929Z,1741837474.929 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchSaltLongitude = nan arcdeg
2025-03-13T03:44:34.936Z,1741837474.936 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchSaltDistance = nan m
2025-03-13T03:44:34.938Z,1741837474.938 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchOil = nan psu
2025-03-13T03:44:34.941Z,1741837474.941 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchOilDepth = nan m
2025-03-13T03:44:34.955Z,1741837474.955 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchOilLatitude = nan arcdeg
2025-03-13T03:44:34.958Z,1741837474.958 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchOilLongitude = nan arcdeg
2025-03-13T03:44:34.974Z,1741837474.974 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchOilDistance = nan m
2025-03-13T03:44:34.989Z,1741837474.989 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.TriggeredOnChl = 0 bool
2025-03-13T03:44:34.996Z,1741837474.996 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.ChlTriggering = nan ug/l
2025-03-13T03:44:35.041Z,1741837475.041 [sci2_noyo_optim:Science:PeakDetectChl:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-03-13T03:44:35.058Z,1741837475.058 [sci2_noyo_optim:Science:EdgeDetectChl:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-03-13T03:44:35.106Z,1741837475.106 [sci2_noyo_optim:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-03-13T03:44:35.143Z,1741837475.143 [sci2_noyo_optim:Science:PeakDetectNO3:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-03-13T03:44:35.166Z,1741837475.166 [sci2_noyo_optim:Science:PeakDetectOil:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-03-13T03:44:35.234Z,1741837475.234 [sci2_noyo_optim:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-03-13T03:44:35.277Z,1741837475.277 [sci2_noyo_optim:Science:PeakDetectFDOM:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-03-13T03:44:35.319Z,1741837475.319 [sci2_noyo_optim:Science:PeakDetectSalinity:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-03-13T03:44:35.343Z,1741837475.343 [sci2_noyo_optim:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-03-13T03:44:35.369Z,1741837475.369 [sci2_noyo_optim:Science:PeakDetectPlanktivoreLMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-03-13T03:44:35.398Z,1741837475.398 [sci2_noyo_optim:Science:EdgeDetectPlanktivoreLMavgROI:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-03-13T03:44:35.465Z,1741837475.465 [sci2_noyo_optim:Science:PeakDetectPlanktivoreHMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-03-13T03:44:35.493Z,1741837475.493 [sci2_noyo_optim:Science:PeakDetectPlanktivoreDiatoms:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-03-13T03:44:35.526Z,1741837475.526 [sci2_noyo_optim:Science:PeakDetectPlanktivoreDinoflagellates:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-03-13T03:44:35.562Z,1741837475.562 [sci2_noyo_optim:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Construct ValueDetect.
2025-03-13T03:44:35.609Z,1741837475.609 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-03-13T03:44:35.609Z,1741837475.609 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-03-13T03:44:35.610Z,1741837475.610 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-03-13T03:44:35.761Z,1741837475.761 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/StandardEnvelopes.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="StandardEnvelopes">
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="MaxDepthIgnore">
        <Units:meter />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>200</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:meter />
        <Value>2000</Value>
    </DefineArg>
    <Parallel />
    <Guidance:AltitudeEnvelope>
        <Parallel />
        <Setting>
            <Guidance:AltitudeEnvelope.minAltitude />
            <Arg Name="MinAltitude" />
        </Setting>
        <Setting>
            <Guidance:AltitudeEnvelope.maxDepthIgnore />
            <Arg Name="MaxDepthIgnore" />
        </Setting>
    </Guidance:AltitudeEnvelope>
    <Guidance:DepthEnvelope>
        <Parallel />
        <Setting>
            <Guidance:DepthEnvelope.maxDepth />
            <Arg Name="MaxDepth" />
        </Setting>
    </Guidance:DepthEnvelope>
    <Guidance:OffshoreEnvelope>
        <Parallel />
        <Setting>
            <Guidance:OffshoreEnvelope.minOffshore />
            <Arg Name="MinOffshore" />
        </Setting>
    </Guidance:OffshoreEnvelope>
</Aggregate>

2025-03-13T03:44:35.765Z,1741837475.765 [MissionManager](INFO): DefineArg sci2_noyo_optim:StandardEnvelopes.MinAltitude = 5.000000 m
2025-03-13T03:44:35.778Z,1741837475.778 [DataOverHttps](INFO): Moved sent file to Logs/20250311T232940/Courier0239.lzma.bak
2025-03-13T03:44:35.778Z,1741837475.778 [DataOverHttps](INFO): SBD MOMSN=24220986
2025-03-13T03:44:35.783Z,1741837475.783 [MissionManager](INFO): DefineArg sci2_noyo_optim:StandardEnvelopes.MaxDepthIgnore = 0.000000 m
2025-03-13T03:44:35.789Z,1741837475.789 [MissionManager](INFO): DefineArg sci2_noyo_optim:StandardEnvelopes.MaxDepth = 200.000000 m
2025-03-13T03:44:35.795Z,1741837475.795 [MissionManager](INFO): DefineArg sci2_noyo_optim:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-03-13T03:44:35.796Z,1741837475.796 [sci2_noyo_optim:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-03-13T03:44:35.815Z,1741837475.815 [sci2_noyo_optim:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-03-13T03:44:35.826Z,1741837475.826 [sci2_noyo_optim:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-03-13T03:44:35.844Z,1741837475.844 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl
2025-03-13T03:44:35.844Z,1741837475.844 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl
2025-03-13T03:44:35.845Z,1741837475.845 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl
2025-03-13T03:44:36.091Z,1741837476.091 [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>

2025-03-13T03:44:36.096Z,1741837476.096 [MissionManager](INFO): DefineArg sci2_noyo_optim:NeedComms.DiveInterval = 1.000000 h
2025-03-13T03:44:36.098Z,1741837476.098 [MissionManager](INFO): DefineArg sci2_noyo_optim:NeedComms.WaitForPitchUp = 10.000000 min
2025-03-13T03:44:36.120Z,1741837476.120 [MissionManager](INFO): DefineArg sci2_noyo_optim:NeedComms.SurfacePitch = 20.000000 arcdeg
2025-03-13T03:44:36.122Z,1741837476.122 [MissionManager](INFO): DefineArg sci2_noyo_optim:NeedComms.SurfaceDepthRate = nan m/s
2025-03-13T03:44:36.125Z,1741837476.125 [MissionManager](INFO): DefineArg sci2_noyo_optim:NeedComms.SurfaceSpeed = 1.000000 m/s
2025-03-13T03:44:36.127Z,1741837476.127 [MissionManager](INFO): DefineArg sci2_noyo_optim:NeedComms.SurfacingTimeout = 1000.000000 s
2025-03-13T03:44:36.129Z,1741837476.129 [MissionManager](INFO): DefineArg sci2_noyo_optim:NeedComms.GPSTimeout = 7.000000 min
2025-03-13T03:44:36.131Z,1741837476.131 [MissionManager](INFO): DefineArg sci2_noyo_optim:NeedComms.CommsTimeout = 30.000000 min
2025-03-13T03:44:36.137Z,1741837476.137 [sci2_noyo_optim:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2025-03-13T03:44:36.178Z,1741837476.178 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2025-03-13T03:44:36.179Z,1741837476.179 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2025-03-13T03:44:36.180Z,1741837476.180 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2025-03-13T03:44:36.217Z,1741837476.217 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/BackseatDriver.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="BackseatDriver">
    <DefineArg Name="EnableBackseat">
        <False />
    </DefineArg>
    <Parallel />
    <Guidance:BackseatDriver>
        <Sequence />
        <Setting>
            <Guidance:BackseatDriver.powerBackseat />
            <Arg Name="EnableBackseat" />
        </Setting>
    </Guidance:BackseatDriver>
</Aggregate>

2025-03-13T03:44:36.220Z,1741837476.220 [MissionManager](INFO): DefineArg sci2_noyo_optim:BackseatDriver.EnableBackseat = 0 bool
2025-03-13T03:44:36.222Z,1741837476.222 [sci2_noyo_optim:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2025-03-13T03:44:36.225Z,1741837476.225 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2025-03-13T03:44:36.226Z,1741837476.226 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2025-03-13T03:44:36.227Z,1741837476.227 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2025-03-13T03:44:36.335Z,1741837476.335 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/PowerOnly.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="PowerOnly">
    <DefineArg Name="SampleAll">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad1">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad2">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad3">
        <False />
    </DefineArg>
    <DefineArg Name="EnabledPowerOnly">
        <Sensor:PowerOnly.loadAtStartup />
    </DefineArg>
    <Parallel />
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleAll" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.samplePowerOnly />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad1" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad1 />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad2" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad2 />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad3" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad3 />
    </ReadData>
    <Guidance:Wait>
        <Sequence />
        <Setting>
            <Guidance:Wait.duration />
            <Units:hour />
            <Value>99999</Value>
        </Setting>
    </Guidance:Wait>
</Aggregate>

2025-03-13T03:44:36.339Z,1741837476.339 [MissionManager](INFO): DefineArg sci2_noyo_optim:PowerOnly.SampleAll = 0 bool
2025-03-13T03:44:36.341Z,1741837476.341 [MissionManager](INFO): DefineArg sci2_noyo_optim:PowerOnly.SampleLoad1 = 0 bool
2025-03-13T03:44:36.343Z,1741837476.343 [MissionManager](INFO): DefineArg sci2_noyo_optim:PowerOnly.SampleLoad2 = 0 bool
2025-03-13T03:44:36.345Z,1741837476.345 [MissionManager](INFO): DefineArg sci2_noyo_optim:PowerOnly.SampleLoad3 = 0 bool
2025-03-13T03:44:36.347Z,1741837476.347 [MissionManager](INFO): DefineArg sci2_noyo_optim:PowerOnly.EnabledPowerOnly = 1 bool
2025-03-13T03:44:36.353Z,1741837476.353 [sci2_noyo_optim:PowerOnly:E.Wait](DEBUG): Construct Wait.
2025-03-13T03:44:36.428Z,1741837476.428 [sci2_noyo_optim:O.Buoyancy](DEBUG): Construct Buoyancy.
2025-03-13T03:44:36.456Z,1741837476.456 [sci2_noyo_optim:DiveCmd:InitialDive:dive:C.Mass](DEBUG): Construct.
2025-03-13T03:44:36.459Z,1741837476.459 [sci2_noyo_optim:DiveCmd:InitialDive:dive:E.Wait](DEBUG): Construct Wait.
2025-03-13T03:44:36.462Z,1741837476.462 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:A.SetSpeed](DEBUG): Construct.
2025-03-13T03:44:36.477Z,1741837476.477 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:B.Pitch](DEBUG): Construct.
2025-03-13T03:44:36.483Z,1741837476.483 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:B.Pitch:A_Timeout:B.Execute](DEBUG): Construct Execute.
2025-03-13T03:44:36.498Z,1741837476.498 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:B.Pitch](DEBUG): Construct.
2025-03-13T03:44:36.508Z,1741837476.508 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:C.Wait](DEBUG): Construct Wait.
2025-03-13T03:44:36.520Z,1741837476.520 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass](DEBUG): Construct.
2025-03-13T03:44:36.522Z,1741837476.522 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed](DEBUG): Construct.
2025-03-13T03:44:36.525Z,1741837476.525 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:B.Pitch](DEBUG): Construct.
2025-03-13T03:44:36.533Z,1741837476.533 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:A.SetSpeed](DEBUG): Construct.
2025-03-13T03:44:36.537Z,1741837476.537 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:C.Buoyancy](DEBUG): Construct Buoyancy.
2025-03-13T03:44:36.540Z,1741837476.540 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:D.Pitch](DEBUG): Construct.
2025-03-13T03:44:36.550Z,1741837476.550 [sci2_noyo_optim:Lap:DepthByLap:Wpt1:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T03:44:36.556Z,1741837476.556 [sci2_noyo_optim:Lap:DepthByLap:Wpt2:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T03:44:36.562Z,1741837476.562 [sci2_noyo_optim:Lap:DepthByLap:Wpt3:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T03:44:36.582Z,1741837476.582 [sci2_noyo_optim:Lap:DepthByLap:Wpt4:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T03:44:36.588Z,1741837476.588 [sci2_noyo_optim:Lap:DepthByLap:Wpt5:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T03:44:36.595Z,1741837476.595 [sci2_noyo_optim:Lap:DepthByLap:Wpt6:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T03:44:36.601Z,1741837476.601 [sci2_noyo_optim:Lap:DepthByLap:Wpt7:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T03:44:36.606Z,1741837476.606 [sci2_noyo_optim:Lap:DepthByLap:Wpt8:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T03:44:36.615Z,1741837476.615 [sci2_noyo_optim:Lap:DepthByLap:Leg2:Wpt1:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T03:44:36.629Z,1741837476.629 [sci2_noyo_optim:Lap:DepthByLap:Leg2:Wpt2:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T03:44:36.635Z,1741837476.635 [sci2_noyo_optim:Lap:DepthByLap:Leg2:Wpt3:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T03:44:36.641Z,1741837476.641 [sci2_noyo_optim:Lap:DepthByLap:Leg2:Wpt4:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T03:44:36.646Z,1741837476.646 [sci2_noyo_optim:Lap:DepthByLap:Leg2:Wpt5:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T03:44:36.652Z,1741837476.652 [sci2_noyo_optim:Lap:DepthByLap:Leg2:Wpt6:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T03:44:36.657Z,1741837476.657 [sci2_noyo_optim:Lap:DepthByLap:Leg2:Wpt7:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T03:44:36.663Z,1741837476.663 [sci2_noyo_optim:Lap:DepthByLap:Leg2:Wpt8:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T03:44:36.682Z,1741837476.682 [sci2_noyo_optim:Lap:DepthByLap:Leg3:Wpt1:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T03:44:36.688Z,1741837476.688 [sci2_noyo_optim:Lap:DepthByLap:Leg3:Wpt2:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T03:44:36.693Z,1741837476.693 [sci2_noyo_optim:Lap:DepthByLap:Leg3:Wpt3:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T03:44:36.699Z,1741837476.699 [sci2_noyo_optim:Lap:DepthByLap:Leg3:Wpt4:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T03:44:36.704Z,1741837476.704 [sci2_noyo_optim:Lap:DepthByLap:Leg3:Wpt5:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T03:44:36.710Z,1741837476.710 [sci2_noyo_optim:Lap:DepthByLap:Leg3:Wpt6:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T03:44:36.716Z,1741837476.716 [sci2_noyo_optim:Lap:DepthByLap:Leg3:Wpt7:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T03:44:36.721Z,1741837476.721 [sci2_noyo_optim:Lap:DepthByLap:Leg3:Wpt8:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T03:44:36.742Z,1741837476.742 [sci2_noyo_optim:Lap:DepthByLap:Leg4:Wpt1:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T03:44:36.748Z,1741837476.748 [sci2_noyo_optim:Lap:DepthByLap:Leg4:Wpt2:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T03:44:36.753Z,1741837476.753 [sci2_noyo_optim:Lap:DepthByLap:Leg4:Wpt3:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T03:44:36.760Z,1741837476.760 [sci2_noyo_optim:Lap:DepthByLap:Leg4:Wpt4:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T03:44:36.765Z,1741837476.765 [sci2_noyo_optim:Lap:DepthByLap:Leg4:Wpt5:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T03:44:36.771Z,1741837476.771 [sci2_noyo_optim:Lap:DepthByLap:Leg4:Wpt6:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T03:44:36.856Z,1741837476.856 [sci2_noyo_optim:Lap:DepthByLap:Leg4:Wpt7:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T03:44:36.870Z,1741837476.870 [sci2_noyo_optim:Lap:DepthByLap:Leg4:Wpt8:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T03:44:36.914Z,1741837476.914 [sci2_noyo_optim:Lap:DepthByLap:Leg5:Wpt1:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T03:44:36.932Z,1741837476.932 [sci2_noyo_optim:Lap:DepthByLap:Leg5:Wpt2:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T03:44:36.942Z,1741837476.942 [sci2_noyo_optim:Lap:DepthByLap:Leg5:Wpt3:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T03:44:36.951Z,1741837476.951 [sci2_noyo_optim:Lap:DepthByLap:Leg5:Wpt4:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T03:44:36.957Z,1741837476.957 [sci2_noyo_optim:Lap:DepthByLap:Leg5:Wpt5:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T03:44:36.962Z,1741837476.962 [sci2_noyo_optim:Lap:DepthByLap:Leg5:Wpt6:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T03:44:36.968Z,1741837476.968 [sci2_noyo_optim:Lap:DepthByLap:Leg5:Wpt7:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T03:44:36.973Z,1741837476.973 [sci2_noyo_optim:Lap:DepthByLap:Leg5:Wpt8:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T03:44:36.982Z,1741837476.982 [sci2_noyo_optim:Lap:DepthByLap:Leg6:Wpt1:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T03:44:36.998Z,1741837476.998 [sci2_noyo_optim:Lap:DepthByLap:Leg6:Wpt2:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T03:44:37.004Z,1741837477.004 [sci2_noyo_optim:Lap:DepthByLap:Leg6:Wpt3:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T03:44:37.011Z,1741837477.011 [sci2_noyo_optim:Lap:DepthByLap:Leg6:Wpt4:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T03:44:37.016Z,1741837477.016 [sci2_noyo_optim:Lap:DepthByLap:Leg6:Wpt5:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T03:44:37.021Z,1741837477.021 [sci2_noyo_optim:Lap:DepthByLap:Leg6:Wpt6:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T03:44:37.027Z,1741837477.027 [sci2_noyo_optim:Lap:DepthByLap:Leg6:Wpt7:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T03:44:37.032Z,1741837477.032 [sci2_noyo_optim:Lap:DepthByLap:Leg6:Wpt8:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T03:44:37.053Z,1741837477.053 [sci2_noyo_optim:Lap:DepthByLap:Leg7:Wpt1:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T03:44:37.058Z,1741837477.058 [sci2_noyo_optim:Lap:DepthByLap:Leg7:Wpt2:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T03:44:37.064Z,1741837477.064 [sci2_noyo_optim:Lap:DepthByLap:Leg7:Wpt3:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T03:44:37.069Z,1741837477.069 [sci2_noyo_optim:Lap:DepthByLap:Leg7:Wpt4:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T03:44:37.075Z,1741837477.075 [sci2_noyo_optim:Lap:DepthByLap:Leg7:Wpt5:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T03:44:37.080Z,1741837477.080 [sci2_noyo_optim:Lap:DepthByLap:Leg7:Wpt6:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T03:44:37.086Z,1741837477.086 [sci2_noyo_optim:Lap:DepthByLap:Leg7:Wpt7:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T03:44:37.101Z,1741837477.101 [sci2_noyo_optim:Lap:DepthByLap:Leg7:Wpt8:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T03:44:37.110Z,1741837477.110 [sci2_noyo_optim:Lap:DepthByLap:Leg8:Wpt1:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T03:44:37.116Z,1741837477.116 [sci2_noyo_optim:Lap:DepthByLap:Leg8:Wpt2:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T03:44:37.121Z,1741837477.121 [sci2_noyo_optim:Lap:DepthByLap:Leg8:Wpt3:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T03:44:37.127Z,1741837477.127 [sci2_noyo_optim:Lap:DepthByLap:Leg8:Wpt4:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T03:44:37.132Z,1741837477.132 [sci2_noyo_optim:Lap:DepthByLap:Leg8:Wpt5:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T03:44:37.137Z,1741837477.137 [sci2_noyo_optim:Lap:DepthByLap:Leg8:Wpt6:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T03:44:37.143Z,1741837477.143 [sci2_noyo_optim:Lap:DepthByLap:Leg8:Wpt7:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T03:44:37.159Z,1741837477.159 [sci2_noyo_optim:Lap:DepthByLap:Leg8:Wpt8:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T03:44:37.167Z,1741837477.167 [sci2_noyo_optim:Lap:DepthByLeg:Leg1:B.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T03:44:37.175Z,1741837477.175 [sci2_noyo_optim:Lap:DepthByLeg:Leg2:Wpt2:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T03:44:37.183Z,1741837477.183 [sci2_noyo_optim:Lap:DepthByLeg:Leg3:Wpt3:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T03:44:37.224Z,1741837477.224 [sci2_noyo_optim:Lap:DepthByLeg:Leg4:Wpt4:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T03:44:37.241Z,1741837477.241 [sci2_noyo_optim:Lap:DepthByLeg:Leg5:Wpt5:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T03:44:37.274Z,1741837477.274 [sci2_noyo_optim:Lap:DepthByLeg:Leg6:Wpt6:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T03:44:37.293Z,1741837477.293 [sci2_noyo_optim:Lap:DepthByLeg:Leg7:Wpt7:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T03:44:37.309Z,1741837477.309 [sci2_noyo_optim:Lap:DepthByLeg:Leg8:Wpt8:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T03:44:37.384Z,1741837477.384 [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 sci2_noyo_optim {
  """
  Vehicle transits to the specified waypoints at the commanded depth
  (flat-and-level, no yoyos) with science, Optim camera, and multiray
  lights on.
  """

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

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

    Depth1 = 35 meter
      """
      Depth of flat and level flight during the mission for the first transit leg or lap.
      """

    Depth[2..8] = NaN meter
      """
      Depth of flat and level flight during the mission for subsequent transit legs or laps.
      Skipped if NaN.
      """

    DepthPerLeg = false
      """
      Indicates whether additional depths correspond to laps (cycle through all waypoints at
      each depth, default) or legs (use depth for transit leg ending at corresponding waypoint,
      each lap repeats all depths and waypoints).
      """

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

    Lat[1..8] = NaN degree
      """
      Latitude of waypoint {$}. If nan, waypoint is skipped.
      """

    Lon[1..8] = NaN degree
      """
      Longitude of waypoint {$}. If nan, waypoint is skipped.
      """

    FastSpeed = 1 meter_per_second
      """
      Speed while transiting to waypoint.
      """

    ApproachDepth = 30 meter
      """
      Depth for initial descent form the surface.
      """

    ApproachSpeed = 0.7 meter_per_second
      """
      Speed while descending to target depth.
      """

    ApproachDepthRate = 0.05 meter_per_second
      """
      Descent depth rate (Positive depth rate means going down).
      """

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

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

    ApproachSettleTimePreDive = 1 minute
      """
      Time duration for the vehicle to pump down the VBS *BEFORE* leaving the
      surface.
      """

    ApproachSettleTimePostDive = 3 minute
      """
      Time duration for the vehicle to settle *AFTER* reaching the target
      depth.
      """

    kpDepth = 0.07 radian_per_meter
      """
      Dive loop proportional gain (applied only while the vehicle is
      descending to target depth).
      """

    SlowSpeed = 0.25 meter_per_second
      """
      Set this to something other than Nan if slow speed filming with a
      wide depth deadband is desired.
      """

    DepthDeviationSlow = 3 meter
      """
      Allowable +/- deviation from depth during slow flight. Needs a SlowSpeed
      to be set.
      """

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

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

    MinAltitude = 2 meter
      """
      Minimum height above the sea floor for the entire mission.
      """

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

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

  output {
    DiveMode = 0 count
      """
      Mission variable (don't change). The mission sets this variable to
      switch between dive modes. Initialized to DoingComms.
      """

    DoingComms = 0 count
      """
      Mission variable (don't change). The mission will run in this to mode
      when doing surface comms.
      """

    InitialDive = 1 count
      """
      Mission variable (don't change). The mission will run in this mode after
      surface comms are done to dive the vehicle to the approach depth.
      """

    SettleAtDepth = 2 count
      """
      Mission variable (don't change). The mission will run in this mode to
      settle the vehicle at the target depth.
      """

    MaintainDepth = 3 count
      """
      Mission variable (don't change). The mission will run in this mode to
      maintain the vehicle at the target depth.
      """

    LegDepth = Depth1
      """
      Mission variable to track the current depth for the current leg.
      """
  }

  # Mission timeout

  timeout duration=MissionTimeout

  # Science!

  insert Insert/Science.tl {
    """
    Run the science sensors.
    """
  }

  # 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 = MissionTimeout

  assign in sequence NeedComms:WaitForPitchUp = 0 minute

  insert Insert/BackseatDriver.tl
  assign in parallel BackseatDriver:EnableBackseat = true

  insert Insert/PowerOnly.tl
  assign in parallel PowerOnly:SampleLoad1 = true

  assign in sequence Sensor:MultiRay.lightModeCommand = 2 count
  readData strategy="MinError" {
    while ( Sensor:MultiRay.loadAtStartup )

    Sensor:MultiRay.lightModeLog
  }

  behavior Guidance:Buoyancy {
    run in parallel

    set position = BuoyancyNeutral
  }

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

    assign in sequence DiveMode = DoingComms

    call refId="NeedComms"

    assign in sequence DiveMode = InitialDive
  }

  aggregate DiveCmd {
    """
    Called when the vehicle should be underwater. Arbitrates between 4
    dive modes: 1) descend from the surface to initial depth. 2) settle
    at target depth using the VB. 3) cruise at target depth and go slow
    while within depth deviation bounds if a slow speed is set.
    """

    run when ( called )

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

      run while ( DiveMode == InitialDive )

      aggregate dive {
        run in sequence

        assign in parallel Control:VerticalControl.pitchLimit = ApproachPitchLimit

        assign in parallel Control:VerticalControl.kpDepth = kpDepth

        behavior Guidance:Mass {
          run in parallel

          set position = MassDefault
        }

        # behavior Guidance:Buoyancy {
        #   run in parallel

        #   set position = BuoyancyNeutral
        # }

        syslog info "Waiting for "
             + ApproachSettleTimePreDive~minute + "while pumping down to neutral."

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

          run in sequence

          set duration = ApproachSettleTimePreDive
        }

        syslog "Moving to " + ApproachDepth~meter

        aggregate ApproachDepth {
          run in sequence

          behavior Guidance:SetSpeed {
            run in parallel

            set speed = ApproachSpeed
          }

          behavior Guidance:Pitch {
            run in sequence

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

              behavior Guidance:Execute {
                run in sequence

                set command = "stop"
              }
            }

            set depth = ApproachDepth
            set depthRate = ApproachDepthRate
          }
        }

        assign in sequence DiveMode = SettleAtDepth
      }
    }

    aggregate SettleAtDepth {
      """
      Take a few more moments here to make sure the vehicle is settled
      at the target depth.
      """

      run while ( DiveMode == SettleAtDepth )

      aggregate dive {
        run in sequence

        syslog info "Reached " + Universal:depth~meter + ", settling for "
             + ApproachSettleTimePostDive~minute

        behavior Guidance:Pitch {
          run in parallel

          set depth = LegDepth
        }

        behavior Guidance:Wait {
          run in sequence

          set duration = ApproachSettleTimePostDive
        }

        assign in sequence DiveMode = MaintainDepth
      }
    }

    aggregate MaintainDepth {
      """
      Cruise at the target depth.
      """

      run while (
        DiveMode == MaintainDepth
        and ( Universal:depth > ( LegDepth + DepthDeviationSlow ) )
        or ( Universal:depth < ( LegDepth - DepthDeviationSlow ) )
      )

      aggregate dive {
        run in parallel

        aggregate ThrusterDive {
          run while ( FastSpeed > 0.0 meter_per_second )

          behavior Guidance:Mass {
            run in parallel

            set position = MassDefault
          }

          # behavior Guidance:Buoyancy {
          #   run in parallel

          #   set position = BuoyancyNeutral
          # }

          behavior Guidance:SetSpeed {
            run in parallel

            set speed = FastSpeed
          }
        }

        behavior Guidance:Pitch {
          run in parallel

          set depth = LegDepth
        }
      }
    }

    aggregate MaintainDepthSlow {
      """
      Cruise slow at the target depth.
      """

      run while (
        ( not isNaN ( SlowSpeed ) )
        and ( DiveMode == MaintainDepth )
        and ( Universal:depth <= ( LegDepth + DepthDeviationSlow ) )
        and ( Universal:depth >= ( LegDepth - DepthDeviationSlow ) )
      )

      behavior Guidance:SetSpeed {
        run in parallel

        set speed = SlowSpeed
      }

      # Let's make sure the vertical control depth deadband doesn't interfere with our mission
      # level version of the deadband. And we'll add an extra 3m so we don't trigger any
      # faults inside vertical control when attempting to regain the commanded depth.
      assign in parallel Control:VerticalControl.depthDeadband = ( DepthDeviationSlow + 3 m )

      behavior Guidance:Buoyancy {
        run in parallel

        set position = NaN cc
      }

      behavior Guidance:Pitch {
        run in parallel

        set depth = LegDepth
      }
    }
  }

  # Start mission sequence

  call id="StartingMission" refId="SurfaceComms"

  aggregate Lap {
    run in sequence repeat=Repeat

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

      call refId="DiveCmd"
    }

    # Default behavior: Depths correspond to laps
    # Run through all waypoints at each depth
    aggregate DepthByLap {
      run in sequence

      break if ( DepthPerLeg )

      assign in sequence LegDepth = Depth1

      aggregate Wpt1 {
        run in sequence

        behavior Guidance:Waypoint {
          run in sequence

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

      macro $i = 2..8 {
        aggregate Wpt$i {
          run in sequence

          behavior Guidance:Waypoint {
            run in sequence

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

      macro $j = 2..8 {
        aggregate Leg$j {
          run in sequence

          break if ( isNaN ( Depth[$j] ) )

          syslog important "Transiting waypoints at depth " + Depth[$j]~meter
          assign in sequence LegDepth = Depth[$j]

          macro $i = 1..8 {
            aggregate Wpt$i {
              run in sequence

              behavior Guidance:Waypoint {
                run in sequence

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

    # Non-default behavior: depth by leg
    # Transit to waypoint at corresponding depth, repeat per lap
    # (e.g. Transit to waypoint 1 at depth 1, waypoint 2 at depth 2, and so on)
    aggregate DepthByLeg {
      run in sequence

      break if ( not DepthPerLeg )

      aggregate Leg1 {
        run in sequence

        assign in sequence LegDepth = Depth1

        behavior Guidance:Waypoint {
          run in sequence

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

      macro $i = 2..8 {
        aggregate Leg$i {
          run in sequence

          break if ( isNaN ( Depth[$i] ) )

          syslog info "Transiting to next waypoint at depth " + Depth[$i]~meter
          assign in sequence LegDepth = Depth[$i]

          aggregate Wpt$i {
            run in sequence

            behavior Guidance:Waypoint {
              run in sequence

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


2025-03-13T03:44:37.385Z,1741837477.385 [CommandExec](IMPORTANT): Loaded ./Missions/Science/sci2_noyo_optim.tl id=sci2_noyo_optim
2025-03-13T03:44:58.711Z,1741837498.711 [DataOverHttps](INFO): Sending 39 bytes from file Logs/20250311T232940/Courier0242.lzma
2025-03-13T03:44:59.024Z,1741837499.024 [NAL9602](INFO): Not Powering down - fast GPS
2025-03-13T03:44:59.714Z,1741837499.714 [DataOverHttps](INFO): Moved sent file to Logs/20250311T232940/Courier0242.lzma.bak
2025-03-13T03:44:59.714Z,1741837499.714 [DataOverHttps](INFO): SBD MOMSN=24220989
2025-03-13T03:45:17.182Z,1741837517.182 [CommandExec](IMPORTANT): got command set sci2_noyo_optim.MissionTimeout 13 hour
2025-03-13T03:45:17.227Z,1741837517.227 [CommandExec](IMPORTANT): got command set sci2_noyo_optim.NeedCommsTime 90 minute
2025-03-13T03:45:17.228Z,1741837517.228 [CommandExec](IMPORTANT): got command set sci2_noyo_optim.Depth1 50 meter
2025-03-13T03:45:17.229Z,1741837517.229 [CommandExec](IMPORTANT): got command set sci2_noyo_optim.Depth2 50 meter
2025-03-13T03:45:17.230Z,1741837517.230 [CommandExec](IMPORTANT): got command set sci2_noyo_optim.Depth3 NaN meter
2025-03-13T03:45:22.363Z,1741837522.363 [DataOverHttps](INFO): Sending 39 bytes from file Logs/20250311T232940/Courier0245.lzma
2025-03-13T03:45:23.366Z,1741837523.366 [DataOverHttps](INFO): Moved sent file to Logs/20250311T232940/Courier0245.lzma.bak
2025-03-13T03:45:23.366Z,1741837523.366 [DataOverHttps](INFO): SBD MOMSN=24220991
2025-03-13T03:45:46.792Z,1741837546.792 [DataOverHttps](INFO): Sending 300 bytes from file Logs/20250311T232940/Express0237.lzma
2025-03-13T03:45:47.794Z,1741837547.794 [DataOverHttps](INFO): Moved sent file to Logs/20250311T232940/Express0237.lzma.bak
2025-03-13T03:45:47.794Z,1741837547.794 [DataOverHttps](INFO): SBD MOMSN=24220999
2025-03-13T03:45:56.841Z,1741837556.841 [CommandExec](IMPORTANT): got command set sci2_noyo_optim.Repeat 12 count
2025-03-13T03:45:56.842Z,1741837556.842 [CommandExec](IMPORTANT): got command set sci2_noyo_optim.Lat1 36.79279 degree
2025-03-13T03:45:56.842Z,1741837556.842 [CommandExec](IMPORTANT): got command set sci2_noyo_optim.Lon1 -121.88919 degree
2025-03-13T03:45:56.847Z,1741837556.847 [CommandExec](IMPORTANT): got command set sci2_noyo_optim.Lat2 36.78427 degree
2025-03-13T03:45:56.848Z,1741837556.848 [CommandExec](IMPORTANT): got command set sci2_noyo_optim.Lon2 -121.91339 degree
2025-03-13T03:46:15.513Z,1741837575.513 [DataOverHttps](INFO): Sending 298 bytes from file Logs/20250311T232940/Express0240.lzma
2025-03-13T03:46:16.514Z,1741837576.514 [DataOverHttps](INFO): Moved sent file to Logs/20250311T232940/Express0240.lzma.bak
2025-03-13T03:46:16.514Z,1741837576.514 [DataOverHttps](INFO): SBD MOMSN=24221005
2025-03-13T03:46:39.120Z,1741837599.120 [DataOverHttps](INFO): Sending 287 bytes from file Logs/20250311T232940/Express0243.lzma
2025-03-13T03:46:40.121Z,1741837600.121 [DataOverHttps](INFO): Moved sent file to Logs/20250311T232940/Express0243.lzma.bak
2025-03-13T03:46:40.122Z,1741837600.122 [DataOverHttps](INFO): SBD MOMSN=24221013
2025-03-13T03:46:41.566Z,1741837601.566 [CommandExec](IMPORTANT): got command set sci2_noyo_optim.ApproachDepth 10 meter
2025-03-13T03:46:41.567Z,1741837601.567 [CommandExec](IMPORTANT): got command set sci2_noyo_optim.ApproachSpeed 1.0 meter_per_second
2025-03-13T03:46:41.567Z,1741837601.567 [CommandExec](IMPORTANT): got command set sci2_noyo_optim.SlowSpeed 0.4 meter_per_second
2025-03-13T03:46:41.568Z,1741837601.568 [CommandExec](IMPORTANT): got command set sci2_noyo_optim.MinAltitude 10 meter
2025-03-13T03:46:41.569Z,1741837601.569 [CommandExec](IMPORTANT): got command set sci2_noyo_optim.MaxDepth 60 meter
2025-03-13T03:46:53.557Z,1741837613.557 [CommandExec](IMPORTANT): got command set sci2_noyo_optim:PowerOnly.SampleLoad1 1 bool
2025-03-13T03:46:53.557Z,1741837613.557 [CommandExec](IMPORTANT): got command run
2025-03-13T03:46:53.560Z,1741837613.560 [CommandExec](IMPORTANT): Running 
2025-03-13T03:46:53.915Z,1741837613.915 [Default] Stopped
2025-03-13T03:46:53.915Z,1741837613.915 [Default](DEBUG): Aggregate::uninitialize Default
2025-03-13T03:46:53.915Z,1741837613.915 [Default:B.GoToSurface] Stopped
2025-03-13T03:46:53.915Z,1741837613.915 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-03-13T03:46:53.915Z,1741837613.915 [Default:CheckIn] Stopped
2025-03-13T03:46:53.915Z,1741837613.915 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-03-13T03:46:53.915Z,1741837613.915 [Default:CheckIn:Read_Iridium] Stopped
2025-03-13T03:46:53.916Z,1741837613.916 [MissionManager](IMPORTANT): Started mission sci2_noyo_optim
2025-03-13T03:46:53.916Z,1741837613.916 [sci2_noyo_optim] Running Loop=1
2025-03-13T03:46:53.916Z,1741837613.916 [sci2_noyo_optim](DEBUG): Aggregate::initialize sci2_noyo_optim
2025-03-13T03:46:53.916Z,1741837613.916 [sci2_noyo_optim:Science] Running Loop=1
2025-03-13T03:46:53.916Z,1741837613.916 [sci2_noyo_optim:Science](DEBUG): Aggregate::initialize sci2_noyo_optim:Science
2025-03-13T03:46:53.916Z,1741837613.916 [sci2_noyo_optim:Science:A] Running Loop=1
2025-03-13T03:46:53.916Z,1741837613.916 [sci2_noyo_optim:Science:B] Running Loop=1
2025-03-13T03:46:53.916Z,1741837613.916 [sci2_noyo_optim:Science:C] Running Loop=1
2025-03-13T03:46:53.916Z,1741837613.916 [sci2_noyo_optim:Science:D] Running Loop=1
2025-03-13T03:46:53.917Z,1741837613.917 [sci2_noyo_optim:Science:E] Running Loop=1
2025-03-13T03:46:53.917Z,1741837613.917 [sci2_noyo_optim:Science:F] Running Loop=1
2025-03-13T03:46:53.917Z,1741837613.917 [sci2_noyo_optim:Science:Read_Oil] Running Loop=1
2025-03-13T03:46:53.917Z,1741837613.917 [sci2_noyo_optim:Science:PeakDetectChl] Running Loop=1
2025-03-13T03:46:53.917Z,1741837613.917 [sci2_noyo_optim:Science:PeakDetectChl](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:PeakDetectChl
2025-03-13T03:46:53.917Z,1741837613.917 [sci2_noyo_optim:Science:PeakDetectChl:A] Running Loop=1
2025-03-13T03:46:53.917Z,1741837613.917 [sci2_noyo_optim:Science:EdgeDetectChl] Running Loop=1
2025-03-13T03:46:53.917Z,1741837613.917 [sci2_noyo_optim:Science:EdgeDetectChl](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:EdgeDetectChl
2025-03-13T03:46:53.917Z,1741837613.917 [sci2_noyo_optim:Science:EdgeDetectChl:A] Running Loop=1
2025-03-13T03:46:53.917Z,1741837613.917 [sci2_noyo_optim:Science:HighestChlPeakReport] Running Loop=1
2025-03-13T03:46:53.917Z,1741837613.917 [sci2_noyo_optim:Science:HighestChlPeakReport](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:HighestChlPeakReport
2025-03-13T03:46:53.918Z,1741837613.918 [sci2_noyo_optim:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-03-13T03:46:53.918Z,1741837613.918 [sci2_noyo_optim:Science:HighestChlPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-03-13T03:46:53.918Z,1741837613.918 [sci2_noyo_optim:Science:PeakDetectNO3] Running Loop=1
2025-03-13T03:46:53.918Z,1741837613.918 [sci2_noyo_optim:Science:PeakDetectNO3](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:PeakDetectNO3
2025-03-13T03:46:53.918Z,1741837613.918 [sci2_noyo_optim:Science:PeakDetectNO3:A] Running Loop=1
2025-03-13T03:46:53.918Z,1741837613.918 [sci2_noyo_optim:Science:PeakDetectOil] Running Loop=1
2025-03-13T03:46:53.918Z,1741837613.918 [sci2_noyo_optim:Science:PeakDetectOil](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:PeakDetectOil
2025-03-13T03:46:53.919Z,1741837613.919 [sci2_noyo_optim:Science:PeakDetectOil:A] Running Loop=1
2025-03-13T03:46:53.919Z,1741837613.919 [sci2_noyo_optim:Science:HighestOilPeakReport] Running Loop=1
2025-03-13T03:46:53.919Z,1741837613.919 [sci2_noyo_optim:Science:HighestOilPeakReport](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:HighestOilPeakReport
2025-03-13T03:46:53.919Z,1741837613.919 [sci2_noyo_optim:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-03-13T03:46:53.919Z,1741837613.919 [sci2_noyo_optim:Science:HighestOilPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-03-13T03:46:53.920Z,1741837613.920 [sci2_noyo_optim:Science:PeakDetectFDOM] Running Loop=1
2025-03-13T03:46:53.920Z,1741837613.920 [sci2_noyo_optim:Science:PeakDetectFDOM](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:PeakDetectFDOM
2025-03-13T03:46:53.920Z,1741837613.920 [sci2_noyo_optim:Science:PeakDetectFDOM:A] Running Loop=1
2025-03-13T03:46:53.920Z,1741837613.920 [sci2_noyo_optim:Science:PeakDetectSalinity] Running Loop=1
2025-03-13T03:46:53.920Z,1741837613.920 [sci2_noyo_optim:Science:PeakDetectSalinity](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:PeakDetectSalinity
2025-03-13T03:46:53.920Z,1741837613.920 [sci2_noyo_optim:Science:PeakDetectSalinity:A] Running Loop=1
2025-03-13T03:46:53.920Z,1741837613.920 [sci2_noyo_optim:Science:HighestSaltPeakReport] Running Loop=1
2025-03-13T03:46:53.920Z,1741837613.920 [sci2_noyo_optim:Science:HighestSaltPeakReport](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:HighestSaltPeakReport
2025-03-13T03:46:53.920Z,1741837613.920 [sci2_noyo_optim:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-03-13T03:46:53.921Z,1741837613.921 [sci2_noyo_optim:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-03-13T03:46:53.921Z,1741837613.921 [sci2_noyo_optim:Science:PeakDetectPlanktivoreLMavgROI] Running Loop=1
2025-03-13T03:46:53.921Z,1741837613.921 [sci2_noyo_optim:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:PeakDetectPlanktivoreLMavgROI
2025-03-13T03:46:53.921Z,1741837613.921 [sci2_noyo_optim:Science:PeakDetectPlanktivoreLMavgROI:A] Running Loop=1
2025-03-13T03:46:53.921Z,1741837613.921 [sci2_noyo_optim:Science:EdgeDetectPlanktivoreLMavgROI] Running Loop=1
2025-03-13T03:46:53.921Z,1741837613.921 [sci2_noyo_optim:Science:EdgeDetectPlanktivoreLMavgROI](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:EdgeDetectPlanktivoreLMavgROI
2025-03-13T03:46:53.922Z,1741837613.922 [sci2_noyo_optim:Science:EdgeDetectPlanktivoreLMavgROI:A] Running Loop=1
2025-03-13T03:46:53.922Z,1741837613.922 [sci2_noyo_optim:Science:PeakDetectPlanktivoreHMavgROI] Running Loop=1
2025-03-13T03:46:53.922Z,1741837613.922 [sci2_noyo_optim:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:PeakDetectPlanktivoreHMavgROI
2025-03-13T03:46:53.922Z,1741837613.922 [sci2_noyo_optim:Science:PeakDetectPlanktivoreHMavgROI:A] Running Loop=1
2025-03-13T03:46:53.922Z,1741837613.922 [sci2_noyo_optim:Science:PeakDetectPlanktivoreDiatoms] Running Loop=1
2025-03-13T03:46:53.922Z,1741837613.922 [sci2_noyo_optim:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:PeakDetectPlanktivoreDiatoms
2025-03-13T03:46:53.922Z,1741837613.922 [sci2_noyo_optim:Science:PeakDetectPlanktivoreDiatoms:A] Running Loop=1
2025-03-13T03:46:53.923Z,1741837613.923 [sci2_noyo_optim:Science:PeakDetectPlanktivoreDinoflagellates] Running Loop=1
2025-03-13T03:46:53.923Z,1741837613.923 [sci2_noyo_optim:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:PeakDetectPlanktivoreDinoflagellates
2025-03-13T03:46:53.923Z,1741837613.923 [sci2_noyo_optim:Science:PeakDetectPlanktivoreDinoflagellates:A] Running Loop=1
2025-03-13T03:46:53.923Z,1741837613.923 [sci2_noyo_optim:Science:ChlThreshTrigger] Running Loop=1
2025-03-13T03:46:53.923Z,1741837613.923 [sci2_noyo_optim:Science:ChlThreshTrigger](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:ChlThreshTrigger
2025-03-13T03:46:53.923Z,1741837613.923 [sci2_noyo_optim:Science:ChlThreshTrigger:A.ValueDetect] Running Loop=1
2025-03-13T03:46:53.923Z,1741837613.923 [sci2_noyo_optim:Science:ChlThreshTrigger:A.ValueDetect](INFO): Initialize.
2025-03-13T03:46:53.924Z,1741837613.924 [sci2_noyo_optim:Science:OceanCurrent] Running Loop=1
2025-03-13T03:46:53.924Z,1741837613.924 [sci2_noyo_optim:Science:OceanCurrent](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:OceanCurrent
2025-03-13T03:46:53.924Z,1741837613.924 [sci2_noyo_optim:Science:OceanCurrent:A.] Running Loop=1
2025-03-13T03:46:53.924Z,1741837613.924 [sci2_noyo_optim:Science:OceanCurrent:A.](INFO): Initializing CurrentEstimator.
2025-03-13T03:46:53.924Z,1741837613.924 [sci2_noyo_optim:StandardEnvelopes] Running Loop=1
2025-03-13T03:46:53.924Z,1741837613.924 [sci2_noyo_optim:StandardEnvelopes](DEBUG): Aggregate::initialize sci2_noyo_optim:StandardEnvelopes
2025-03-13T03:46:53.924Z,1741837613.924 [sci2_noyo_optim:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-03-13T03:46:53.924Z,1741837613.924 [sci2_noyo_optim:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-03-13T03:46:53.925Z,1741837613.925 [sci2_noyo_optim:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-03-13T03:46:53.925Z,1741837613.925 [sci2_noyo_optim:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-03-13T03:46:53.925Z,1741837613.925 [sci2_noyo_optim:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-03-13T03:46:53.925Z,1741837613.925 [sci2_noyo_optim:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-03-13T03:46:53.925Z,1741837613.925 [sci2_noyo_optim:BackseatDriver] Running Loop=1
2025-03-13T03:46:53.925Z,1741837613.925 [sci2_noyo_optim:BackseatDriver](DEBUG): Aggregate::initialize sci2_noyo_optim:BackseatDriver
2025-03-13T03:46:53.925Z,1741837613.925 [sci2_noyo_optim:BackseatDriver:A.BackseatDriver] Running Loop=1
2025-03-13T03:46:53.925Z,1741837613.925 [sci2_noyo_optim:J] Running Loop=1
2025-03-13T03:46:53.925Z,1741837613.925 [sci2_noyo_optim:PowerOnly] Running Loop=1
2025-03-13T03:46:53.925Z,1741837613.925 [sci2_noyo_optim:PowerOnly](DEBUG): Aggregate::initialize sci2_noyo_optim:PowerOnly
2025-03-13T03:46:53.926Z,1741837613.926 [sci2_noyo_optim:PowerOnly:A] Running Loop=1
2025-03-13T03:46:53.926Z,1741837613.926 [sci2_noyo_optim:PowerOnly:B] Running Loop=1
2025-03-13T03:46:53.926Z,1741837613.926 [sci2_noyo_optim:PowerOnly:C] Running Loop=1
2025-03-13T03:46:53.926Z,1741837613.926 [sci2_noyo_optim:PowerOnly:D] Running Loop=1
2025-03-13T03:46:53.926Z,1741837613.926 [sci2_noyo_optim:PowerOnly:E.Wait] Running Loop=1
2025-03-13T03:46:53.926Z,1741837613.926 [sci2_noyo_optim:PowerOnly:E.Wait](DEBUG): Initialize Wait Component.
2025-03-13T03:46:53.926Z,1741837613.926 [sci2_noyo_optim:L] Running Loop=1
2025-03-13T03:46:53.926Z,1741837613.926 [sci2_noyo_optim:N] Running Loop=1
2025-03-13T03:46:53.926Z,1741837613.926 [sci2_noyo_optim:O.Buoyancy] Running Loop=1
2025-03-13T03:46:53.926Z,1741837613.926 [sci2_noyo_optim:O.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-03-13T03:46:53.926Z,1741837613.926 [sci2_noyo_optim:C] Running Loop=1
2025-03-13T03:46:53.928Z,1741837613.928 [sci2_noyo_optim:O.Buoyancy] Running Loop=1
2025-03-13T03:46:53.928Z,1741837613.928 [sci2_noyo_optim:N] Running Loop=1
2025-03-13T03:46:53.929Z,1741837613.929 [sci2_noyo_optim:N](DEBUG): Initialize ReadDataComponent to sense MultiRay.lightModeLog
2025-03-13T03:46:53.929Z,1741837613.929 [sci2_noyo_optim:L] Running Loop=1
2025-03-13T03:46:53.929Z,1741837613.929 [sci2_noyo_optim:PowerOnly] Running Loop=1
2025-03-13T03:46:53.929Z,1741837613.929 [sci2_noyo_optim:PowerOnly:D] Stopped
2025-03-13T03:46:53.929Z,1741837613.929 [sci2_noyo_optim:PowerOnly:C] Stopped
2025-03-13T03:46:53.929Z,1741837613.929 [sci2_noyo_optim:PowerOnly:B] Running Loop=1
2025-03-13T03:46:53.930Z,1741837613.930 [sci2_noyo_optim:PowerOnly:B](DEBUG): Initialize ReadDataComponent to sense PowerOnly.sampleLoad1
2025-03-13T03:46:53.930Z,1741837613.930 [sci2_noyo_optim:PowerOnly:A] Stopped
2025-03-13T03:46:53.930Z,1741837613.930 [sci2_noyo_optim:J] Running Loop=1
2025-03-13T03:46:53.930Z,1741837613.930 [sci2_noyo_optim:BackseatDriver] Running Loop=1
2025-03-13T03:46:53.931Z,1741837613.931 [sci2_noyo_optim:BackseatDriver:A.BackseatDriver](INFO): Initializing backseat
2025-03-13T03:46:53.946Z,1741837613.946 [sci2_noyo_optim:C] Stopped
2025-03-13T03:46:53.946Z,1741837613.946 [sci2_noyo_optim:D] Running Loop=1
2025-03-13T03:46:53.946Z,1741837613.946 [sci2_noyo_optim:StandardEnvelopes] Running Loop=1
2025-03-13T03:46:53.946Z,1741837613.946 [sci2_noyo_optim:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-03-13T03:46:53.947Z,1741837613.947 [sci2_noyo_optim:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-03-13T03:46:53.947Z,1741837613.947 [sci2_noyo_optim:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-03-13T03:46:53.948Z,1741837613.948 [sci2_noyo_optim:Science] Running Loop=1
2025-03-13T03:46:53.949Z,1741837613.949 [sci2_noyo_optim:Science:ChlThreshTrigger] Stopped
2025-03-13T03:46:53.949Z,1741837613.949 [sci2_noyo_optim:Science:ChlThreshTrigger](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:ChlThreshTrigger
2025-03-13T03:46:53.949Z,1741837613.949 [sci2_noyo_optim:Science:ChlThreshTrigger:A.ValueDetect] Stopped
2025-03-13T03:46:53.949Z,1741837613.949 [sci2_noyo_optim:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Uninitialize.
2025-03-13T03:46:53.949Z,1741837613.949 [sci2_noyo_optim:Science:PeakDetectPlanktivoreDinoflagellates] Stopped
2025-03-13T03:46:53.949Z,1741837613.949 [sci2_noyo_optim:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:PeakDetectPlanktivoreDinoflagellates
2025-03-13T03:46:53.949Z,1741837613.949 [sci2_noyo_optim:Science:PeakDetectPlanktivoreDinoflagellates:A] Stopped
2025-03-13T03:46:53.949Z,1741837613.949 [sci2_noyo_optim:Science:PeakDetectPlanktivoreDiatoms] Stopped
2025-03-13T03:46:53.950Z,1741837613.950 [sci2_noyo_optim:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:PeakDetectPlanktivoreDiatoms
2025-03-13T03:46:53.950Z,1741837613.950 [sci2_noyo_optim:Science:PeakDetectPlanktivoreDiatoms:A] Stopped
2025-03-13T03:46:53.950Z,1741837613.950 [sci2_noyo_optim:Science:PeakDetectPlanktivoreHMavgROI] Stopped
2025-03-13T03:46:53.950Z,1741837613.950 [sci2_noyo_optim:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:PeakDetectPlanktivoreHMavgROI
2025-03-13T03:46:53.950Z,1741837613.950 [sci2_noyo_optim:Science:PeakDetectPlanktivoreHMavgROI:A] Stopped
2025-03-13T03:46:53.950Z,1741837613.950 [sci2_noyo_optim:Science:EdgeDetectPlanktivoreLMavgROI] Stopped
2025-03-13T03:46:53.950Z,1741837613.950 [sci2_noyo_optim:Science:EdgeDetectPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:EdgeDetectPlanktivoreLMavgROI
2025-03-13T03:46:53.950Z,1741837613.950 [sci2_noyo_optim:Science:EdgeDetectPlanktivoreLMavgROI:A] Stopped
2025-03-13T03:46:53.950Z,1741837613.950 [sci2_noyo_optim:Science:PeakDetectPlanktivoreLMavgROI] Stopped
2025-03-13T03:46:53.950Z,1741837613.950 [sci2_noyo_optim:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:PeakDetectPlanktivoreLMavgROI
2025-03-13T03:46:53.950Z,1741837613.950 [sci2_noyo_optim:Science:PeakDetectPlanktivoreLMavgROI:A] Stopped
2025-03-13T03:46:53.950Z,1741837613.950 [sci2_noyo_optim:Science:HighestSaltPeakReport] Stopped
2025-03-13T03:46:53.950Z,1741837613.950 [sci2_noyo_optim:Science:HighestSaltPeakReport](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:HighestSaltPeakReport
2025-03-13T03:46:53.951Z,1741837613.951 [sci2_noyo_optim:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Stopped
2025-03-13T03:46:53.951Z,1741837613.951 [sci2_noyo_optim:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-03-13T03:46:53.951Z,1741837613.951 [sci2_noyo_optim:Science:PeakDetectSalinity] Stopped
2025-03-13T03:46:53.951Z,1741837613.951 [sci2_noyo_optim:Science:PeakDetectSalinity](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:PeakDetectSalinity
2025-03-13T03:46:53.951Z,1741837613.951 [sci2_noyo_optim:Science:PeakDetectSalinity:A] Stopped
2025-03-13T03:46:53.951Z,1741837613.951 [sci2_noyo_optim:Science:PeakDetectFDOM] Stopped
2025-03-13T03:46:53.967Z,1741837613.967 [sci2_noyo_optim:Science:PeakDetectFDOM](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:PeakDetectFDOM
2025-03-13T03:46:53.967Z,1741837613.967 [sci2_noyo_optim:Science:PeakDetectFDOM:A] Stopped
2025-03-13T03:46:53.967Z,1741837613.967 [sci2_noyo_optim:Science:HighestOilPeakReport] Stopped
2025-03-13T03:46:53.967Z,1741837613.967 [sci2_noyo_optim:Science:HighestOilPeakReport](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:HighestOilPeakReport
2025-03-13T03:46:53.968Z,1741837613.968 [sci2_noyo_optim:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Stopped
2025-03-13T03:46:53.968Z,1741837613.968 [sci2_noyo_optim:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-03-13T03:46:53.968Z,1741837613.968 [sci2_noyo_optim:Science:PeakDetectOil] Stopped
2025-03-13T03:46:53.968Z,1741837613.968 [sci2_noyo_optim:Science:PeakDetectOil](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:PeakDetectOil
2025-03-13T03:46:53.968Z,1741837613.968 [sci2_noyo_optim:Science:PeakDetectOil:A] Stopped
2025-03-13T03:46:53.968Z,1741837613.968 [sci2_noyo_optim:Science:PeakDetectNO3] Stopped
2025-03-13T03:46:53.968Z,1741837613.968 [sci2_noyo_optim:Science:PeakDetectNO3](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:PeakDetectNO3
2025-03-13T03:46:53.968Z,1741837613.968 [sci2_noyo_optim:Science:PeakDetectNO3:A] Stopped
2025-03-13T03:46:53.968Z,1741837613.968 [sci2_noyo_optim:Science:HighestChlPeakReport] Stopped
2025-03-13T03:46:53.968Z,1741837613.968 [sci2_noyo_optim:Science:HighestChlPeakReport](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:HighestChlPeakReport
2025-03-13T03:46:53.968Z,1741837613.968 [sci2_noyo_optim:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Stopped
2025-03-13T03:46:53.968Z,1741837613.968 [sci2_noyo_optim:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-03-13T03:46:53.968Z,1741837613.968 [sci2_noyo_optim:Science:EdgeDetectChl] Stopped
2025-03-13T03:46:53.969Z,1741837613.969 [sci2_noyo_optim:Science:EdgeDetectChl](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:EdgeDetectChl
2025-03-13T03:46:53.969Z,1741837613.969 [sci2_noyo_optim:Science:EdgeDetectChl:A] Stopped
2025-03-13T03:46:53.969Z,1741837613.969 [sci2_noyo_optim:Science:PeakDetectChl] Stopped
2025-03-13T03:46:53.969Z,1741837613.969 [sci2_noyo_optim:Science:PeakDetectChl](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:PeakDetectChl
2025-03-13T03:46:53.969Z,1741837613.969 [sci2_noyo_optim:Science:PeakDetectChl:A] Stopped
2025-03-13T03:46:53.969Z,1741837613.969 [sci2_noyo_optim:Science:OceanCurrent:A.] Running Loop=1
2025-03-13T03:46:53.969Z,1741837613.969 [sci2_noyo_optim:Science:Read_Oil] Stopped
2025-03-13T03:46:53.969Z,1741837613.969 [sci2_noyo_optim:Science:F] Stopped
2025-03-13T03:46:53.969Z,1741837613.969 [sci2_noyo_optim:Science:E] Running Loop=1
2025-03-13T03:46:53.970Z,1741837613.970 [sci2_noyo_optim:Science:E](DEBUG): Initialize ReadDataComponent to sense mass_concentration_of_chlorophyll_in_sea_water
2025-03-13T03:46:53.970Z,1741837613.970 [sci2_noyo_optim:Science:D] Stopped
2025-03-13T03:46:53.970Z,1741837613.970 [sci2_noyo_optim:Science:C] Running Loop=1
2025-03-13T03:46:53.970Z,1741837613.970 [sci2_noyo_optim:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_temperature
2025-03-13T03:46:53.971Z,1741837613.971 [sci2_noyo_optim:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_salinity
2025-03-13T03:46:53.975Z,1741837613.975 [sci2_noyo_optim:Science:B] Running Loop=1
2025-03-13T03:46:53.976Z,1741837613.976 [sci2_noyo_optim:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_temperature
2025-03-13T03:46:53.976Z,1741837613.976 [sci2_noyo_optim:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_salinity
2025-03-13T03:46:53.976Z,1741837613.976 [sci2_noyo_optim:Science:A] Stopped
2025-03-13T03:46:54.020Z,1741837614.020 [BackseatComponent](INFO): Powering up
2025-03-13T03:46:54.020Z,1741837614.020 [BackseatComponent](INFO): Subscribing to LCM channels.
2025-03-13T03:46:54.137Z,1741837614.137 [WetLabsBB2FL](INFO): Powering up
2025-03-13T03:46:54.331Z,1741837614.331 [PowerOnly](INFO): Powering up loadControl
2025-03-13T03:46:54.372Z,1741837614.372 [sci2_noyo_optim:D] Stopped
2025-03-13T03:46:54.372Z,1741837614.372 [sci2_noyo_optim:E] Running Loop=1
2025-03-13T03:46:54.727Z,1741837614.727 [sci2_noyo_optim:E] Stopped
2025-03-13T03:46:54.727Z,1741837614.727 [sci2_noyo_optim:G] Running Loop=1
2025-03-13T03:46:55.203Z,1741837615.203 [sci2_noyo_optim:G] Stopped
2025-03-13T03:46:55.204Z,1741837615.204 [sci2_noyo_optim:H] Running Loop=1
2025-03-13T03:46:55.567Z,1741837615.567 [sci2_noyo_optim:H] Stopped
2025-03-13T03:46:55.568Z,1741837615.568 [sci2_noyo_optim:M] Running Loop=1
2025-03-13T03:46:55.948Z,1741837615.948 [sci2_noyo_optim:M] Stopped
2025-03-13T03:46:55.948Z,1741837615.948 [sci2_noyo_optim:StartingMission] Running Loop=1
2025-03-13T03:46:55.948Z,1741837615.948 [sci2_noyo_optim:StartingMission](DEBUG): Aggregate::initialize sci2_noyo_optim:StartingMission
2025-03-13T03:46:56.359Z,1741837616.359 [sci2_noyo_optim:SurfaceComms] Running Loop=1
2025-03-13T03:46:56.359Z,1741837616.359 [sci2_noyo_optim:SurfaceComms](DEBUG): Aggregate::initialize sci2_noyo_optim:SurfaceComms
2025-03-13T03:46:56.360Z,1741837616.360 [sci2_noyo_optim:SurfaceComms:A] Running Loop=1
2025-03-13T03:46:56.360Z,1741837616.360 [sci2_noyo_optim:SurfaceComms:A] Stopped
2025-03-13T03:46:56.360Z,1741837616.360 [sci2_noyo_optim:SurfaceComms:B] Running Loop=1
2025-03-13T03:46:56.360Z,1741837616.360 [sci2_noyo_optim:SurfaceComms:B](DEBUG): Aggregate::initialize sci2_noyo_optim:SurfaceComms:B
2025-03-13T03:46:56.685Z,1741837616.685 [CTD_Seabird](ERROR): Pressure reading out of range: -10.100000 decibar
2025-03-13T03:46:56.686Z,1741837616.686 [CTD_Seabird](INFO): some bad data, not updating bins
2025-03-13T03:46:56.779Z,1741837616.779 [sci2_noyo_optim:NeedComms] Running Loop=1
2025-03-13T03:46:56.779Z,1741837616.779 [sci2_noyo_optim:NeedComms](DEBUG): Aggregate::initialize sci2_noyo_optim:NeedComms
2025-03-13T03:46:56.779Z,1741837616.779 [sci2_noyo_optim:NeedComms:B.GoToSurface] Running Loop=1
2025-03-13T03:46:56.780Z,1741837616.780 [sci2_noyo_optim:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-03-13T03:46:56.780Z,1741837616.780 [sci2_noyo_optim:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-03-13T03:46:56.780Z,1741837616.780 [sci2_noyo_optim:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-03-13T03:46:56.781Z,1741837616.781 [sci2_noyo_optim:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-03-13T03:46:56.781Z,1741837616.781 [sci2_noyo_optim:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-03-13T03:46:56.781Z,1741837616.781 [sci2_noyo_optim:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-03-13T03:46:56.782Z,1741837616.782 [sci2_noyo_optim:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-03-13T03:46:56.782Z,1741837616.782 [sci2_noyo_optim:NeedComms:A] Running Loop=1
2025-03-13T03:46:56.788Z,1741837616.788 [sci2_noyo_optim:NeedComms:A](INFO): last time_fix was:  1741837408.000000 second since 1970/01/01T00:00:00Z 
2025-03-13T03:46:56.788Z,1741837616.788 [sci2_noyo_optim:NeedComms:A] Stopped
2025-03-13T03:46:57.216Z,1741837617.216 [sci2_noyo_optim:NeedComms:C] Running Loop=1
2025-03-13T03:46:57.572Z,1741837617.572 [sci2_noyo_optim:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-03-13T03:46:58.344Z,1741837618.344 [MultiRay](IMPORTANT): MultiRay white lights ON
2025-03-13T03:46:59.151Z,1741837619.151 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,034658.00,A,3647.41450,N,12153.72870,W,1.186,80.52,130325,,,A*4B
2025-03-13T03:46:59.153Z,1741837619.153 [NAL9602](INFO): GPS fix at 20250313T034658: (36.790242, -121.895478)
2025-03-13T03:46:59.197Z,1741837619.197 [sci2_noyo_optim:NeedComms:C] Stopped
2025-03-13T03:46:59.198Z,1741837619.198 [sci2_noyo_optim:NeedComms:D] Running Loop=1
2025-03-13T03:46:59.608Z,1741837619.608 [sci2_noyo_optim:NeedComms:D](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-03-13T03:47:00.032Z,1741837620.032 [DataOverHttps](INFO): Sending 299 bytes from file Logs/20250311T232940/Express0246.lzma
2025-03-13T03:47:01.033Z,1741837621.033 [DataOverHttps](INFO): Moved sent file to Logs/20250311T232940/Express0246.lzma.bak
2025-03-13T03:47:01.034Z,1741837621.034 [DataOverHttps](INFO): SBD MOMSN=24221020
2025-03-13T03:47:06.834Z,1741837626.834 [NAL9602](INFO): SBD MO Status=0, MOMSN=18532, MT Status=0, MTMSN=0
2025-03-13T03:47:06.834Z,1741837626.834 [NAL9602](INFO): No messages in MT queue
2025-03-13T03:47:17.412Z,1741837637.412 [DataOverHttps](INFO): Sending 73 bytes from file Logs/20250311T232940/Courier0248.lzma
2025-03-13T03:47:18.413Z,1741837638.413 [DataOverHttps](INFO): Moved sent file to Logs/20250311T232940/Courier0248.lzma.bak
2025-03-13T03:47:18.414Z,1741837638.414 [DataOverHttps](INFO): SBD MOMSN=24221027
2025-03-13T03:47:34.768Z,1741837654.768 [DataOverHttps](INFO): Sending 535 bytes from file Logs/20250311T232940/Express0249.lzma
2025-03-13T03:47:35.769Z,1741837655.769 [DataOverHttps](INFO): Moved sent file to Logs/20250311T232940/Express0249.lzma.bak
2025-03-13T03:47:35.770Z,1741837655.770 [DataOverHttps](INFO): SBD MOMSN=24221031
2025-03-13T03:47:37.151Z,1741837657.151 [sci2_noyo_optim:NeedComms:D] Stopped
2025-03-13T03:47:37.152Z,1741837657.152 [sci2_noyo_optim:NeedComms:E] Running Loop=1
2025-03-13T03:47:37.535Z,1741837657.535 [NAL9602](INFO): Not Powering down - fast GPS
2025-03-13T03:47:37.552Z,1741837657.552 [sci2_noyo_optim:NeedComms:E](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-03-13T03:47:39.155Z,1741837659.155 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,034738.00,A,3647.41396,N,12153.72449,W,1.419,169.10,130325,,,A*74
2025-03-13T03:47:39.157Z,1741837659.157 [NAL9602](INFO): GPS fix at 20250313T034738: (36.790233, -121.895408)
2025-03-13T03:47:39.187Z,1741837659.187 [sci2_noyo_optim:NeedComms:E] Stopped
2025-03-13T03:47:39.188Z,1741837659.188 [sci2_noyo_optim:NeedComms](INFO): Completed sci2_noyo_optim:NeedComms
2025-03-13T03:47:39.188Z,1741837659.188 [sci2_noyo_optim:NeedComms] Stopped
2025-03-13T03:47:39.189Z,1741837659.189 [sci2_noyo_optim:NeedComms](DEBUG): Aggregate::uninitialize sci2_noyo_optim:NeedComms
2025-03-13T03:47:39.189Z,1741837659.189 [sci2_noyo_optim:NeedComms:B.GoToSurface] Stopped
2025-03-13T03:47:39.189Z,1741837659.189 [sci2_noyo_optim:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-03-13T03:47:39.603Z,1741837659.603 [sci2_noyo_optim:SurfaceComms:B](INFO): Completed sci2_noyo_optim:SurfaceComms:B
2025-03-13T03:47:39.603Z,1741837659.603 [sci2_noyo_optim:SurfaceComms:B] Stopped
2025-03-13T03:47:39.604Z,1741837659.604 [sci2_noyo_optim:SurfaceComms:B](DEBUG): Aggregate::uninitialize sci2_noyo_optim:SurfaceComms:B
2025-03-13T03:47:39.604Z,1741837659.604 [sci2_noyo_optim:SurfaceComms:C] Running Loop=1
2025-03-13T03:47:39.994Z,1741837659.994 [sci2_noyo_optim:SurfaceComms:C] Stopped
2025-03-13T03:47:39.994Z,1741837659.994 [sci2_noyo_optim:SurfaceComms](INFO): Completed sci2_noyo_optim:SurfaceComms
2025-03-13T03:47:39.994Z,1741837659.994 [sci2_noyo_optim:SurfaceComms] Stopped
2025-03-13T03:47:39.994Z,1741837659.994 [sci2_noyo_optim:SurfaceComms](DEBUG): Aggregate::uninitialize sci2_noyo_optim:SurfaceComms
2025-03-13T03:47:40.412Z,1741837660.412 [sci2_noyo_optim:StartingMission](INFO): Completed sci2_noyo_optim:StartingMission
2025-03-13T03:47:40.412Z,1741837660.412 [sci2_noyo_optim:StartingMission] Stopped
2025-03-13T03:47:40.412Z,1741837660.412 [sci2_noyo_optim:StartingMission](DEBUG): Aggregate::uninitialize sci2_noyo_optim:StartingMission
2025-03-13T03:47:40.413Z,1741837660.413 [sci2_noyo_optim:Lap] Running Loop=1
2025-03-13T03:47:40.413Z,1741837660.413 [sci2_noyo_optim:Lap](DEBUG): Aggregate::initialize sci2_noyo_optim:Lap
2025-03-13T03:47:40.413Z,1741837660.413 [sci2_noyo_optim:Lap:Dive] Running Loop=1
2025-03-13T03:47:40.413Z,1741837660.413 [sci2_noyo_optim:Lap:Dive](DEBUG): Aggregate::initialize sci2_noyo_optim:Lap:Dive
2025-03-13T03:47:40.413Z,1741837660.413 [sci2_noyo_optim:Lap:Dive:A] Running Loop=1
2025-03-13T03:47:40.413Z,1741837660.413 [sci2_noyo_optim:Lap:Dive:A](DEBUG): Aggregate::initialize sci2_noyo_optim:Lap:Dive:A
2025-03-13T03:47:40.413Z,1741837660.413 [sci2_noyo_optim:Lap:DepthByLap] Running Loop=1
2025-03-13T03:47:40.413Z,1741837660.413 [sci2_noyo_optim:Lap:DepthByLap](DEBUG): Aggregate::initialize sci2_noyo_optim:Lap:DepthByLap
2025-03-13T03:47:40.413Z,1741837660.413 [sci2_noyo_optim:Lap:DepthByLap:A] Running Loop=1
2025-03-13T03:47:40.828Z,1741837660.828 [sci2_noyo_optim:Lap:DepthByLap:A] Stopped
2025-03-13T03:47:40.828Z,1741837660.828 [sci2_noyo_optim:Lap:DepthByLap:Wpt1] Running Loop=1
2025-03-13T03:47:40.828Z,1741837660.828 [sci2_noyo_optim:Lap:DepthByLap:Wpt1](DEBUG): Aggregate::initialize sci2_noyo_optim:Lap:DepthByLap:Wpt1
2025-03-13T03:47:40.829Z,1741837660.829 [sci2_noyo_optim:Lap:DepthByLap:Wpt1:A.Waypoint] Running Loop=1
2025-03-13T03:47:40.829Z,1741837660.829 [sci2_noyo_optim:Lap:DepthByLap:Wpt1:A.Waypoint](DEBUG): Initialize WaypointComponent.
2025-03-13T03:47:40.830Z,1741837660.830 [sci2_noyo_optim:Lap:DepthByLap:Wpt1:A.Waypoint](IMPORTANT): Navigating to waypoint: 36.792789,-121.889191
2025-03-13T03:47:40.830Z,1741837660.830 [sci2_noyo_optim:Lap:Dive] Running Loop=1
2025-03-13T03:47:40.830Z,1741837660.830 [sci2_noyo_optim:DiveCmd] Running Loop=1
2025-03-13T03:47:40.830Z,1741837660.830 [sci2_noyo_optim:DiveCmd](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd
2025-03-13T03:47:40.830Z,1741837660.830 [sci2_noyo_optim:DiveCmd:InitialDive] Running Loop=1
2025-03-13T03:47:40.830Z,1741837660.830 [sci2_noyo_optim:DiveCmd:InitialDive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:InitialDive
2025-03-13T03:47:40.830Z,1741837660.830 [sci2_noyo_optim:DiveCmd:InitialDive:dive] Running Loop=1
2025-03-13T03:47:40.830Z,1741837660.830 [sci2_noyo_optim:DiveCmd:InitialDive:dive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:InitialDive:dive
2025-03-13T03:47:40.830Z,1741837660.830 [sci2_noyo_optim:DiveCmd:InitialDive:dive:A] Running Loop=1
2025-03-13T03:47:40.830Z,1741837660.830 [sci2_noyo_optim:DiveCmd:InitialDive:dive:B] Running Loop=1
2025-03-13T03:47:40.830Z,1741837660.830 [sci2_noyo_optim:DiveCmd:InitialDive:dive:C.Mass] Running Loop=1
2025-03-13T03:47:40.831Z,1741837660.831 [sci2_noyo_optim:DiveCmd:InitialDive:dive:C.Mass](DEBUG): Initialize.
2025-03-13T03:47:40.831Z,1741837660.831 [sci2_noyo_optim:DiveCmd:InitialDive:dive:D] Running Loop=1
2025-03-13T03:47:40.831Z,1741837660.831 [sci2_noyo_optim:DiveCmd:SettleAtDepth] Running Loop=1
2025-03-13T03:47:40.835Z,1741837660.835 [sci2_noyo_optim:DiveCmd:SettleAtDepth](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:SettleAtDepth
2025-03-13T03:47:40.835Z,1741837660.835 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive] Running Loop=1
2025-03-13T03:47:40.835Z,1741837660.835 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:SettleAtDepth:dive
2025-03-13T03:47:40.836Z,1741837660.836 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:B.Pitch] Running Loop=1
2025-03-13T03:47:40.836Z,1741837660.836 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:B.Pitch](DEBUG): Initialize.
2025-03-13T03:47:40.836Z,1741837660.836 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:A] Running Loop=1
2025-03-13T03:47:40.836Z,1741837660.836 [sci2_noyo_optim:DiveCmd:MaintainDepth] Running Loop=1
2025-03-13T03:47:40.836Z,1741837660.836 [sci2_noyo_optim:DiveCmd:MaintainDepth](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepth
2025-03-13T03:47:40.836Z,1741837660.836 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive] Running Loop=1
2025-03-13T03:47:40.836Z,1741837660.836 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive
2025-03-13T03:47:40.836Z,1741837660.836 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive] Running Loop=1
2025-03-13T03:47:40.836Z,1741837660.836 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive
2025-03-13T03:47:40.836Z,1741837660.836 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass] Running Loop=1
2025-03-13T03:47:40.837Z,1741837660.837 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass](DEBUG): Initialize.
2025-03-13T03:47:40.837Z,1741837660.837 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed] Running Loop=1
2025-03-13T03:47:40.837Z,1741837660.837 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed](DEBUG): Initialize.
2025-03-13T03:47:40.837Z,1741837660.837 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:B.Pitch] Running Loop=1
2025-03-13T03:47:40.837Z,1741837660.837 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:B.Pitch](DEBUG): Initialize.
2025-03-13T03:47:40.837Z,1741837660.837 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow] Running Loop=1
2025-03-13T03:47:40.837Z,1741837660.837 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepthSlow
2025-03-13T03:47:40.837Z,1741837660.837 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:A.SetSpeed] Running Loop=1
2025-03-13T03:47:40.837Z,1741837660.837 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:A.SetSpeed](DEBUG): Initialize.
2025-03-13T03:47:40.838Z,1741837660.838 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:B] Running Loop=1
2025-03-13T03:47:40.838Z,1741837660.838 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:C.Buoyancy] Running Loop=1
2025-03-13T03:47:40.838Z,1741837660.838 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:C.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-03-13T03:47:40.838Z,1741837660.838 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:D.Pitch] Running Loop=1
2025-03-13T03:47:40.838Z,1741837660.838 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:D.Pitch](DEBUG): Initialize.
2025-03-13T03:47:40.839Z,1741837660.839 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow] Stopped
2025-03-13T03:47:40.839Z,1741837660.839 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepthSlow
2025-03-13T03:47:40.843Z,1741837660.843 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:A.SetSpeed] Stopped
2025-03-13T03:47:40.843Z,1741837660.843 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:A.SetSpeed](DEBUG): Uninitialize.
2025-03-13T03:47:40.843Z,1741837660.843 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:B] Stopped
2025-03-13T03:47:40.843Z,1741837660.843 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:C.Buoyancy] Stopped
2025-03-13T03:47:40.843Z,1741837660.843 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-03-13T03:47:40.844Z,1741837660.844 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:D.Pitch] Stopped
2025-03-13T03:47:40.844Z,1741837660.844 [sci2_noyo_optim:DiveCmd:MaintainDepth] Running Loop=1
2025-03-13T03:47:40.844Z,1741837660.844 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive] Running Loop=1
2025-03-13T03:47:40.844Z,1741837660.844 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:B.Pitch] Running Loop=1
2025-03-13T03:47:40.844Z,1741837660.844 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive] Running Loop=1
2025-03-13T03:47:40.844Z,1741837660.844 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed] Running Loop=1
2025-03-13T03:47:40.845Z,1741837660.845 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass] Running Loop=1
2025-03-13T03:47:40.845Z,1741837660.845 [sci2_noyo_optim:DiveCmd:SettleAtDepth] Stopped
2025-03-13T03:47:40.845Z,1741837660.845 [sci2_noyo_optim:DiveCmd:SettleAtDepth](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:SettleAtDepth
2025-03-13T03:47:40.845Z,1741837660.845 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive] Stopped
2025-03-13T03:47:40.845Z,1741837660.845 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:SettleAtDepth:dive
2025-03-13T03:47:40.845Z,1741837660.845 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:A] Stopped
2025-03-13T03:47:40.845Z,1741837660.845 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:B.Pitch] Stopped
2025-03-13T03:47:40.845Z,1741837660.845 [sci2_noyo_optim:DiveCmd:InitialDive] Running Loop=1
2025-03-13T03:47:40.846Z,1741837660.846 [sci2_noyo_optim:DiveCmd:InitialDive:dive:D](INFO): Waiting for  1.000000 min while pumping down to neutral.
2025-03-13T03:47:40.846Z,1741837660.846 [sci2_noyo_optim:DiveCmd:InitialDive:dive:D] Stopped
2025-03-13T03:47:40.847Z,1741837660.847 [sci2_noyo_optim:DiveCmd:InitialDive:dive:E.Wait] Running Loop=1
2025-03-13T03:47:40.847Z,1741837660.847 [sci2_noyo_optim:DiveCmd:InitialDive:dive:E.Wait](DEBUG): Initialize Wait Component.
2025-03-13T03:47:40.859Z,1741837660.859 [sci2_noyo_optim:DiveCmd:InitialDive:dive:C.Mass] Running Loop=1
2025-03-13T03:47:40.860Z,1741837660.860 [sci2_noyo_optim:DiveCmd:InitialDive:dive:B] Running Loop=1
2025-03-13T03:47:40.860Z,1741837660.860 [sci2_noyo_optim:DiveCmd:InitialDive:dive:A] Running Loop=1
2025-03-13T03:47:41.232Z,1741837661.232 [sci2_noyo_optim:Lap:DepthByLap:Wpt1:A.Waypoint](INFO): Navigating to waypoint: 36.792789,-121.889191
2025-03-13T03:47:52.510Z,1741837672.510 [BackseatComponent](IMPORTANT): ikshana: running backseat application.
2025-03-13T03:47:57.515Z,1741837677.515 [NAL9602](INFO): SBD MO Status=0, MOMSN=18533, MT Status=0, MTMSN=0
2025-03-13T03:47:57.516Z,1741837677.516 [NAL9602](INFO): No messages in MT queue
2025-03-13T03:48:28.213Z,1741837708.213 [NAL9602](INFO): Not Powering down - fast GPS
2025-03-13T03:48:41.404Z,1741837721.404 [sci2_noyo_optim:DiveCmd:InitialDive:dive:E.Wait](INFO): Done Waiting.
2025-03-13T03:48:41.404Z,1741837721.404 [sci2_noyo_optim:DiveCmd:InitialDive:dive:E.Wait] Stopped
2025-03-13T03:48:41.404Z,1741837721.404 [sci2_noyo_optim:DiveCmd:InitialDive:dive:E.Wait](DEBUG): Uninitialize Wait Component.
2025-03-13T03:48:41.404Z,1741837721.404 [sci2_noyo_optim:DiveCmd:InitialDive:dive:F] Running Loop=1
2025-03-13T03:48:41.815Z,1741837721.815 [sci2_noyo_optim:DiveCmd:InitialDive:dive:F](INFO): Moving to  10.000000 m 
2025-03-13T03:48:41.816Z,1741837721.816 [sci2_noyo_optim:DiveCmd:InitialDive:dive:F] Stopped
2025-03-13T03:48:41.816Z,1741837721.816 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth] Running Loop=1
2025-03-13T03:48:41.816Z,1741837721.816 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth
2025-03-13T03:48:41.816Z,1741837721.816 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:A.SetSpeed] Running Loop=1
2025-03-13T03:48:41.816Z,1741837721.816 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:A.SetSpeed](DEBUG): Initialize.
2025-03-13T03:48:41.816Z,1741837721.816 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:B.Pitch] Running Loop=1
2025-03-13T03:48:41.816Z,1741837721.816 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:B.Pitch](DEBUG): Initialize.
2025-03-13T03:48:42.210Z,1741837722.210 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:A.SetSpeed] Running Loop=1
2025-03-13T03:49:17.565Z,1741837757.565 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T03:49:20.576Z,1741837760.576 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.242260
2025-03-13T03:49:39.063Z,1741837779.063 [Radio_Surface](INFO): Powering down
2025-03-13T03:49:52.721Z,1741837792.721 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T03:49:53.725Z,1741837793.725 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-03-13T03:51:49.934Z,1741837909.934 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:B.Pitch] Stopped
2025-03-13T03:51:49.943Z,1741837909.943 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth](INFO): Completed sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth
2025-03-13T03:51:49.943Z,1741837909.943 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth] Stopped
2025-03-13T03:51:49.943Z,1741837909.943 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth
2025-03-13T03:51:49.943Z,1741837909.943 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:A.SetSpeed] Stopped
2025-03-13T03:51:49.944Z,1741837909.944 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:A.SetSpeed](DEBUG): Uninitialize.
2025-03-13T03:51:49.944Z,1741837909.944 [sci2_noyo_optim:DiveCmd:InitialDive:dive:H] Running Loop=1
2025-03-13T03:51:50.226Z,1741837910.226 [sci2_noyo_optim:DiveCmd:InitialDive:dive:H] Stopped
2025-03-13T03:51:50.226Z,1741837910.226 [sci2_noyo_optim:DiveCmd:InitialDive:dive](INFO): Completed sci2_noyo_optim:DiveCmd:InitialDive:dive
2025-03-13T03:51:50.226Z,1741837910.226 [sci2_noyo_optim:DiveCmd:InitialDive:dive] Stopped
2025-03-13T03:51:50.227Z,1741837910.227 [sci2_noyo_optim:DiveCmd:InitialDive:dive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:InitialDive:dive
2025-03-13T03:51:50.227Z,1741837910.227 [sci2_noyo_optim:DiveCmd:InitialDive:dive:A] Stopped
2025-03-13T03:51:50.227Z,1741837910.227 [sci2_noyo_optim:DiveCmd:InitialDive:dive:B] Stopped
2025-03-13T03:51:50.227Z,1741837910.227 [sci2_noyo_optim:DiveCmd:InitialDive:dive:C.Mass] Stopped
2025-03-13T03:51:50.227Z,1741837910.227 [sci2_noyo_optim:DiveCmd:InitialDive:dive:C.Mass](DEBUG): Uninitialize.
2025-03-13T03:51:50.243Z,1741837910.243 [sci2_noyo_optim:DiveCmd:InitialDive](INFO): Completed sci2_noyo_optim:DiveCmd:InitialDive
2025-03-13T03:51:50.638Z,1741837910.638 [sci2_noyo_optim:DiveCmd:SettleAtDepth] Running Loop=1
2025-03-13T03:51:50.638Z,1741837910.638 [sci2_noyo_optim:DiveCmd:SettleAtDepth](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:SettleAtDepth
2025-03-13T03:51:50.638Z,1741837910.638 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive] Running Loop=1
2025-03-13T03:51:50.638Z,1741837910.638 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:SettleAtDepth:dive
2025-03-13T03:51:50.639Z,1741837910.639 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:B.Pitch] Running Loop=1
2025-03-13T03:51:50.639Z,1741837910.639 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:B.Pitch](DEBUG): Initialize.
2025-03-13T03:51:50.639Z,1741837910.639 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:A] Running Loop=1
2025-03-13T03:51:50.639Z,1741837910.639 [sci2_noyo_optim:DiveCmd:SettleAtDepth] Running Loop=1
2025-03-13T03:51:50.639Z,1741837910.639 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:B.Pitch] Running Loop=1
2025-03-13T03:51:50.640Z,1741837910.640 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:A](INFO): Reached  10.022130 m , settling for  3.000000 min 
2025-03-13T03:51:50.640Z,1741837910.640 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:A] Stopped
2025-03-13T03:51:50.641Z,1741837910.641 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:C.Wait] Running Loop=1
2025-03-13T03:51:50.641Z,1741837910.641 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:C.Wait](DEBUG): Initialize Wait Component.
2025-03-13T03:54:51.058Z,1741838091.058 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:C.Wait](INFO): Done Waiting.
2025-03-13T03:54:51.058Z,1741838091.058 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:C.Wait] Stopped
2025-03-13T03:54:51.058Z,1741838091.058 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:C.Wait](DEBUG): Uninitialize Wait Component.
2025-03-13T03:54:51.059Z,1741838091.059 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:D] Running Loop=1
2025-03-13T03:54:51.477Z,1741838091.477 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:D] Stopped
2025-03-13T03:54:51.478Z,1741838091.478 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive](INFO): Completed sci2_noyo_optim:DiveCmd:SettleAtDepth:dive
2025-03-13T03:54:51.478Z,1741838091.478 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive] Stopped
2025-03-13T03:54:51.478Z,1741838091.478 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:SettleAtDepth:dive
2025-03-13T03:54:51.478Z,1741838091.478 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:B.Pitch] Stopped
2025-03-13T03:54:51.478Z,1741838091.478 [sci2_noyo_optim:DiveCmd:SettleAtDepth](INFO): Completed sci2_noyo_optim:DiveCmd:SettleAtDepth
2025-03-13T03:57:22.224Z,1741838242.224 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow] Running Loop=1
2025-03-13T03:57:22.224Z,1741838242.224 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepthSlow
2025-03-13T03:57:22.224Z,1741838242.224 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:A.SetSpeed] Running Loop=1
2025-03-13T03:57:22.224Z,1741838242.224 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:A.SetSpeed](DEBUG): Initialize.
2025-03-13T03:57:22.224Z,1741838242.224 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:B] Running Loop=1
2025-03-13T03:57:22.224Z,1741838242.224 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:C.Buoyancy] Running Loop=1
2025-03-13T03:57:22.224Z,1741838242.224 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:C.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-03-13T03:57:22.224Z,1741838242.224 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:D.Pitch] Running Loop=1
2025-03-13T03:57:22.224Z,1741838242.224 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:D.Pitch](DEBUG): Initialize.
2025-03-13T03:57:22.225Z,1741838242.225 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow] Running Loop=1
2025-03-13T03:57:22.225Z,1741838242.225 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:D.Pitch] Running Loop=1
2025-03-13T03:57:22.225Z,1741838242.225 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:C.Buoyancy] Running Loop=1
2025-03-13T03:57:22.225Z,1741838242.225 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:B] Running Loop=1
2025-03-13T03:57:22.226Z,1741838242.226 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:A.SetSpeed] Running Loop=1
2025-03-13T03:57:22.226Z,1741838242.226 [sci2_noyo_optim:DiveCmd:MaintainDepth] Stopped
2025-03-13T03:57:22.226Z,1741838242.226 [sci2_noyo_optim:DiveCmd:MaintainDepth](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepth
2025-03-13T03:57:22.226Z,1741838242.226 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive] Stopped
2025-03-13T03:57:22.226Z,1741838242.226 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive
2025-03-13T03:57:22.226Z,1741838242.226 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive] Stopped
2025-03-13T03:57:22.226Z,1741838242.226 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive
2025-03-13T03:57:22.226Z,1741838242.226 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass] Stopped
2025-03-13T03:57:22.227Z,1741838242.227 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass](DEBUG): Uninitialize.
2025-03-13T03:57:22.227Z,1741838242.227 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed] Stopped
2025-03-13T03:57:22.227Z,1741838242.227 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed](DEBUG): Uninitialize.
2025-03-13T03:57:22.227Z,1741838242.227 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:B.Pitch] Stopped
2025-03-13T03:57:52.606Z,1741838272.606 [sci2_noyo_optim:BackseatDriver:A.BackseatDriver](INFO): Created data writer for _.data_dir_logging_rate with code: 2169
2025-03-13T03:58:45.637Z,1741838325.637 [CTD_Seabird](ERROR): Failed to parse device response: 50.69,,3.70067,2602.82
2025-03-13T04:00:55.657Z,1741838455.657 [sci2_noyo_optim:Lap:DepthByLap:Wpt1:A.Waypoint](IMPORTANT): Reached waypoint: 36.792789,-121.889191
2025-03-13T04:00:55.657Z,1741838455.657 [sci2_noyo_optim:Lap:DepthByLap:Wpt1:A.Waypoint] Stopped
2025-03-13T04:00:55.658Z,1741838455.658 [sci2_noyo_optim:Lap:DepthByLap:Wpt1:A.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-03-13T04:00:55.658Z,1741838455.658 [sci2_noyo_optim:Lap:DepthByLap:Wpt1](INFO): Completed sci2_noyo_optim:Lap:DepthByLap:Wpt1
2025-03-13T04:00:55.658Z,1741838455.658 [sci2_noyo_optim:Lap:DepthByLap:Wpt1] Stopped
2025-03-13T04:00:55.658Z,1741838455.658 [sci2_noyo_optim:Lap:DepthByLap:Wpt1](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Lap:DepthByLap:Wpt1
2025-03-13T04:00:55.658Z,1741838455.658 [sci2_noyo_optim:Lap:DepthByLap:Wpt2] Running Loop=1
2025-03-13T04:00:55.658Z,1741838455.658 [sci2_noyo_optim:Lap:DepthByLap:Wpt2](DEBUG): Aggregate::initialize sci2_noyo_optim:Lap:DepthByLap:Wpt2
2025-03-13T04:00:55.659Z,1741838455.659 [sci2_noyo_optim:Lap:DepthByLap:Wpt2:A.Waypoint] Running Loop=1
2025-03-13T04:00:55.659Z,1741838455.659 [sci2_noyo_optim:Lap:DepthByLap:Wpt2:A.Waypoint](DEBUG): Initialize WaypointComponent.
2025-03-13T04:00:55.660Z,1741838455.660 [sci2_noyo_optim:Lap:DepthByLap:Wpt2:A.Waypoint](IMPORTANT): Navigating to waypoint: 36.784271,-121.913391
2025-03-13T04:00:56.077Z,1741838456.077 [sci2_noyo_optim:Lap:DepthByLap:Wpt2:A.Waypoint](INFO): Navigating to waypoint: 36.784271,-121.913391
2025-03-13T04:03:45.349Z,1741838625.349 [Waterlinked](ERROR): only read 0 of 1 data item for BIT error. Device response::TS,24052713170377, 0.0, +0.,1475.0,  0
2025-03-13T04:07:10.507Z,1741838830.507 [Waterlinked](ERROR): only read 3 of 5 data items. Device response::BI,    +0,    +0,    +0,    S,    +0,    +0,    +0,V
2025-03-13T04:07:20.575Z,1741838840.575 [Waterlinked](ERROR): only read 0 of 1 data item for altitude. Device response::BD,       +0   +0.00,       +0.00,   0.00,  0.00
2025-03-13T04:09:55.640Z,1741838995.640 [Waterlinked](ERROR): only read 3 of 5 data items. Device response::BI,   +0,    +0,    +0,V
2025-03-13T04:12:40.378Z,1741839160.378 [Waterlinked](ERROR): only read 0 of 1 data item for BIT error. Device response::TS,2405271 0.0, +0.0,   0.0,1475.0,  0
2025-03-13T04:15:35.406Z,1741839335.406 [Waterlinked](ERROR): only read 0 of 1 data item for BIT error. Device response::TS,   +0,    +0,V
2025-03-13T04:16:52.064Z,1741839412.064 [Waterlinked](ERROR): only read 2 of 5 data items. Device response::BI,  +0,    +0,V
2025-03-13T04:20:51.534Z,1741839651.534 [BPC1](INFO): Calculating totals. Valid battery stick count: 50. Valid reserve battery stick count: 5.
2025-03-13T04:20:51.538Z,1741839651.538 [BPC1](FAULT): Failed to receive data from 4 sticks prior to timeout. Will not retry this scan cycle. Missing stick IDs are: 18, 19, 21, 24.
2025-03-13T04:23:49.411Z,1741839829.411 [Waterlinked](ERROR): only read 0 of 1 data item for BIT error. Device response::TS,24052713370733, 0.0, +0.    +0,    +0,    +0,V
2025-03-13T04:31:06.820Z,1741840266.820 [Waterlinked](ERROR): only read 0 of 1 data item for BIT error. Device response::TS3442516, 0.0, +0.0,   0.0,1475.0,  0
2025-03-13T04:36:46.911Z,1741840606.911 [Waterlinked](ERROR): only read 3 of 5 data items. Device response::BI,    +0,    +0,    +0,    S,    +0,    +0,    +0,V
2025-03-13T04:38:42.362Z,1741840722.362 [Waterlinked](ERROR): only read 0 of 1 data item for BIT error. Device response::TS,24052713520058, 0.0, +0.0,   00,  0
2025-03-13T04:40:29.421Z,1741840829.421 [Waterlinked](ERROR): only read 0 of 1 data item for BIT error. Device response::TS,240527135 0
2025-03-13T04:45:56.617Z,1741841156.617 [CTD_Seabird](ERROR): Failed to parse device response: ,10.4957,3.72113,2928.62
2025-03-13T04:49:02.750Z,1741841342.750 [Waterlinked](ERROR): only read 0 of 1 data item for altitude. Device response::BD,    ,       +0.00,       +0.00,   0.00,  0.00
2025-03-13T04:50:17.852Z,1741841417.852 [Waterlinked](ERROR): only read 0 of 1 data item for BIT error. Device response::TS,24052714033621, 0.0, +0.0,   0.,  0
2025-03-13T04:53:20.332Z,1741841600.332 [Waterlinked](ERROR): only read 0 of 1 data item for BIT error. Device response::TS,2405271I,    +0,    +0,    +0,    +0,V
2025-03-13T04:53:32.879Z,1741841612.879 [Waterlinked](ERROR): only read 0 of 1 data item for BIT error. Device response::TS,24052714065133, 0.0, +0.0,   0.0,1475:WI,    +0,    +0,    +0,    +0,V
2025-03-13T04:55:58.083Z,1741841758.083 [Waterlinked](ERROR): only read 0 of 1 data item for altitude. Device response::BD,       +0   +0.00,       +0.00,   0.00,  0.00
2025-03-13T05:00:45.056Z,1741842045.056 [Waterlinked](ERROR): only read 0 of 1 data item for altitude. Device response::BD, +0.00,   0.00,  0.00
2025-03-13T05:01:53.527Z,1741842113.527 [BPC1](INFO): Calculating totals. Valid battery stick count: 51. Valid reserve battery stick count: 5.
2025-03-13T05:01:53.530Z,1741842113.530 [BPC1](FAULT): Failed to receive data from 4 sticks prior to timeout. Will not retry this scan cycle. Missing stick IDs are: 18, 19, 21, 24.
2025-03-13T05:02:19.749Z,1741842139.749 [CTD_Seabird](ERROR): Failed to parse device response: 49597.51
2025-03-13T05:06:13.597Z,1741842373.597 [Waterlinked](ERROR): only read 0 of 1 data item for BIT error. Device response::TS,240527140.0, +0.0,   0.0,1475.0,  0
2025-03-13T05:08:37.648Z,1741842517.648 [Waterlinked](ERROR): only read 0 of 1 data item for BIT error. Device response::TS,24052714215591, 0.0, +,    +0,    +0,V
2025-03-13T05:10:09.497Z,1741842609.497 [Waterlinked](ERROR): only read 0 of 1 data item for BIT error. Device response::TS,24052714232708, 0.0, +0.0,   0     +0.00,       +0.00,       +0.00,   0.00,  0.00
2025-03-13T05:14:09.731Z,1741842849.731 [CTD_Seabird](ERROR): Failed to parse device response: 47.63,10.4889,4
2025-03-13T05:17:39.360Z,1741843059.360 [sci2_noyo_optim:SurfaceComms] Running Loop=1
2025-03-13T05:17:39.360Z,1741843059.360 [sci2_noyo_optim:SurfaceComms](DEBUG): Aggregate::initialize sci2_noyo_optim:SurfaceComms
2025-03-13T05:17:39.360Z,1741843059.360 [sci2_noyo_optim:SurfaceComms:A] Running Loop=1
2025-03-13T05:17:39.361Z,1741843059.361 [sci2_noyo_optim:SurfaceComms:A] Stopped
2025-03-13T05:17:39.361Z,1741843059.361 [sci2_noyo_optim:SurfaceComms:B] Running Loop=1
2025-03-13T05:17:39.361Z,1741843059.361 [sci2_noyo_optim:SurfaceComms:B](DEBUG): Aggregate::initialize sci2_noyo_optim:SurfaceComms:B
2025-03-13T05:17:39.838Z,1741843059.838 [sci2_noyo_optim:Lap:Dive] Stopped
2025-03-13T05:17:39.838Z,1741843059.838 [sci2_noyo_optim:Lap:Dive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Lap:Dive
2025-03-13T05:17:39.838Z,1741843059.838 [sci2_noyo_optim:Lap:Dive:A] Stopped
2025-03-13T05:17:39.839Z,1741843059.839 [sci2_noyo_optim:Lap:Dive:A](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Lap:Dive:A
2025-03-13T05:17:39.846Z,1741843059.846 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow] Stopped
2025-03-13T05:17:39.846Z,1741843059.846 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepthSlow
2025-03-13T05:17:39.846Z,1741843059.846 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:A.SetSpeed] Stopped
2025-03-13T05:17:39.846Z,1741843059.846 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:A.SetSpeed](DEBUG): Uninitialize.
2025-03-13T05:17:39.846Z,1741843059.846 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:B] Stopped
2025-03-13T05:17:39.846Z,1741843059.846 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:C.Buoyancy] Stopped
2025-03-13T05:17:39.846Z,1741843059.846 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-03-13T05:17:39.847Z,1741843059.847 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:D.Pitch] Stopped
2025-03-13T05:17:39.855Z,1741843059.855 [sci2_noyo_optim:NeedComms] Running Loop=1
2025-03-13T05:17:39.856Z,1741843059.856 [sci2_noyo_optim:NeedComms](DEBUG): Aggregate::initialize sci2_noyo_optim:NeedComms
2025-03-13T05:17:39.856Z,1741843059.856 [sci2_noyo_optim:NeedComms:B.GoToSurface] Running Loop=1
2025-03-13T05:17:39.856Z,1741843059.856 [sci2_noyo_optim:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-03-13T05:17:39.856Z,1741843059.856 [sci2_noyo_optim:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-03-13T05:17:39.857Z,1741843059.857 [sci2_noyo_optim:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-03-13T05:17:39.857Z,1741843059.857 [sci2_noyo_optim:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-03-13T05:17:39.857Z,1741843059.857 [sci2_noyo_optim:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-03-13T05:17:39.858Z,1741843059.858 [sci2_noyo_optim:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-03-13T05:17:39.858Z,1741843059.858 [sci2_noyo_optim:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-03-13T05:17:39.858Z,1741843059.858 [sci2_noyo_optim:NeedComms:A] Running Loop=1
2025-03-13T05:17:39.864Z,1741843059.864 [sci2_noyo_optim:NeedComms:A](INFO): last time_fix was:  1741837658.000000 second since 1970/01/01T00:00:00Z 
2025-03-13T05:17:39.864Z,1741843059.864 [sci2_noyo_optim:NeedComms:A] Stopped
2025-03-13T05:17:49.486Z,1741843069.486 [ThrusterHE](DEBUG): Uninitialize Thruster Servo.
2025-03-13T05:17:49.486Z,1741843069.486 [ThrusterHE](INFO): Powering down
2025-03-13T05:17:50.200Z,1741843070.200 [ThrusterHE](DEBUG): Initializing EZServoServo.
2025-03-13T05:17:50.320Z,1741843070.320 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2025-03-13T05:17:55.246Z,1741843075.246 [sci2_noyo_optim:DiveCmd:MaintainDepth] Running Loop=1
2025-03-13T05:17:55.247Z,1741843075.247 [sci2_noyo_optim:DiveCmd:MaintainDepth](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepth
2025-03-13T05:17:55.247Z,1741843075.247 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive] Running Loop=1
2025-03-13T05:17:55.247Z,1741843075.247 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive
2025-03-13T05:17:55.247Z,1741843075.247 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive] Running Loop=1
2025-03-13T05:17:55.247Z,1741843075.247 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive
2025-03-13T05:17:55.247Z,1741843075.247 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass] Running Loop=1
2025-03-13T05:17:55.247Z,1741843075.247 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass](DEBUG): Initialize.
2025-03-13T05:17:55.247Z,1741843075.247 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed] Running Loop=1
2025-03-13T05:17:55.248Z,1741843075.248 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed](DEBUG): Initialize.
2025-03-13T05:17:55.248Z,1741843075.248 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:B.Pitch] Running Loop=1
2025-03-13T05:17:55.248Z,1741843075.248 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:B.Pitch](DEBUG): Initialize.
2025-03-13T05:17:55.760Z,1741843075.760 [ThrusterHE](ERROR): Zero Speed Commanded.
2025-03-13T05:20:51.384Z,1741843251.384 [sci2_noyo_optim:NeedComms:C] Running Loop=1
2025-03-13T05:20:51.904Z,1741843251.904 [Waterlinked](INFO): Powering down
2025-03-13T05:20:51.931Z,1741843251.931 [Radio_Surface](INFO): Powering up
2025-03-13T05:20:57.472Z,1741843257.472 [DataOverHttps](INFO): Radio surface powered ON.
2025-03-13T05:21:27.592Z,1741843287.592 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T05:22:02.740Z,1741843322.740 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T05:22:37.879Z,1741843357.879 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T05:23:13.028Z,1741843393.028 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T05:23:48.172Z,1741843428.172 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T05:23:55.794Z,1741843435.794 [NAL9602](INFO): SBD MO Status=2, MOMSN=18534, MT Status=2, MTMSN=0
2025-03-13T05:23:55.794Z,1741843435.794 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-03-13T05:24:22.113Z,1741843462.113 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003884
2025-03-13T05:25:55.395Z,1741843555.395 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2025-03-13T05:26:01.064Z,1741843561.064 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,052600.00,A,3647.37281,N,12154.49249,W,0.622,0.00,130325,,,A*75
2025-03-13T05:26:01.066Z,1741843561.066 [NAL9602](INFO): GPS fix at 20250313T052600: (36.789547, -121.908208)
2025-03-13T05:26:01.078Z,1741843561.078 [UniversalFixResidualReporter](INFO): Fix residual: 17.7 %DT, over the last 2613.9 m. Residual distance 462.2 m at bearing 176.3 degrees. Fix at (36.7895, -121.9082) with 1142.4 m made good.
2025-03-13T05:26:01.087Z,1741843561.087 [sci2_noyo_optim:NeedComms:C] Stopped
2025-03-13T05:26:01.088Z,1741843561.088 [sci2_noyo_optim:NeedComms:D] Running Loop=1
2025-03-13T05:26:32.620Z,1741843592.620 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T05:26:33.370Z,1741843593.370 [NAL9602](INFO): Not Powering down - fast GPS
2025-03-13T05:26:50.692Z,1741843610.692 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.263355
2025-03-13T05:26:51.569Z,1741843611.569 [NAL9602](ERROR): Queried for signal strength and failed to receive proper response. 
2025-03-13T05:26:51.643Z,1741843611.643 [NAL9602](ERROR): received: 
+CSQ:0

OK534, 2, 0, 0, 0

OK
2025-03-13T05:27:21.828Z,1741843641.828 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T05:27:42.921Z,1741843662.921 [NAL9602](INFO): SBD MO Status=1, MOMSN=18534, MT Status=0, MTMSN=0
2025-03-13T05:27:42.982Z,1741843662.982 [NAL9602](INFO): Sent 95 bytes from file Logs/20250311T232940/Courier0251.lzma
2025-03-13T05:27:42.982Z,1741843662.982 [NAL9602](INFO): Packets left to send: 0
2025-03-13T05:27:53.510Z,1741843673.510 [NAL9602](INFO): SBD MO Status=1, MOMSN=18535, MT Status=0, MTMSN=0
2025-03-13T05:27:53.567Z,1741843673.567 [NAL9602](INFO): Sent 332 bytes from file Logs/20250311T232940/Express0252.lzma
2025-03-13T05:27:53.568Z,1741843673.568 [NAL9602](INFO): Packets left to send: 2
2025-03-13T05:27:56.981Z,1741843676.981 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T05:28:05.704Z,1741843685.704 [NAL9602](INFO): SBD MO Status=1, MOMSN=18536, MT Status=0, MTMSN=0
2025-03-13T05:28:05.752Z,1741843685.752 [NAL9602](INFO): Sent 332 bytes from file Logs/20250311T232940/Express0252.lzma
2025-03-13T05:28:05.752Z,1741843685.752 [NAL9602](INFO): Packets left to send: 1
2025-03-13T05:28:13.107Z,1741843693.107 [NAL9602](INFO): SBD MO Status=1, MOMSN=18537, MT Status=0, MTMSN=0
2025-03-13T05:28:13.155Z,1741843693.155 [NAL9602](INFO): Sent 112 bytes from file Logs/20250311T232940/Express0252.lzma
2025-03-13T05:28:13.156Z,1741843693.156 [NAL9602](INFO): Packets left to send: 0
2025-03-13T05:28:29.210Z,1741843709.210 [NAL9602](INFO): SBD MO Status=2, MOMSN=18538, MT Status=2, MTMSN=0
2025-03-13T05:28:29.210Z,1741843709.210 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-03-13T05:28:32.120Z,1741843712.120 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T05:28:34.154Z,1741843714.154 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2025-03-13T05:28:46.578Z,1741843726.578 [NAL9602](INFO): SBD MO Status=2, MOMSN=18538, MT Status=2, MTMSN=0
2025-03-13T05:28:46.578Z,1741843726.578 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-03-13T05:28:51.513Z,1741843731.513 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2025-03-13T05:28:54.354Z,1741843734.354 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2025-03-13T05:29:03.228Z,1741843743.228 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2025-03-13T05:29:05.655Z,1741843745.655 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2025-03-13T05:29:07.263Z,1741843747.263 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T05:29:14.546Z,1741843754.546 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2025-03-13T05:29:41.186Z,1741843781.186 [NAL9602](INFO): SBD MO Status=2, MOMSN=18538, MT Status=2, MTMSN=0
2025-03-13T05:29:41.186Z,1741843781.186 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-03-13T05:29:43.549Z,1741843783.549 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.004744
2025-03-13T05:29:44.847Z,1741843784.847 [sci2_noyo_optim:NeedComms:D] Stopped
2025-03-13T05:29:44.848Z,1741843784.848 [sci2_noyo_optim:NeedComms:E] Running Loop=1
2025-03-13T05:29:45.736Z,1741843785.736 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2025-03-13T05:29:46.835Z,1741843786.835 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,052946.00,A,3647.35992,N,12154.46127,W,0.739,159.14,130325,,,A*74
2025-03-13T05:29:46.837Z,1741843786.837 [NAL9602](INFO): GPS fix at 20250313T052946: (36.789332, -121.907688)
2025-03-13T05:29:46.887Z,1741843786.887 [sci2_noyo_optim:NeedComms:E] Stopped
2025-03-13T05:29:46.888Z,1741843786.888 [sci2_noyo_optim:NeedComms](INFO): Completed sci2_noyo_optim:NeedComms
2025-03-13T05:29:46.888Z,1741843786.888 [sci2_noyo_optim:NeedComms] Stopped
2025-03-13T05:29:46.889Z,1741843786.889 [sci2_noyo_optim:NeedComms](DEBUG): Aggregate::uninitialize sci2_noyo_optim:NeedComms
2025-03-13T05:29:46.889Z,1741843786.889 [sci2_noyo_optim:NeedComms:B.GoToSurface] Stopped
2025-03-13T05:29:46.889Z,1741843786.889 [sci2_noyo_optim:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-03-13T05:29:47.303Z,1741843787.303 [sci2_noyo_optim:SurfaceComms:B](INFO): Completed sci2_noyo_optim:SurfaceComms:B
2025-03-13T05:29:47.303Z,1741843787.303 [sci2_noyo_optim:SurfaceComms:B] Stopped
2025-03-13T05:29:47.303Z,1741843787.303 [sci2_noyo_optim:SurfaceComms:B](DEBUG): Aggregate::uninitialize sci2_noyo_optim:SurfaceComms:B
2025-03-13T05:29:47.304Z,1741843787.304 [sci2_noyo_optim:SurfaceComms:C] Running Loop=1
2025-03-13T05:29:47.668Z,1741843787.668 [ElevatorOffsetCalculator](INFO): Removing expired estimator for commanded vars: speed 1.00 m/s, pitch 20.00 deg, mass-position 6.85 mm.
2025-03-13T05:29:47.685Z,1741843787.685 [sci2_noyo_optim:SurfaceComms:C] Stopped
2025-03-13T05:29:47.685Z,1741843787.685 [sci2_noyo_optim:SurfaceComms](INFO): Completed sci2_noyo_optim:SurfaceComms
2025-03-13T05:29:47.685Z,1741843787.685 [sci2_noyo_optim:SurfaceComms] Stopped
2025-03-13T05:29:47.685Z,1741843787.685 [sci2_noyo_optim:SurfaceComms](DEBUG): Aggregate::uninitialize sci2_noyo_optim:SurfaceComms
2025-03-13T05:29:48.094Z,1741843788.094 [sci2_noyo_optim:Lap:Dive] Running Loop=1
2025-03-13T05:29:48.094Z,1741843788.094 [sci2_noyo_optim:Lap:Dive](DEBUG): Aggregate::initialize sci2_noyo_optim:Lap:Dive
2025-03-13T05:29:48.094Z,1741843788.094 [sci2_noyo_optim:Lap:Dive:A] Running Loop=1
2025-03-13T05:29:48.095Z,1741843788.095 [sci2_noyo_optim:Lap:Dive:A](DEBUG): Aggregate::initialize sci2_noyo_optim:Lap:Dive:A
2025-03-13T05:29:48.101Z,1741843788.101 [sci2_noyo_optim:DiveCmd:InitialDive] Running Loop=1
2025-03-13T05:29:48.101Z,1741843788.101 [sci2_noyo_optim:DiveCmd:InitialDive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:InitialDive
2025-03-13T05:29:48.101Z,1741843788.101 [sci2_noyo_optim:DiveCmd:InitialDive:dive] Running Loop=1
2025-03-13T05:29:48.101Z,1741843788.101 [sci2_noyo_optim:DiveCmd:InitialDive:dive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:InitialDive:dive
2025-03-13T05:29:48.101Z,1741843788.101 [sci2_noyo_optim:DiveCmd:InitialDive:dive:A] Running Loop=1
2025-03-13T05:29:48.101Z,1741843788.101 [sci2_noyo_optim:DiveCmd:InitialDive:dive:B] Running Loop=1
2025-03-13T05:29:48.101Z,1741843788.101 [sci2_noyo_optim:DiveCmd:InitialDive:dive:C.Mass] Running Loop=1
2025-03-13T05:29:48.101Z,1741843788.101 [sci2_noyo_optim:DiveCmd:InitialDive:dive:C.Mass](DEBUG): Initialize.
2025-03-13T05:29:48.101Z,1741843788.101 [sci2_noyo_optim:DiveCmd:InitialDive:dive:D] Running Loop=1
2025-03-13T05:29:48.102Z,1741843788.102 [sci2_noyo_optim:DiveCmd:InitialDive:dive:D](INFO): Waiting for  1.000000 min while pumping down to neutral.
2025-03-13T05:29:48.102Z,1741843788.102 [sci2_noyo_optim:DiveCmd:InitialDive:dive:D] Stopped
2025-03-13T05:29:48.102Z,1741843788.102 [sci2_noyo_optim:DiveCmd:InitialDive:dive:E.Wait] Running Loop=1
2025-03-13T05:29:48.102Z,1741843788.102 [sci2_noyo_optim:DiveCmd:InitialDive:dive:E.Wait](DEBUG): Initialize Wait Component.
2025-03-13T05:30:10.741Z,1741843810.741 [ElevatorOffsetCalculator](INFO): New estimator for commanded vars: speed 1.00 m/s, pitch 20.00 deg, mass-position 6.85 mm (3 active estimators).
2025-03-13T05:30:19.321Z,1741843819.321 [NAL9602](INFO): Not Powering down - fast GPS
2025-03-13T05:30:48.529Z,1741843848.529 [sci2_noyo_optim:DiveCmd:InitialDive:dive:E.Wait](INFO): Done Waiting.
2025-03-13T05:30:48.529Z,1741843848.529 [sci2_noyo_optim:DiveCmd:InitialDive:dive:E.Wait] Stopped
2025-03-13T05:30:48.529Z,1741843848.529 [sci2_noyo_optim:DiveCmd:InitialDive:dive:E.Wait](DEBUG): Uninitialize Wait Component.
2025-03-13T05:30:48.530Z,1741843848.530 [sci2_noyo_optim:DiveCmd:InitialDive:dive:F] Running Loop=1
2025-03-13T05:30:48.970Z,1741843848.970 [sci2_noyo_optim:DiveCmd:InitialDive:dive:F](INFO): Moving to  10.000000 m 
2025-03-13T05:30:48.970Z,1741843848.970 [sci2_noyo_optim:DiveCmd:InitialDive:dive:F] Stopped
2025-03-13T05:30:48.970Z,1741843848.970 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth] Running Loop=1
2025-03-13T05:30:48.970Z,1741843848.970 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth
2025-03-13T05:30:48.971Z,1741843848.971 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:A.SetSpeed] Running Loop=1
2025-03-13T05:30:48.971Z,1741843848.971 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:A.SetSpeed](DEBUG): Initialize.
2025-03-13T05:30:48.987Z,1741843848.987 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:B.Pitch] Running Loop=1
2025-03-13T05:30:48.988Z,1741843848.988 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:B.Pitch](DEBUG): Initialize.
2025-03-13T05:30:50.292Z,1741843850.292 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T05:30:53.305Z,1741843853.305 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.263954
2025-03-13T05:31:11.060Z,1741843871.060 [Radio_Surface](INFO): Powering down
2025-03-13T05:31:25.432Z,1741843885.432 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T05:31:26.436Z,1741843886.436 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-03-13T05:33:03.119Z,1741843983.119 [Waterlinked](ERROR): DVL uart error: serial timeout
2025-03-13T05:33:03.119Z,1741843983.119 [Waterlinked] Communications Fault, FailCount= 1
2025-03-13T05:33:03.119Z,1741843983.119 [Waterlinked](ERROR): Communications Fault
2025-03-13T05:33:03.240Z,1741843983.240 [CBIT](ERROR): Communications Fault in component: Waterlinked
2025-03-13T05:33:03.919Z,1741843983.919 [Waterlinked](INFO): Powering down
2025-03-13T05:33:04.587Z,1741843984.587 [CBIT](INFO): Clearing failed state for component Waterlinked
2025-03-13T05:33:04.587Z,1741843984.587 [Waterlinked] No Fault, FailCount= 1
2025-03-13T05:33:21.162Z,1741844001.162 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:B.Pitch] Stopped
2025-03-13T05:33:21.163Z,1741844001.163 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth](INFO): Completed sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth
2025-03-13T05:33:21.163Z,1741844001.163 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth] Stopped
2025-03-13T05:33:21.164Z,1741844001.164 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth
2025-03-13T05:33:21.164Z,1741844001.164 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:A.SetSpeed] Stopped
2025-03-13T05:33:21.164Z,1741844001.164 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:A.SetSpeed](DEBUG): Uninitialize.
2025-03-13T05:33:21.164Z,1741844001.164 [sci2_noyo_optim:DiveCmd:InitialDive:dive:H] Running Loop=1
2025-03-13T05:33:21.580Z,1741844001.580 [sci2_noyo_optim:DiveCmd:InitialDive:dive:H] Stopped
2025-03-13T05:33:21.581Z,1741844001.581 [sci2_noyo_optim:DiveCmd:InitialDive:dive](INFO): Completed sci2_noyo_optim:DiveCmd:InitialDive:dive
2025-03-13T05:33:21.581Z,1741844001.581 [sci2_noyo_optim:DiveCmd:InitialDive:dive] Stopped
2025-03-13T05:33:21.581Z,1741844001.581 [sci2_noyo_optim:DiveCmd:InitialDive:dive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:InitialDive:dive
2025-03-13T05:33:21.581Z,1741844001.581 [sci2_noyo_optim:DiveCmd:InitialDive:dive:A] Stopped
2025-03-13T05:33:21.582Z,1741844001.582 [sci2_noyo_optim:DiveCmd:InitialDive:dive:B] Stopped
2025-03-13T05:33:21.582Z,1741844001.582 [sci2_noyo_optim:DiveCmd:InitialDive:dive:C.Mass] Stopped
2025-03-13T05:33:21.582Z,1741844001.582 [sci2_noyo_optim:DiveCmd:InitialDive:dive:C.Mass](DEBUG): Uninitialize.
2025-03-13T05:33:21.582Z,1741844001.582 [sci2_noyo_optim:DiveCmd:InitialDive](INFO): Completed sci2_noyo_optim:DiveCmd:InitialDive
2025-03-13T05:33:21.990Z,1741844001.990 [sci2_noyo_optim:DiveCmd:SettleAtDepth] Running Loop=1
2025-03-13T05:33:21.990Z,1741844001.990 [sci2_noyo_optim:DiveCmd:SettleAtDepth](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:SettleAtDepth
2025-03-13T05:33:21.991Z,1741844001.991 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive] Running Loop=1
2025-03-13T05:33:21.991Z,1741844001.991 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:SettleAtDepth:dive
2025-03-13T05:33:21.991Z,1741844001.991 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:B.Pitch] Running Loop=1
2025-03-13T05:33:21.991Z,1741844001.991 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:B.Pitch](DEBUG): Initialize.
2025-03-13T05:33:21.991Z,1741844001.991 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:A] Running Loop=1
2025-03-13T05:33:21.992Z,1741844001.992 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:A](INFO): Reached  10.028674 m , settling for  3.000000 min 
2025-03-13T05:33:21.993Z,1741844001.993 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:A] Stopped
2025-03-13T05:33:21.993Z,1741844001.993 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:C.Wait] Running Loop=1
2025-03-13T05:33:21.993Z,1741844001.993 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:C.Wait](DEBUG): Initialize Wait Component.
2025-03-13T05:36:22.681Z,1741844182.681 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:C.Wait](INFO): Done Waiting.
2025-03-13T05:36:22.681Z,1741844182.681 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:C.Wait] Stopped
2025-03-13T05:36:22.681Z,1741844182.681 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:C.Wait](DEBUG): Uninitialize Wait Component.
2025-03-13T05:36:22.681Z,1741844182.681 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:D] Running Loop=1
2025-03-13T05:36:23.133Z,1741844183.133 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:D] Stopped
2025-03-13T05:36:23.134Z,1741844183.134 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive](INFO): Completed sci2_noyo_optim:DiveCmd:SettleAtDepth:dive
2025-03-13T05:36:23.134Z,1741844183.134 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive] Stopped
2025-03-13T05:36:23.134Z,1741844183.134 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:SettleAtDepth:dive
2025-03-13T05:36:23.134Z,1741844183.134 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:B.Pitch] Stopped
2025-03-13T05:36:23.134Z,1741844183.134 [sci2_noyo_optim:DiveCmd:SettleAtDepth](INFO): Completed sci2_noyo_optim:DiveCmd:SettleAtDepth
2025-03-13T05:38:20.759Z,1741844300.759 [CTD_Seabird](ERROR): Failed to parse device response: 42.46,10.968.51
2025-03-13T05:38:51.642Z,1741844331.642 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow] Running Loop=1
2025-03-13T05:38:51.642Z,1741844331.642 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepthSlow
2025-03-13T05:38:51.642Z,1741844331.642 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:A.SetSpeed] Running Loop=1
2025-03-13T05:38:51.643Z,1741844331.643 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:A.SetSpeed](DEBUG): Initialize.
2025-03-13T05:38:51.643Z,1741844331.643 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:B] Running Loop=1
2025-03-13T05:38:51.643Z,1741844331.643 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:C.Buoyancy] Running Loop=1
2025-03-13T05:38:51.643Z,1741844331.643 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:C.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-03-13T05:38:51.643Z,1741844331.643 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:D.Pitch] Running Loop=1
2025-03-13T05:38:51.643Z,1741844331.643 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:D.Pitch](DEBUG): Initialize.
2025-03-13T05:38:51.644Z,1741844331.644 [sci2_noyo_optim:DiveCmd:MaintainDepth] Stopped
2025-03-13T05:38:51.645Z,1741844331.645 [sci2_noyo_optim:DiveCmd:MaintainDepth](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepth
2025-03-13T05:38:51.645Z,1741844331.645 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive] Stopped
2025-03-13T05:38:51.645Z,1741844331.645 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive
2025-03-13T05:38:51.645Z,1741844331.645 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive] Stopped
2025-03-13T05:38:51.645Z,1741844331.645 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive
2025-03-13T05:38:51.645Z,1741844331.645 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass] Stopped
2025-03-13T05:38:51.645Z,1741844331.645 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass](DEBUG): Uninitialize.
2025-03-13T05:38:51.645Z,1741844331.645 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed] Stopped
2025-03-13T05:38:51.645Z,1741844331.645 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed](DEBUG): Uninitialize.
2025-03-13T05:38:51.645Z,1741844331.645 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:B.Pitch] Stopped
2025-03-13T05:41:51.514Z,1741844511.514 [Waterlinked](ERROR): only read 0 of 1 data item for BIT error. Device response::TS,24052713104389, 0.0, +0.0,   0.0,147    +0,    +0,    +0,V
2025-03-13T05:42:55.230Z,1741844575.230 [BPC1](INFO): Calculating totals. Valid battery stick count: 51. Valid reserve battery stick count: 5.
2025-03-13T05:42:55.236Z,1741844575.236 [BPC1](FAULT): Failed to receive data from 4 sticks prior to timeout. Will not retry this scan cycle. Missing stick IDs are: 18, 19, 21, 24.
2025-03-13T05:50:45.734Z,1741845045.734 [Waterlinked](ERROR): only read 3 of 5 data items. Device response::BI,    +0,   +0,    +0,V
2025-03-13T05:51:27.004Z,1741845087.004 [sci2_noyo_optim:Lap:DepthByLap:Wpt2:A.Waypoint](IMPORTANT): Reached waypoint: 36.784271,-121.913391
2025-03-13T05:51:27.004Z,1741845087.004 [sci2_noyo_optim:Lap:DepthByLap:Wpt2:A.Waypoint] Stopped
2025-03-13T05:51:27.004Z,1741845087.004 [sci2_noyo_optim:Lap:DepthByLap:Wpt2:A.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-03-13T05:51:27.004Z,1741845087.004 [sci2_noyo_optim:Lap:DepthByLap:Wpt2](INFO): Completed sci2_noyo_optim:Lap:DepthByLap:Wpt2
2025-03-13T05:51:27.004Z,1741845087.004 [sci2_noyo_optim:Lap:DepthByLap:Wpt2] Stopped
2025-03-13T05:51:27.005Z,1741845087.005 [sci2_noyo_optim:Lap:DepthByLap:Wpt2](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Lap:DepthByLap:Wpt2
2025-03-13T05:51:27.005Z,1741845087.005 [sci2_noyo_optim:Lap:DepthByLap:Wpt3] Running Loop=1
2025-03-13T05:51:27.005Z,1741845087.005 [sci2_noyo_optim:Lap:DepthByLap:Wpt3](DEBUG): Aggregate::initialize sci2_noyo_optim:Lap:DepthByLap:Wpt3
2025-03-13T05:51:27.005Z,1741845087.005 [sci2_noyo_optim:Lap:DepthByLap:Wpt3:A.Waypoint] Running Loop=1
2025-03-13T05:51:27.005Z,1741845087.005 [sci2_noyo_optim:Lap:DepthByLap:Wpt3:A.Waypoint](DEBUG): Initialize WaypointComponent.
2025-03-13T05:53:54.124Z,1741845234.124 [Waterlinked](ERROR): only read 0 of 1 data item for BIT error. Device response::TS,2405270
2025-03-13T05:54:06.912Z,1741845246.912 [sci2_noyo_optim:Lap:DepthByLap:Wpt3:A.Waypoint] Stopped
2025-03-13T05:54:06.912Z,1741845246.912 [sci2_noyo_optim:Lap:DepthByLap:Wpt3:A.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-03-13T05:54:06.913Z,1741845246.913 [sci2_noyo_optim:Lap:DepthByLap:Wpt3](INFO): Completed sci2_noyo_optim:Lap:DepthByLap:Wpt3
2025-03-13T05:54:06.913Z,1741845246.913 [sci2_noyo_optim:Lap:DepthByLap:Wpt3] Stopped
2025-03-13T05:54:06.913Z,1741845246.913 [sci2_noyo_optim:Lap:DepthByLap:Wpt3](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Lap:DepthByLap:Wpt3
2025-03-13T05:54:06.913Z,1741845246.913 [sci2_noyo_optim:Lap:DepthByLap:Wpt4] Running Loop=1
2025-03-13T05:54:06.913Z,1741845246.913 [sci2_noyo_optim:Lap:DepthByLap:Wpt4](DEBUG): Aggregate::initialize sci2_noyo_optim:Lap:DepthByLap:Wpt4
2025-03-13T05:54:06.913Z,1741845246.913 [sci2_noyo_optim:Lap:DepthByLap:Wpt4:A.Waypoint] Running Loop=1
2025-03-13T05:54:06.913Z,1741845246.913 [sci2_noyo_optim:Lap:DepthByLap:Wpt4:A.Waypoint](DEBUG): Initialize WaypointComponent.
2025-03-13T05:54:07.238Z,1741845247.238 [sci2_noyo_optim:Lap:DepthByLap:Wpt4:A.Waypoint] Stopped
2025-03-13T05:54:07.238Z,1741845247.238 [sci2_noyo_optim:Lap:DepthByLap:Wpt4:A.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-03-13T05:54:07.238Z,1741845247.238 [sci2_noyo_optim:Lap:DepthByLap:Wpt4](INFO): Completed sci2_noyo_optim:Lap:DepthByLap:Wpt4
2025-03-13T05:54:07.238Z,1741845247.238 [sci2_noyo_optim:Lap:DepthByLap:Wpt4] Stopped
2025-03-13T05:54:07.238Z,1741845247.238 [sci2_noyo_optim:Lap:DepthByLap:Wpt4](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Lap:DepthByLap:Wpt4
2025-03-13T05:54:07.238Z,1741845247.238 [sci2_noyo_optim:Lap:DepthByLap:Wpt5] Running Loop=1
2025-03-13T05:54:07.238Z,1741845247.238 [sci2_noyo_optim:Lap:DepthByLap:Wpt5](DEBUG): Aggregate::initialize sci2_noyo_optim:Lap:DepthByLap:Wpt5
2025-03-13T05:54:07.239Z,1741845247.239 [sci2_noyo_optim:Lap:DepthByLap:Wpt5:A.Waypoint] Running Loop=1
2025-03-13T05:54:07.239Z,1741845247.239 [sci2_noyo_optim:Lap:DepthByLap:Wpt5:A.Waypoint](DEBUG): Initialize WaypointComponent.
2025-03-13T05:54:07.541Z,1741845247.541 [sci2_noyo_optim:Lap:DepthByLap:Wpt5:A.Waypoint] Stopped
2025-03-13T05:54:07.542Z,1741845247.542 [sci2_noyo_optim:Lap:DepthByLap:Wpt5:A.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-03-13T05:54:07.542Z,1741845247.542 [sci2_noyo_optim:Lap:DepthByLap:Wpt5](INFO): Completed sci2_noyo_optim:Lap:DepthByLap:Wpt5
2025-03-13T05:54:07.542Z,1741845247.542 [sci2_noyo_optim:Lap:DepthByLap:Wpt5] Stopped
2025-03-13T05:54:07.542Z,1741845247.542 [sci2_noyo_optim:Lap:DepthByLap:Wpt5](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Lap:DepthByLap:Wpt5
2025-03-13T05:54:07.542Z,1741845247.542 [sci2_noyo_optim:Lap:DepthByLap:Wpt6] Running Loop=1
2025-03-13T05:54:07.542Z,1741845247.542 [sci2_noyo_optim:Lap:DepthByLap:Wpt6](DEBUG): Aggregate::initialize sci2_noyo_optim:Lap:DepthByLap:Wpt6
2025-03-13T05:54:07.542Z,1741845247.542 [sci2_noyo_optim:Lap:DepthByLap:Wpt6:A.Waypoint] Running Loop=1
2025-03-13T05:54:07.542Z,1741845247.542 [sci2_noyo_optim:Lap:DepthByLap:Wpt6:A.Waypoint](DEBUG): Initialize WaypointComponent.
2025-03-13T05:54:07.964Z,1741845247.964 [sci2_noyo_optim:Lap:DepthByLap:Wpt6:A.Waypoint] Stopped
2025-03-13T05:54:07.964Z,1741845247.964 [sci2_noyo_optim:Lap:DepthByLap:Wpt6:A.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-03-13T05:54:07.964Z,1741845247.964 [sci2_noyo_optim:Lap:DepthByLap:Wpt6](INFO): Completed sci2_noyo_optim:Lap:DepthByLap:Wpt6
2025-03-13T05:54:07.964Z,1741845247.964 [sci2_noyo_optim:Lap:DepthByLap:Wpt6] Stopped
2025-03-13T05:54:07.964Z,1741845247.964 [sci2_noyo_optim:Lap:DepthByLap:Wpt6](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Lap:DepthByLap:Wpt6
2025-03-13T05:54:07.964Z,1741845247.964 [sci2_noyo_optim:Lap:DepthByLap:Wpt7] Running Loop=1
2025-03-13T05:54:07.965Z,1741845247.965 [sci2_noyo_optim:Lap:DepthByLap:Wpt7](DEBUG): Aggregate::initialize sci2_noyo_optim:Lap:DepthByLap:Wpt7
2025-03-13T05:54:07.965Z,1741845247.965 [sci2_noyo_optim:Lap:DepthByLap:Wpt7:A.Waypoint] Running Loop=1
2025-03-13T05:54:07.965Z,1741845247.965 [sci2_noyo_optim:Lap:DepthByLap:Wpt7:A.Waypoint](DEBUG): Initialize WaypointComponent.
2025-03-13T05:54:08.345Z,1741845248.345 [sci2_noyo_optim:Lap:DepthByLap:Wpt7:A.Waypoint] Stopped
2025-03-13T05:54:08.345Z,1741845248.345 [sci2_noyo_optim:Lap:DepthByLap:Wpt7:A.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-03-13T05:54:08.345Z,1741845248.345 [sci2_noyo_optim:Lap:DepthByLap:Wpt7](INFO): Completed sci2_noyo_optim:Lap:DepthByLap:Wpt7
2025-03-13T05:54:08.345Z,1741845248.345 [sci2_noyo_optim:Lap:DepthByLap:Wpt7] Stopped
2025-03-13T05:54:08.345Z,1741845248.345 [sci2_noyo_optim:Lap:DepthByLap:Wpt7](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Lap:DepthByLap:Wpt7
2025-03-13T05:54:08.346Z,1741845248.346 [sci2_noyo_optim:Lap:DepthByLap:Wpt8] Running Loop=1
2025-03-13T05:54:08.346Z,1741845248.346 [sci2_noyo_optim:Lap:DepthByLap:Wpt8](DEBUG): Aggregate::initialize sci2_noyo_optim:Lap:DepthByLap:Wpt8
2025-03-13T05:54:08.346Z,1741845248.346 [sci2_noyo_optim:Lap:DepthByLap:Wpt8:A.Waypoint] Running Loop=1
2025-03-13T05:54:08.346Z,1741845248.346 [sci2_noyo_optim:Lap:DepthByLap:Wpt8:A.Waypoint](DEBUG): Initialize WaypointComponent.
2025-03-13T05:54:08.781Z,1741845248.781 [sci2_noyo_optim:Lap:DepthByLap:Wpt8:A.Waypoint] Stopped
2025-03-13T05:54:08.781Z,1741845248.781 [sci2_noyo_optim:Lap:DepthByLap:Wpt8:A.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-03-13T05:54:08.781Z,1741845248.781 [sci2_noyo_optim:Lap:DepthByLap:Wpt8](INFO): Completed sci2_noyo_optim:Lap:DepthByLap:Wpt8
2025-03-13T05:54:08.781Z,1741845248.781 [sci2_noyo_optim:Lap:DepthByLap:Wpt8] Stopped
2025-03-13T05:54:08.781Z,1741845248.781 [sci2_noyo_optim:Lap:DepthByLap:Wpt8](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Lap:DepthByLap:Wpt8
2025-03-13T05:54:08.781Z,1741845248.781 [sci2_noyo_optim:Lap:DepthByLap:Leg2] Running Loop=1
2025-03-13T05:54:08.781Z,1741845248.781 [sci2_noyo_optim:Lap:DepthByLap:Leg2](DEBUG): Aggregate::initialize sci2_noyo_optim:Lap:DepthByLap:Leg2
2025-03-13T05:54:08.782Z,1741845248.782 [sci2_noyo_optim:Lap:DepthByLap:Leg2:A] Running Loop=1
2025-03-13T05:54:09.354Z,1741845249.354 [sci2_noyo_optim:Lap:DepthByLap:Leg2:A](IMPORTANT): Transiting waypoints at depth  50.000000 m 
2025-03-13T05:54:09.354Z,1741845249.354 [sci2_noyo_optim:Lap:DepthByLap:Leg2:A] Stopped
2025-03-13T05:54:09.354Z,1741845249.354 [sci2_noyo_optim:Lap:DepthByLap:Leg2:B] Running Loop=1
2025-03-13T05:54:09.753Z,1741845249.753 [sci2_noyo_optim:Lap:DepthByLap:Leg2:B] Stopped
2025-03-13T05:54:09.753Z,1741845249.753 [sci2_noyo_optim:Lap:DepthByLap:Leg2:Wpt1] Running Loop=1
2025-03-13T05:54:09.753Z,1741845249.753 [sci2_noyo_optim:Lap:DepthByLap:Leg2:Wpt1](DEBUG): Aggregate::initialize sci2_noyo_optim:Lap:DepthByLap:Leg2:Wpt1
2025-03-13T05:54:09.754Z,1741845249.754 [sci2_noyo_optim:Lap:DepthByLap:Leg2:Wpt1:A.Waypoint] Running Loop=1
2025-03-13T05:54:09.754Z,1741845249.754 [sci2_noyo_optim:Lap:DepthByLap:Leg2:Wpt1:A.Waypoint](DEBUG): Initialize WaypointComponent.
2025-03-13T05:54:09.754Z,1741845249.754 [sci2_noyo_optim:Lap:DepthByLap:Leg2:Wpt1:A.Waypoint](IMPORTANT): Navigating to waypoint: 36.792789,-121.889191
2025-03-13T05:54:10.189Z,1741845250.189 [sci2_noyo_optim:Lap:DepthByLap:Leg2:Wpt1:A.Waypoint](INFO): Navigating to waypoint: 36.792789,-121.889191
2025-03-13T05:56:21.056Z,1741845381.056 [Waterlinked](ERROR): only read 2 of 5 data items. Device response::BI,    +0,    +0,    +,V
2025-03-13T05:57:01.394Z,1741845421.394 [CTD_Seabird](ERROR): Failed to parse device response: .57
2025-03-13T05:58:11.328Z,1741845491.328 [Waterlinked](ERROR): only read 0 of 5 data items. Device response::BI,    +,    +0,    +0,V
2025-03-13T05:58:26.221Z,1741845506.221 [Waterlinked](ERROR): only read 0 of 1 data item for altitude. Device response::BD,       +0.0.00,  0.00
2025-03-13T05:59:12.143Z,1741845552.143 [Waterlinked](ERROR): DVL uart error: serial timeout
2025-03-13T05:59:12.144Z,1741845552.144 [Waterlinked] Communications Fault, FailCount= 1
2025-03-13T05:59:12.144Z,1741845552.144 [Waterlinked](ERROR): Communications Fault
2025-03-13T05:59:12.506Z,1741845552.506 [CBIT](ERROR): Communications Fault in component: Waterlinked
2025-03-13T05:59:12.624Z,1741845552.624 [Waterlinked](INFO): Powering down
2025-03-13T05:59:13.562Z,1741845553.562 [CBIT](INFO): Clearing failed state for component Waterlinked
2025-03-13T05:59:13.563Z,1741845553.563 [Waterlinked] No Fault, FailCount= 1
2025-03-13T06:04:31.556Z,1741845871.556 [Waterlinked](ERROR): only read 0 of 1 data item for BIT error. Device response::TS,24052713071487, 0.0, +0.0,   0.0,1475.0I,    +0,    +0,    +0,    +0,V
2025-03-13T06:11:51.962Z,1741846311.962 [Waterlinked](ERROR): only read 4 of 5 data items. Device response::BI,    +0,    +0,    +0,    +0    +0,    +0,    +0,V
2025-03-13T06:13:03.612Z,1741846383.612 [Waterlinked](ERROR): only read 3 of 5 data items. Device response::BI,    +0,    +0,    +0,    S,    +0,    +0,    +0,V
2025-03-13T06:23:57.396Z,1741847037.396 [BPC1](INFO): Calculating totals. Valid battery stick count: 49. Valid reserve battery stick count: 5.
2025-03-13T06:23:57.404Z,1741847037.404 [BPC1](FAULT): Failed to receive data from 4 sticks prior to timeout. Will not retry this scan cycle. Missing stick IDs are: 18, 19, 21, 24.
2025-03-13T06:38:23.442Z,1741847903.442 [Waterlinked](ERROR): only read 0 of 1 data item for BIT error. Device response::TS,2405271341065.0,  0
2025-03-13T06:38:26.481Z,1741847906.481 [Waterlinked](ERROR): only read 0 of 1 data item for altitude. Device response::BD,,    +0,    +0,    +0,V
2025-03-13T06:55:14.297Z,1741848914.297 [Waterlinked](ERROR): only read 0 of 1 data item for BIT error. Device response::TS,240527135757 +0.0,   0.0,1475.0,  0
2025-03-13T06:58:19.399Z,1741849099.399 [Waterlinked](ERROR): only read 3 of 5 data items. Device response::BI,    +0,    +0,    +0,    

2025-03-13T06:59:47.173Z,1741849187.173 [sci2_noyo_optim:SurfaceComms] Running Loop=1
2025-03-13T06:59:47.174Z,1741849187.174 [sci2_noyo_optim:SurfaceComms](DEBUG): Aggregate::initialize sci2_noyo_optim:SurfaceComms
2025-03-13T06:59:47.174Z,1741849187.174 [sci2_noyo_optim:SurfaceComms:A] Running Loop=1
2025-03-13T06:59:47.179Z,1741849187.179 [sci2_noyo_optim:SurfaceComms:A] Stopped
2025-03-13T06:59:47.180Z,1741849187.180 [sci2_noyo_optim:SurfaceComms:B] Running Loop=1
2025-03-13T06:59:47.180Z,1741849187.180 [sci2_noyo_optim:SurfaceComms:B](DEBUG): Aggregate::initialize sci2_noyo_optim:SurfaceComms:B
2025-03-13T06:59:47.480Z,1741849187.480 [sci2_noyo_optim:Lap:Dive] Stopped
2025-03-13T06:59:47.480Z,1741849187.480 [sci2_noyo_optim:Lap:Dive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Lap:Dive
2025-03-13T06:59:47.480Z,1741849187.480 [sci2_noyo_optim:Lap:Dive:A] Stopped
2025-03-13T06:59:47.480Z,1741849187.480 [sci2_noyo_optim:Lap:Dive:A](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Lap:Dive:A
2025-03-13T06:59:47.481Z,1741849187.481 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow] Stopped
2025-03-13T06:59:47.481Z,1741849187.481 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepthSlow
2025-03-13T06:59:47.481Z,1741849187.481 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:A.SetSpeed] Stopped
2025-03-13T06:59:47.481Z,1741849187.481 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:A.SetSpeed](DEBUG): Uninitialize.
2025-03-13T06:59:47.481Z,1741849187.481 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:B] Stopped
2025-03-13T06:59:47.481Z,1741849187.481 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:C.Buoyancy] Stopped
2025-03-13T06:59:47.481Z,1741849187.481 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-03-13T06:59:47.481Z,1741849187.481 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:D.Pitch] Stopped
2025-03-13T06:59:47.483Z,1741849187.483 [sci2_noyo_optim:NeedComms] Running Loop=1
2025-03-13T06:59:47.483Z,1741849187.483 [sci2_noyo_optim:NeedComms](DEBUG): Aggregate::initialize sci2_noyo_optim:NeedComms
2025-03-13T06:59:47.483Z,1741849187.483 [sci2_noyo_optim:NeedComms:B.GoToSurface] Running Loop=1
2025-03-13T06:59:47.484Z,1741849187.484 [sci2_noyo_optim:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-03-13T06:59:47.484Z,1741849187.484 [sci2_noyo_optim:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-03-13T06:59:47.484Z,1741849187.484 [sci2_noyo_optim:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-03-13T06:59:47.485Z,1741849187.485 [sci2_noyo_optim:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-03-13T06:59:47.485Z,1741849187.485 [sci2_noyo_optim:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-03-13T06:59:47.485Z,1741849187.485 [sci2_noyo_optim:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-03-13T06:59:47.486Z,1741849187.486 [sci2_noyo_optim:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-03-13T06:59:47.486Z,1741849187.486 [sci2_noyo_optim:NeedComms:A] Running Loop=1
2025-03-13T06:59:47.487Z,1741849187.487 [sci2_noyo_optim:NeedComms:A](INFO): last time_fix was:  1741843786.000000 second since 1970/01/01T00:00:00Z 
2025-03-13T06:59:47.488Z,1741849187.488 [sci2_noyo_optim:NeedComms:A] Stopped
2025-03-13T07:00:11.115Z,1741849211.115 [sci2_noyo_optim:DiveCmd:MaintainDepth] Running Loop=1
2025-03-13T07:00:11.116Z,1741849211.116 [sci2_noyo_optim:DiveCmd:MaintainDepth](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepth
2025-03-13T07:00:11.116Z,1741849211.116 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive] Running Loop=1
2025-03-13T07:00:11.116Z,1741849211.116 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive
2025-03-13T07:00:11.116Z,1741849211.116 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive] Running Loop=1
2025-03-13T07:00:11.117Z,1741849211.117 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive
2025-03-13T07:00:11.117Z,1741849211.117 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass] Running Loop=1
2025-03-13T07:00:11.117Z,1741849211.117 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass](DEBUG): Initialize.
2025-03-13T07:00:11.118Z,1741849211.118 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed] Running Loop=1
2025-03-13T07:00:11.118Z,1741849211.118 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed](DEBUG): Initialize.
2025-03-13T07:00:11.118Z,1741849211.118 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:B.Pitch] Running Loop=1
2025-03-13T07:00:11.118Z,1741849211.118 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:B.Pitch](DEBUG): Initialize.
2025-03-13T07:03:14.456Z,1741849394.456 [sci2_noyo_optim:NeedComms:C] Running Loop=1
2025-03-13T07:03:14.778Z,1741849394.778 [Radio_Surface](INFO): Powering up
2025-03-13T07:03:14.988Z,1741849394.988 [Waterlinked](INFO): Powering down
2025-03-13T07:03:20.464Z,1741849400.464 [DataOverHttps](INFO): Radio surface powered ON.
2025-03-13T07:03:50.600Z,1741849430.600 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T07:04:19.986Z,1741849459.986 [NAL9602](INFO): SBD MO Status=2, MOMSN=18538, MT Status=2, MTMSN=0
2025-03-13T07:04:19.986Z,1741849459.986 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-03-13T07:04:25.748Z,1741849465.748 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T07:04:43.026Z,1741849483.026 [NAL9602](INFO): SBD MO Status=2, MOMSN=18538, MT Status=2, MTMSN=0
2025-03-13T07:04:43.026Z,1741849483.026 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-03-13T07:04:59.165Z,1741849499.165 [BPC1](INFO): Calculating totals. Valid battery stick count: 50. Valid reserve battery stick count: 5.
2025-03-13T07:04:59.168Z,1741849499.168 [BPC1](FAULT): Failed to receive data from 4 sticks prior to timeout. Will not retry this scan cycle. Missing stick IDs are: 18, 19, 21, 24.
2025-03-13T07:05:00.896Z,1741849500.896 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T07:05:36.036Z,1741849536.036 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T07:06:09.062Z,1741849569.062 [NAL9602](INFO): SBD MO Status=2, MOMSN=18538, MT Status=2, MTMSN=0
2025-03-13T07:06:09.062Z,1741849569.062 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-03-13T07:06:11.192Z,1741849571.192 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T07:06:45.116Z,1741849605.116 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003940
2025-03-13T07:07:35.517Z,1741849655.517 [NAL9602](INFO): SBD MO Status=2, MOMSN=18538, MT Status=2, MTMSN=0
2025-03-13T07:07:35.517Z,1741849655.517 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-03-13T07:07:45.352Z,1741849665.352 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.239429
2025-03-13T07:08:01.388Z,1741849681.388 [NAL9602](INFO): SBD MO Status=2, MOMSN=18538, MT Status=2, MTMSN=0
2025-03-13T07:08:01.388Z,1741849681.388 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-03-13T07:08:28.036Z,1741849708.036 [NAL9602](INFO): SBD MO Status=2, MOMSN=18538, MT Status=2, MTMSN=0
2025-03-13T07:08:28.036Z,1741849708.036 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-03-13T07:08:28.465Z,1741849708.465 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2025-03-13T07:08:29.663Z,1741849709.663 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,070828.00,A,3647.90821,N,12153.87179,W,0.622,29.05,130325,,,A*47
2025-03-13T07:08:29.665Z,1741849709.665 [NAL9602](INFO): GPS fix at 20250313T070828: (36.798470, -121.897863)
2025-03-13T07:08:29.677Z,1741849709.677 [UniversalFixResidualReporter](INFO): Fix residual: 31.3 %DT, over the last 2615.6 m. Residual distance 818.9 m at bearing 169.8 degrees. Fix at (36.7985, -121.8979) with 1340.8 m made good.
2025-03-13T07:08:29.683Z,1741849709.683 [sci2_noyo_optim:NeedComms:C] Stopped
2025-03-13T07:08:29.684Z,1741849709.684 [sci2_noyo_optim:NeedComms:D] Running Loop=1
2025-03-13T07:08:53.143Z,1741849733.143 [NAL9602](INFO): SBD MO Status=2, MOMSN=18538, MT Status=2, MTMSN=0
2025-03-13T07:08:53.144Z,1741849733.144 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-03-13T07:09:07.696Z,1741849747.696 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T07:09:23.914Z,1741849763.914 [NAL9602](INFO): SBD MO Status=1, MOMSN=18538, MT Status=0, MTMSN=0
2025-03-13T07:09:23.968Z,1741849763.968 [NAL9602](INFO): Sent 93 bytes from file Logs/20250311T232940/Courier0254.lzma
2025-03-13T07:09:23.968Z,1741849763.968 [NAL9602](INFO): Packets left to send: 0
2025-03-13T07:09:35.290Z,1741849775.290 [NAL9602](INFO): SBD MO Status=1, MOMSN=18539, MT Status=0, MTMSN=0
2025-03-13T07:09:35.340Z,1741849775.340 [NAL9602](INFO): Sent 332 bytes from file Logs/20250311T232940/Express0255.lzma
2025-03-13T07:09:35.341Z,1741849775.341 [NAL9602](INFO): Packets left to send: 2
2025-03-13T07:09:42.836Z,1741849782.836 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T07:09:49.086Z,1741849789.086 [NAL9602](INFO): SBD MO Status=2, MOMSN=18540, MT Status=2, MTMSN=0
2025-03-13T07:09:49.086Z,1741849789.086 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-03-13T07:10:16.599Z,1741849816.599 [NAL9602](INFO): SBD MO Status=1, MOMSN=18540, MT Status=0, MTMSN=0
2025-03-13T07:10:16.647Z,1741849816.647 [NAL9602](INFO): Sent 332 bytes from file Logs/20250311T232940/Express0255.lzma
2025-03-13T07:10:16.648Z,1741849816.648 [NAL9602](INFO): Packets left to send: 1
2025-03-13T07:10:17.976Z,1741849817.976 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T07:10:33.233Z,1741849833.233 [NAL9602](INFO): SBD MO Status=1, MOMSN=18541, MT Status=0, MTMSN=0
2025-03-13T07:10:33.287Z,1741849833.287 [NAL9602](INFO): Sent 76 bytes from file Logs/20250311T232940/Express0255.lzma
2025-03-13T07:10:33.288Z,1741849833.288 [NAL9602](INFO): Packets left to send: 0
2025-03-13T07:10:44.126Z,1741849844.126 [NAL9602](INFO): SBD MO Status=0, MOMSN=18542, MT Status=0, MTMSN=0
2025-03-13T07:10:44.223Z,1741849844.223 [sci2_noyo_optim:NeedComms:D] Stopped
2025-03-13T07:10:44.224Z,1741849844.224 [sci2_noyo_optim:NeedComms:E] Running Loop=1
2025-03-13T07:10:46.560Z,1741849846.560 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,071045.00,A,3647.90970,N,12153.85457,W,0.272,35.92,130325,,,A*49
2025-03-13T07:10:46.562Z,1741849846.562 [NAL9602](INFO): GPS fix at 20250313T071045: (36.798495, -121.897576)
2025-03-13T07:10:46.579Z,1741849846.579 [sci2_noyo_optim:NeedComms:E] Stopped
2025-03-13T07:10:46.580Z,1741849846.580 [sci2_noyo_optim:NeedComms](INFO): Completed sci2_noyo_optim:NeedComms
2025-03-13T07:10:46.580Z,1741849846.580 [sci2_noyo_optim:NeedComms] Stopped
2025-03-13T07:10:46.580Z,1741849846.580 [sci2_noyo_optim:NeedComms](DEBUG): Aggregate::uninitialize sci2_noyo_optim:NeedComms
2025-03-13T07:10:46.581Z,1741849846.581 [sci2_noyo_optim:NeedComms:B.GoToSurface] Stopped
2025-03-13T07:10:46.581Z,1741849846.581 [sci2_noyo_optim:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-03-13T07:10:46.995Z,1741849846.995 [sci2_noyo_optim:SurfaceComms:B](INFO): Completed sci2_noyo_optim:SurfaceComms:B
2025-03-13T07:10:46.995Z,1741849846.995 [sci2_noyo_optim:SurfaceComms:B] Stopped
2025-03-13T07:10:46.996Z,1741849846.996 [sci2_noyo_optim:SurfaceComms:B](DEBUG): Aggregate::uninitialize sci2_noyo_optim:SurfaceComms:B
2025-03-13T07:10:46.996Z,1741849846.996 [sci2_noyo_optim:SurfaceComms:C] Running Loop=1
2025-03-13T07:10:47.372Z,1741849847.372 [ElevatorOffsetCalculator](INFO): Removing expired estimator for commanded vars: speed 1.00 m/s, pitch 30.00 deg, mass-position -26.00 mm.
2025-03-13T07:10:47.373Z,1741849847.373 [ElevatorOffsetCalculator](INFO): Removing expired estimator for commanded vars: speed 0.70 m/s, pitch 30.00 deg, mass-position 6.85 mm.
2025-03-13T07:10:47.381Z,1741849847.381 [sci2_noyo_optim:SurfaceComms:C] Stopped
2025-03-13T07:10:47.381Z,1741849847.381 [sci2_noyo_optim:SurfaceComms](INFO): Completed sci2_noyo_optim:SurfaceComms
2025-03-13T07:10:47.381Z,1741849847.381 [sci2_noyo_optim:SurfaceComms] Stopped
2025-03-13T07:10:47.381Z,1741849847.381 [sci2_noyo_optim:SurfaceComms](DEBUG): Aggregate::uninitialize sci2_noyo_optim:SurfaceComms
2025-03-13T07:10:47.788Z,1741849847.788 [sci2_noyo_optim:Lap:Dive] Running Loop=1
2025-03-13T07:10:47.789Z,1741849847.789 [sci2_noyo_optim:Lap:Dive](DEBUG): Aggregate::initialize sci2_noyo_optim:Lap:Dive
2025-03-13T07:10:47.789Z,1741849847.789 [sci2_noyo_optim:Lap:Dive:A] Running Loop=1
2025-03-13T07:10:47.789Z,1741849847.789 [sci2_noyo_optim:Lap:Dive:A](DEBUG): Aggregate::initialize sci2_noyo_optim:Lap:Dive:A
2025-03-13T07:10:47.791Z,1741849847.791 [sci2_noyo_optim:DiveCmd:InitialDive] Running Loop=1
2025-03-13T07:10:47.791Z,1741849847.791 [sci2_noyo_optim:DiveCmd:InitialDive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:InitialDive
2025-03-13T07:10:47.791Z,1741849847.791 [sci2_noyo_optim:DiveCmd:InitialDive:dive] Running Loop=1
2025-03-13T07:10:47.791Z,1741849847.791 [sci2_noyo_optim:DiveCmd:InitialDive:dive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:InitialDive:dive
2025-03-13T07:10:47.791Z,1741849847.791 [sci2_noyo_optim:DiveCmd:InitialDive:dive:A] Running Loop=1
2025-03-13T07:10:47.791Z,1741849847.791 [sci2_noyo_optim:DiveCmd:InitialDive:dive:B] Running Loop=1
2025-03-13T07:10:47.791Z,1741849847.791 [sci2_noyo_optim:DiveCmd:InitialDive:dive:C.Mass] Running Loop=1
2025-03-13T07:10:47.791Z,1741849847.791 [sci2_noyo_optim:DiveCmd:InitialDive:dive:C.Mass](DEBUG): Initialize.
2025-03-13T07:10:47.792Z,1741849847.792 [sci2_noyo_optim:DiveCmd:InitialDive:dive:D] Running Loop=1
2025-03-13T07:10:47.792Z,1741849847.792 [sci2_noyo_optim:DiveCmd:InitialDive:dive:D](INFO): Waiting for  1.000000 min while pumping down to neutral.
2025-03-13T07:10:47.792Z,1741849847.792 [sci2_noyo_optim:DiveCmd:InitialDive:dive:D] Stopped
2025-03-13T07:10:47.792Z,1741849847.792 [sci2_noyo_optim:DiveCmd:InitialDive:dive:E.Wait] Running Loop=1
2025-03-13T07:10:47.792Z,1741849847.792 [sci2_noyo_optim:DiveCmd:InitialDive:dive:E.Wait](DEBUG): Initialize Wait Component.
2025-03-13T07:11:06.292Z,1741849866.292 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003867
2025-03-13T07:11:18.693Z,1741849878.693 [NAL9602](INFO): Not Powering down - fast GPS
2025-03-13T07:11:48.589Z,1741849908.589 [sci2_noyo_optim:DiveCmd:InitialDive:dive:E.Wait](INFO): Done Waiting.
2025-03-13T07:11:48.589Z,1741849908.589 [sci2_noyo_optim:DiveCmd:InitialDive:dive:E.Wait] Stopped
2025-03-13T07:11:48.590Z,1741849908.590 [sci2_noyo_optim:DiveCmd:InitialDive:dive:E.Wait](DEBUG): Uninitialize Wait Component.
2025-03-13T07:11:48.590Z,1741849908.590 [sci2_noyo_optim:DiveCmd:InitialDive:dive:F] Running Loop=1
2025-03-13T07:11:49.008Z,1741849909.008 [sci2_noyo_optim:DiveCmd:InitialDive:dive:F](INFO): Moving to  10.000000 m 
2025-03-13T07:11:49.008Z,1741849909.008 [sci2_noyo_optim:DiveCmd:InitialDive:dive:F] Stopped
2025-03-13T07:11:49.008Z,1741849909.008 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth] Running Loop=1
2025-03-13T07:11:49.008Z,1741849909.008 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth
2025-03-13T07:11:49.008Z,1741849909.008 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:A.SetSpeed] Running Loop=1
2025-03-13T07:11:49.008Z,1741849909.008 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:A.SetSpeed](DEBUG): Initialize.
2025-03-13T07:11:49.009Z,1741849909.009 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:B.Pitch] Running Loop=1
2025-03-13T07:11:49.009Z,1741849909.009 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:B.Pitch](DEBUG): Initialize.
2025-03-13T07:12:03.516Z,1741849923.516 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T07:12:06.529Z,1741849926.529 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.240112
2025-03-13T07:12:38.459Z,1741849958.459 [Radio_Surface](INFO): Powering down
2025-03-13T07:12:38.660Z,1741849958.660 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T07:12:39.672Z,1741849959.672 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-03-13T07:14:18.851Z,1741850058.851 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:B.Pitch] Stopped
2025-03-13T07:14:18.852Z,1741850058.852 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth](INFO): Completed sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth
2025-03-13T07:14:18.852Z,1741850058.852 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth] Stopped
2025-03-13T07:14:18.852Z,1741850058.852 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth
2025-03-13T07:14:18.852Z,1741850058.852 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:A.SetSpeed] Stopped
2025-03-13T07:14:18.852Z,1741850058.852 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:A.SetSpeed](DEBUG): Uninitialize.
2025-03-13T07:14:18.852Z,1741850058.852 [sci2_noyo_optim:DiveCmd:InitialDive:dive:H] Running Loop=1
2025-03-13T07:14:19.252Z,1741850059.252 [sci2_noyo_optim:DiveCmd:InitialDive:dive:H] Stopped
2025-03-13T07:14:19.253Z,1741850059.253 [sci2_noyo_optim:DiveCmd:InitialDive:dive](INFO): Completed sci2_noyo_optim:DiveCmd:InitialDive:dive
2025-03-13T07:14:19.253Z,1741850059.253 [sci2_noyo_optim:DiveCmd:InitialDive:dive] Stopped
2025-03-13T07:14:19.253Z,1741850059.253 [sci2_noyo_optim:DiveCmd:InitialDive:dive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:InitialDive:dive
2025-03-13T07:14:19.253Z,1741850059.253 [sci2_noyo_optim:DiveCmd:InitialDive:dive:A] Stopped
2025-03-13T07:14:19.253Z,1741850059.253 [sci2_noyo_optim:DiveCmd:InitialDive:dive:B] Stopped
2025-03-13T07:14:19.253Z,1741850059.253 [sci2_noyo_optim:DiveCmd:InitialDive:dive:C.Mass] Stopped
2025-03-13T07:14:19.253Z,1741850059.253 [sci2_noyo_optim:DiveCmd:InitialDive:dive:C.Mass](DEBUG): Uninitialize.
2025-03-13T07:14:19.254Z,1741850059.254 [sci2_noyo_optim:DiveCmd:InitialDive](INFO): Completed sci2_noyo_optim:DiveCmd:InitialDive
2025-03-13T07:14:19.544Z,1741850059.544 [sci2_noyo_optim:DiveCmd:SettleAtDepth] Running Loop=1
2025-03-13T07:14:19.544Z,1741850059.544 [sci2_noyo_optim:DiveCmd:SettleAtDepth](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:SettleAtDepth
2025-03-13T07:14:19.544Z,1741850059.544 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive] Running Loop=1
2025-03-13T07:14:19.544Z,1741850059.544 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:SettleAtDepth:dive
2025-03-13T07:14:19.544Z,1741850059.544 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:B.Pitch] Running Loop=1
2025-03-13T07:14:19.544Z,1741850059.544 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:B.Pitch](DEBUG): Initialize.
2025-03-13T07:14:19.544Z,1741850059.544 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:A] Running Loop=1
2025-03-13T07:14:19.546Z,1741850059.546 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:A](INFO): Reached  10.123716 m , settling for  3.000000 min 
2025-03-13T07:14:19.546Z,1741850059.546 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:A] Stopped
2025-03-13T07:14:19.546Z,1741850059.546 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:C.Wait] Running Loop=1
2025-03-13T07:14:19.546Z,1741850059.546 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:C.Wait](DEBUG): Initialize Wait Component.
2025-03-13T07:17:20.293Z,1741850240.293 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:C.Wait](INFO): Done Waiting.
2025-03-13T07:17:20.293Z,1741850240.293 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:C.Wait] Stopped
2025-03-13T07:17:20.293Z,1741850240.293 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:C.Wait](DEBUG): Uninitialize Wait Component.
2025-03-13T07:17:20.294Z,1741850240.294 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:D] Running Loop=1
2025-03-13T07:17:20.711Z,1741850240.711 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:D] Stopped
2025-03-13T07:17:20.712Z,1741850240.712 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive](INFO): Completed sci2_noyo_optim:DiveCmd:SettleAtDepth:dive
2025-03-13T07:17:20.712Z,1741850240.712 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive] Stopped
2025-03-13T07:17:20.712Z,1741850240.712 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:SettleAtDepth:dive
2025-03-13T07:17:20.712Z,1741850240.712 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:B.Pitch] Stopped
2025-03-13T07:17:20.712Z,1741850240.712 [sci2_noyo_optim:DiveCmd:SettleAtDepth](INFO): Completed sci2_noyo_optim:DiveCmd:SettleAtDepth
2025-03-13T07:19:49.396Z,1741850389.396 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow] Running Loop=1
2025-03-13T07:19:49.396Z,1741850389.396 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepthSlow
2025-03-13T07:19:49.396Z,1741850389.396 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:A.SetSpeed] Running Loop=1
2025-03-13T07:19:49.396Z,1741850389.396 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:A.SetSpeed](DEBUG): Initialize.
2025-03-13T07:19:49.396Z,1741850389.396 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:B] Running Loop=1
2025-03-13T07:19:49.396Z,1741850389.396 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:C.Buoyancy] Running Loop=1
2025-03-13T07:19:49.396Z,1741850389.396 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:C.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-03-13T07:19:49.396Z,1741850389.396 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:D.Pitch] Running Loop=1
2025-03-13T07:19:49.396Z,1741850389.396 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:D.Pitch](DEBUG): Initialize.
2025-03-13T07:19:49.398Z,1741850389.398 [sci2_noyo_optim:DiveCmd:MaintainDepth] Stopped
2025-03-13T07:19:49.398Z,1741850389.398 [sci2_noyo_optim:DiveCmd:MaintainDepth](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepth
2025-03-13T07:19:49.398Z,1741850389.398 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive] Stopped
2025-03-13T07:19:49.398Z,1741850389.398 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive
2025-03-13T07:19:49.398Z,1741850389.398 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive] Stopped
2025-03-13T07:19:49.398Z,1741850389.398 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive
2025-03-13T07:19:49.398Z,1741850389.398 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass] Stopped
2025-03-13T07:19:49.398Z,1741850389.398 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass](DEBUG): Uninitialize.
2025-03-13T07:19:49.398Z,1741850389.398 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed] Stopped
2025-03-13T07:19:49.398Z,1741850389.398 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed](DEBUG): Uninitialize.
2025-03-13T07:19:49.398Z,1741850389.398 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:B.Pitch] Stopped
2025-03-13T07:26:05.453Z,1741850765.453 [Waterlinked](ERROR): only read 0 of 1 data item for BIT error. Device response::TS,24052713162397, 0.0, ,    +0,V
2025-03-13T07:29:23.160Z,1741850963.160 [sci2_noyo_optim:Lap:DepthByLap:Leg2:Wpt1:A.Waypoint](IMPORTANT): Reached waypoint: 36.792789,-121.889191
2025-03-13T07:29:23.160Z,1741850963.160 [sci2_noyo_optim:Lap:DepthByLap:Leg2:Wpt1:A.Waypoint] Stopped
2025-03-13T07:29:23.160Z,1741850963.160 [sci2_noyo_optim:Lap:DepthByLap:Leg2:Wpt1:A.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-03-13T07:29:23.160Z,1741850963.160 [sci2_noyo_optim:Lap:DepthByLap:Leg2:Wpt1](INFO): Completed sci2_noyo_optim:Lap:DepthByLap:Leg2:Wpt1
2025-03-13T07:29:23.160Z,1741850963.160 [sci2_noyo_optim:Lap:DepthByLap:Leg2:Wpt1] Stopped
2025-03-13T07:29:23.160Z,1741850963.160 [sci2_noyo_optim:Lap:DepthByLap:Leg2:Wpt1](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Lap:DepthByLap:Leg2:Wpt1
2025-03-13T07:29:23.161Z,1741850963.161 [sci2_noyo_optim:Lap:DepthByLap:Leg2:Wpt2] Running Loop=1
2025-03-13T07:29:23.161Z,1741850963.161 [sci2_noyo_optim:Lap:DepthByLap:Leg2:Wpt2](DEBUG): Aggregate::initialize sci2_noyo_optim:Lap:DepthByLap:Leg2:Wpt2
2025-03-13T07:29:23.161Z,1741850963.161 [sci2_noyo_optim:Lap:DepthByLap:Leg2:Wpt2:A.Waypoint] Running Loop=1
2025-03-13T07:29:23.161Z,1741850963.161 [sci2_noyo_optim:Lap:DepthByLap:Leg2:Wpt2:A.Waypoint](DEBUG): Initialize WaypointComponent.
2025-03-13T07:29:23.162Z,1741850963.162 [sci2_noyo_optim:Lap:DepthByLap:Leg2:Wpt2:A.Waypoint](IMPORTANT): Navigating to waypoint: 36.784271,-121.913391
2025-03-13T07:29:23.537Z,1741850963.537 [sci2_noyo_optim:Lap:DepthByLap:Leg2:Wpt2:A.Waypoint](INFO): Navigating to waypoint: 36.784271,-121.913391
2025-03-13T07:41:04.434Z,1741851664.434 [DAT](INFO): DAT read: Rx Time:07:41:03.6408

2025-03-13T07:41:04.436Z,1741851664.436 [DAT](INFO): Rx dataTimestamp_ set to:1741851664.434799
2025-03-13T07:41:04.436Z,1741851664.436 [DAT](INFO): DAT read: 

2025-03-13T07:41:04.438Z,1741851664.438 [DAT](INFO): DAT read: $Packet for address 0

2025-03-13T07:41:04.438Z,1741851664.438 [DAT](INFO): received a packet notification
2025-03-13T07:43:48.872Z,1741851828.872 [GFScanner](IMPORTANT): Beginning ground fault scan
2025-03-13T07:43:49.437Z,1741851829.437 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2025-03-13T07:43:49.441Z,1741851829.441 [CTD_Seabird](INFO): some bad data, not updating bins
2025-03-13T07:43:51.445Z,1741851831.445 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2025-03-13T07:43:51.449Z,1741851831.449 [CTD_Seabird](INFO): some bad data, not updating bins
2025-03-13T07:43:52.445Z,1741851832.445 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2025-03-13T07:43:52.446Z,1741851832.446 [CTD_Seabird](INFO): some bad data, not updating bins
2025-03-13T07:43:53.250Z,1741851833.250 [GFScanner](IMPORTANT): No ground fault detected
mA:
CHAN A0 (Batt): -0.005094
CHAN A1 (24V): 0.002320
CHAN A2 (12V): -0.005307
CHAN A3 (5V): -0.002421
CHAN B0 (3.3V): -0.002650
CHAN B1 (3.15aV): -0.001306
CHAN B2 (3.15bV): -0.000687
CHAN B3 (GND): -0.000790
OPEN: 0.006191
Full Scale: +/- 1 mA
2025-03-13T07:46:01.250Z,1741851961.250 [BPC1](INFO): Calculating totals. Valid battery stick count: 49. Valid reserve battery stick count: 5.
2025-03-13T07:46:01.259Z,1741851961.259 [BPC1](FAULT): Failed to receive data from 4 sticks prior to timeout. Will not retry this scan cycle. Missing stick IDs are: 18, 19, 21, 24.
2025-03-13T07:46:39.141Z,1741851999.141 [CTD_Seabird](ERROR): Failed to parse device response: ,10.5071,3.72138,2809.74
2025-03-13T07:48:19.444Z,1741852099.444 [Waterlinked](ERROR): only read 0 of 1 data item for BIT error. Device response::TS,21475.0,  0
2025-03-13T07:48:59.295Z,1741852139.295 [Waterlinked](ERROR): only read 2 of 5 data items. Device response::BI,    +0,  +0,V
2025-03-13T07:49:11.960Z,1741852151.960 [Waterlinked](ERROR): only read 3 of 5 data items. Device response::BI,    +0,    +0,    +0,   BS,    +0,    +0,    +0,V
2025-03-13T08:02:02.624Z,1741852922.624 [ElevatorServo](ERROR): getPosition uart error serial timeout
2025-03-13T08:02:02.624Z,1741852922.624 [ElevatorServo](FAULT): Elevator uart error - getPosition.serial timeout
2025-03-13T08:02:02.624Z,1741852922.624 [ElevatorServo] Communications Fault, FailCount= 1
2025-03-13T08:02:02.624Z,1741852922.624 [ElevatorServo](ERROR): Communications Fault
2025-03-13T08:02:02.736Z,1741852922.736 [CBIT](ERROR): Communications Fault in component: ElevatorServo
2025-03-13T08:02:02.960Z,1741852922.960 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2025-03-13T08:02:02.961Z,1741852922.961 [ElevatorServo](INFO): Powering down
2025-03-13T08:02:03.237Z,1741852923.237 [ElevatorServo](FAULT): LCB fault:  Hardware Overcurrent Shutdown.
2025-03-13T08:02:03.237Z,1741852923.237 [ElevatorServo] Hardware Fault, FailCount= 1
2025-03-13T08:02:03.237Z,1741852923.237 [ElevatorServo](ERROR): Hardware Fault
2025-03-13T08:02:03.630Z,1741852923.630 [ElevatorServo](DEBUG): Initializing EZServoServo.
2025-03-13T08:02:03.748Z,1741852923.748 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2025-03-13T08:02:03.968Z,1741852923.968 [CBIT](INFO): Clearing failed state for component ElevatorServo
2025-03-13T08:02:03.968Z,1741852923.968 [ElevatorServo] No Fault, FailCount= 1
2025-03-13T08:03:13.499Z,1741852993.499 [BPC1](ERROR): BPC1B: No match for serial number 1717 in BPC1B's battery stick inventory (sticks 32-62 in onboard configuration file).
2025-03-13T08:07:55.841Z,1741853275.841 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size.
2025-03-13T08:27:02.657Z,1741854422.657 [BPC1](INFO): Calculating totals. Valid battery stick count: 50. Valid reserve battery stick count: 5.
2025-03-13T08:27:02.666Z,1741854422.666 [BPC1](FAULT): Failed to receive data from 5 sticks prior to timeout. Will not retry this scan cycle. Missing stick IDs are: 17, 19, 21, 22, 24.
2025-03-13T08:29:13.837Z,1741854553.837 [CTD_Seabird](ERROR): Failed to parse device response: 495167,3.72162,2913.62
2025-03-13T08:31:17.356Z,1741854677.356 [Waterlinked](ERROR): only read 0 of 1 data item for BIT error. Device response::TS,24052714213569, 0.0, +0.0,   0.0,14  0.00
2025-03-13T08:33:19.060Z,1741854799.060 [Waterlinked](ERROR): only read 0 of 1 data item for altitude. Device response::BD     +0.00,       +0.00,   0.00,  0.00
2025-03-13T08:40:46.982Z,1741855246.982 [sci2_noyo_optim:SurfaceComms] Running Loop=1
2025-03-13T08:40:46.983Z,1741855246.983 [sci2_noyo_optim:SurfaceComms](DEBUG): Aggregate::initialize sci2_noyo_optim:SurfaceComms
2025-03-13T08:40:46.988Z,1741855246.988 [sci2_noyo_optim:SurfaceComms:A] Running Loop=1
2025-03-13T08:40:46.989Z,1741855246.989 [sci2_noyo_optim:SurfaceComms:A] Stopped
2025-03-13T08:40:46.989Z,1741855246.989 [sci2_noyo_optim:SurfaceComms:B] Running Loop=1
2025-03-13T08:40:46.990Z,1741855246.990 [sci2_noyo_optim:SurfaceComms:B](DEBUG): Aggregate::initialize sci2_noyo_optim:SurfaceComms:B
2025-03-13T08:40:47.438Z,1741855247.438 [sci2_noyo_optim:Lap:Dive] Stopped
2025-03-13T08:40:47.438Z,1741855247.438 [sci2_noyo_optim:Lap:Dive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Lap:Dive
2025-03-13T08:40:47.438Z,1741855247.438 [sci2_noyo_optim:Lap:Dive:A] Stopped
2025-03-13T08:40:47.439Z,1741855247.439 [sci2_noyo_optim:Lap:Dive:A](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Lap:Dive:A
2025-03-13T08:40:47.457Z,1741855247.457 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow] Stopped
2025-03-13T08:40:47.458Z,1741855247.458 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepthSlow
2025-03-13T08:40:47.458Z,1741855247.458 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:A.SetSpeed] Stopped
2025-03-13T08:40:47.458Z,1741855247.458 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:A.SetSpeed](DEBUG): Uninitialize.
2025-03-13T08:40:47.458Z,1741855247.458 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:B] Stopped
2025-03-13T08:40:47.459Z,1741855247.459 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:C.Buoyancy] Stopped
2025-03-13T08:40:47.459Z,1741855247.459 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-03-13T08:40:47.459Z,1741855247.459 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:D.Pitch] Stopped
2025-03-13T08:40:47.475Z,1741855247.475 [sci2_noyo_optim:NeedComms] Running Loop=1
2025-03-13T08:40:47.475Z,1741855247.475 [sci2_noyo_optim:NeedComms](DEBUG): Aggregate::initialize sci2_noyo_optim:NeedComms
2025-03-13T08:40:47.475Z,1741855247.475 [sci2_noyo_optim:NeedComms:B.GoToSurface] Running Loop=1
2025-03-13T08:40:47.476Z,1741855247.476 [sci2_noyo_optim:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-03-13T08:40:47.476Z,1741855247.476 [sci2_noyo_optim:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-03-13T08:40:47.476Z,1741855247.476 [sci2_noyo_optim:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-03-13T08:40:47.477Z,1741855247.477 [sci2_noyo_optim:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-03-13T08:40:47.477Z,1741855247.477 [sci2_noyo_optim:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-03-13T08:40:47.477Z,1741855247.477 [sci2_noyo_optim:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-03-13T08:40:47.478Z,1741855247.478 [sci2_noyo_optim:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-03-13T08:40:47.478Z,1741855247.478 [sci2_noyo_optim:NeedComms:A] Running Loop=1
2025-03-13T08:40:47.480Z,1741855247.480 [sci2_noyo_optim:NeedComms:A](INFO): last time_fix was:  1741849845.000000 second since 1970/01/01T00:00:00Z 
2025-03-13T08:40:47.480Z,1741855247.480 [sci2_noyo_optim:NeedComms:A] Stopped
2025-03-13T08:41:05.763Z,1741855265.763 [sci2_noyo_optim:DiveCmd:MaintainDepth] Running Loop=1
2025-03-13T08:41:05.764Z,1741855265.764 [sci2_noyo_optim:DiveCmd:MaintainDepth](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepth
2025-03-13T08:41:05.764Z,1741855265.764 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive] Running Loop=1
2025-03-13T08:41:05.764Z,1741855265.764 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive
2025-03-13T08:41:05.764Z,1741855265.764 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive] Running Loop=1
2025-03-13T08:41:05.765Z,1741855265.765 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive
2025-03-13T08:41:05.765Z,1741855265.765 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass] Running Loop=1
2025-03-13T08:41:05.765Z,1741855265.765 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass](DEBUG): Initialize.
2025-03-13T08:41:05.765Z,1741855265.765 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed] Running Loop=1
2025-03-13T08:41:05.766Z,1741855265.766 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed](DEBUG): Initialize.
2025-03-13T08:41:05.766Z,1741855265.766 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:B.Pitch] Running Loop=1
2025-03-13T08:41:05.766Z,1741855265.766 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:B.Pitch](DEBUG): Initialize.
2025-03-13T08:44:12.272Z,1741855452.272 [sci2_noyo_optim:NeedComms:C] Running Loop=1
2025-03-13T08:44:12.632Z,1741855452.632 [Waterlinked](INFO): Powering down
2025-03-13T08:44:12.870Z,1741855452.870 [Radio_Surface](INFO): Powering up
2025-03-13T08:44:18.752Z,1741855458.752 [DataOverHttps](INFO): Radio surface powered ON.
2025-03-13T08:44:48.872Z,1741855488.872 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T08:45:24.012Z,1741855524.012 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T08:45:59.152Z,1741855559.152 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T08:46:34.312Z,1741855594.312 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T08:46:42.898Z,1741855602.898 [NAL9602](INFO): SBD MO Status=2, MOMSN=18543, MT Status=2, MTMSN=0
2025-03-13T08:46:42.899Z,1741855602.899 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-03-13T08:47:09.452Z,1741855629.452 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T08:47:44.466Z,1741855664.466 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.005002
2025-03-13T08:48:31.729Z,1741855711.729 [CTD_Seabird](ERROR): Failed to parse device response: -0.03,11.4409,3.784.97
2025-03-13T08:49:16.550Z,1741855756.550 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2025-03-13T08:49:26.273Z,1741855766.273 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,084925.00,A,3647.83784,N,12153.84141,W,1.555,0.00,130325,,,A*76
2025-03-13T08:49:26.276Z,1741855766.276 [NAL9602](INFO): GPS fix at 20250313T084925: (36.797297, -121.897357)
2025-03-13T08:49:26.292Z,1741855766.292 [UniversalFixResidualReporter](INFO): Fix residual: 55.5 %DT, over the last 2607.8 m. Residual distance 1447.5 m at bearing -142.7 degrees. Fix at (36.7973, -121.8974) with 134.6 m made good.
2025-03-13T08:49:26.299Z,1741855766.299 [sci2_noyo_optim:NeedComms:C] Stopped
2025-03-13T08:49:26.300Z,1741855766.300 [sci2_noyo_optim:NeedComms:D] Running Loop=1
2025-03-13T08:49:33.555Z,1741855773.555 [DataOverHttps](INFO): Sending 93 bytes from file Logs/20250311T232940/Courier0257.lzma
2025-03-13T08:49:34.558Z,1741855774.558 [DataOverHttps](INFO): Moved sent file to Logs/20250311T232940/Courier0257.lzma.bak
2025-03-13T08:49:34.558Z,1741855774.558 [DataOverHttps](INFO): SBD MOMSN=24221960
2025-03-13T08:49:55.386Z,1741855795.386 [DataOverHttps](INFO): Sending 933 bytes from file Logs/20250311T232940/Express0258.lzma
2025-03-13T08:49:56.386Z,1741855796.386 [DataOverHttps](INFO): Moved sent file to Logs/20250311T232940/Express0258.lzma.bak
2025-03-13T08:49:56.386Z,1741855796.386 [DataOverHttps](INFO): SBD MOMSN=24221963
2025-03-13T08:49:57.863Z,1741855797.863 [sci2_noyo_optim:NeedComms:D] Stopped
2025-03-13T08:49:57.863Z,1741855797.863 [sci2_noyo_optim:NeedComms:E] Running Loop=1
2025-03-13T08:49:59.871Z,1741855799.871 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,084959.00,A,3647.83721,N,12153.84071,W,1.186,0.00,130325,,,A*7A
2025-03-13T08:49:59.873Z,1741855799.873 [NAL9602](INFO): GPS fix at 20250313T084959: (36.797287, -121.897345)
2025-03-13T08:49:59.927Z,1741855799.927 [sci2_noyo_optim:NeedComms:E] Stopped
2025-03-13T08:49:59.929Z,1741855799.929 [sci2_noyo_optim:NeedComms](INFO): Completed sci2_noyo_optim:NeedComms
2025-03-13T08:49:59.929Z,1741855799.929 [sci2_noyo_optim:NeedComms] Stopped
2025-03-13T08:49:59.929Z,1741855799.929 [sci2_noyo_optim:NeedComms](DEBUG): Aggregate::uninitialize sci2_noyo_optim:NeedComms
2025-03-13T08:49:59.929Z,1741855799.929 [sci2_noyo_optim:NeedComms:B.GoToSurface] Stopped
2025-03-13T08:49:59.929Z,1741855799.929 [sci2_noyo_optim:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-03-13T08:50:00.327Z,1741855800.327 [sci2_noyo_optim:SurfaceComms:B](INFO): Completed sci2_noyo_optim:SurfaceComms:B
2025-03-13T08:50:00.327Z,1741855800.327 [sci2_noyo_optim:SurfaceComms:B] Stopped
2025-03-13T08:50:00.327Z,1741855800.327 [sci2_noyo_optim:SurfaceComms:B](DEBUG): Aggregate::uninitialize sci2_noyo_optim:SurfaceComms:B
2025-03-13T08:50:00.327Z,1741855800.327 [sci2_noyo_optim:SurfaceComms:C] Running Loop=1
2025-03-13T08:50:00.704Z,1741855800.704 [sci2_noyo_optim:SurfaceComms:C] Stopped
2025-03-13T08:50:00.704Z,1741855800.704 [sci2_noyo_optim:SurfaceComms](INFO): Completed sci2_noyo_optim:SurfaceComms
2025-03-13T08:50:00.704Z,1741855800.704 [sci2_noyo_optim:SurfaceComms] Stopped
2025-03-13T08:50:00.704Z,1741855800.704 [sci2_noyo_optim:SurfaceComms](DEBUG): Aggregate::uninitialize sci2_noyo_optim:SurfaceComms
2025-03-13T08:50:01.254Z,1741855801.254 [sci2_noyo_optim:Lap:Dive] Running Loop=1
2025-03-13T08:50:01.254Z,1741855801.254 [sci2_noyo_optim:Lap:Dive](DEBUG): Aggregate::initialize sci2_noyo_optim:Lap:Dive
2025-03-13T08:50:01.254Z,1741855801.254 [sci2_noyo_optim:Lap:Dive:A] Running Loop=1
2025-03-13T08:50:01.254Z,1741855801.254 [sci2_noyo_optim:Lap:Dive:A](DEBUG): Aggregate::initialize sci2_noyo_optim:Lap:Dive:A
2025-03-13T08:50:01.260Z,1741855801.260 [sci2_noyo_optim:DiveCmd:InitialDive] Running Loop=1
2025-03-13T08:50:01.260Z,1741855801.260 [sci2_noyo_optim:DiveCmd:InitialDive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:InitialDive
2025-03-13T08:50:01.260Z,1741855801.260 [sci2_noyo_optim:DiveCmd:InitialDive:dive] Running Loop=1
2025-03-13T08:50:01.260Z,1741855801.260 [sci2_noyo_optim:DiveCmd:InitialDive:dive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:InitialDive:dive
2025-03-13T08:50:01.260Z,1741855801.260 [sci2_noyo_optim:DiveCmd:InitialDive:dive:A] Running Loop=1
2025-03-13T08:50:01.260Z,1741855801.260 [sci2_noyo_optim:DiveCmd:InitialDive:dive:B] Running Loop=1
2025-03-13T08:50:01.261Z,1741855801.261 [sci2_noyo_optim:DiveCmd:InitialDive:dive:C.Mass] Running Loop=1
2025-03-13T08:50:01.261Z,1741855801.261 [sci2_noyo_optim:DiveCmd:InitialDive:dive:C.Mass](DEBUG): Initialize.
2025-03-13T08:50:01.261Z,1741855801.261 [sci2_noyo_optim:DiveCmd:InitialDive:dive:D] Running Loop=1
2025-03-13T08:50:01.261Z,1741855801.261 [sci2_noyo_optim:DiveCmd:InitialDive:dive:D](INFO): Waiting for  1.000000 min while pumping down to neutral.
2025-03-13T08:50:01.261Z,1741855801.261 [sci2_noyo_optim:DiveCmd:InitialDive:dive:D] Stopped
2025-03-13T08:50:01.262Z,1741855801.262 [sci2_noyo_optim:DiveCmd:InitialDive:dive:E.Wait] Running Loop=1
2025-03-13T08:50:01.262Z,1741855801.262 [sci2_noyo_optim:DiveCmd:InitialDive:dive:E.Wait](DEBUG): Initialize Wait Component.
2025-03-13T08:50:32.693Z,1741855832.693 [NAL9602](INFO): Not Powering down - fast GPS
2025-03-13T08:51:01.792Z,1741855861.792 [sci2_noyo_optim:DiveCmd:InitialDive:dive:E.Wait](INFO): Done Waiting.
2025-03-13T08:51:01.792Z,1741855861.792 [sci2_noyo_optim:DiveCmd:InitialDive:dive:E.Wait] Stopped
2025-03-13T08:51:01.792Z,1741855861.792 [sci2_noyo_optim:DiveCmd:InitialDive:dive:E.Wait](DEBUG): Uninitialize Wait Component.
2025-03-13T08:51:01.792Z,1741855861.792 [sci2_noyo_optim:DiveCmd:InitialDive:dive:F] Running Loop=1
2025-03-13T08:51:02.202Z,1741855862.202 [sci2_noyo_optim:DiveCmd:InitialDive:dive:F](INFO): Moving to  10.000000 m 
2025-03-13T08:51:02.202Z,1741855862.202 [sci2_noyo_optim:DiveCmd:InitialDive:dive:F] Stopped
2025-03-13T08:51:02.202Z,1741855862.202 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth] Running Loop=1
2025-03-13T08:51:02.202Z,1741855862.202 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth
2025-03-13T08:51:02.202Z,1741855862.202 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:A.SetSpeed] Running Loop=1
2025-03-13T08:51:02.202Z,1741855862.202 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:A.SetSpeed](DEBUG): Initialize.
2025-03-13T08:51:02.203Z,1741855862.203 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:B.Pitch] Running Loop=1
2025-03-13T08:51:02.203Z,1741855862.203 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:B.Pitch](DEBUG): Initialize.
2025-03-13T08:51:03.012Z,1741855863.012 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T08:51:06.024Z,1741855866.024 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.239647
2025-03-13T08:51:38.156Z,1741855898.156 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T08:51:58.896Z,1741855918.896 [Radio_Surface](INFO): Powering down
2025-03-13T08:52:13.316Z,1741855933.316 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T08:52:14.320Z,1741855934.320 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-03-13T08:54:02.413Z,1741856042.413 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:B.Pitch] Stopped
2025-03-13T08:54:02.415Z,1741856042.415 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth](INFO): Completed sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth
2025-03-13T08:54:02.415Z,1741856042.415 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth] Stopped
2025-03-13T08:54:02.420Z,1741856042.420 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth
2025-03-13T08:54:02.420Z,1741856042.420 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:A.SetSpeed] Stopped
2025-03-13T08:54:02.420Z,1741856042.420 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:A.SetSpeed](DEBUG): Uninitialize.
2025-03-13T08:54:02.421Z,1741856042.421 [sci2_noyo_optim:DiveCmd:InitialDive:dive:H] Running Loop=1
2025-03-13T08:54:02.760Z,1741856042.760 [sci2_noyo_optim:DiveCmd:InitialDive:dive:H] Stopped
2025-03-13T08:54:02.761Z,1741856042.761 [sci2_noyo_optim:DiveCmd:InitialDive:dive](INFO): Completed sci2_noyo_optim:DiveCmd:InitialDive:dive
2025-03-13T08:54:02.761Z,1741856042.761 [sci2_noyo_optim:DiveCmd:InitialDive:dive] Stopped
2025-03-13T08:54:02.761Z,1741856042.761 [sci2_noyo_optim:DiveCmd:InitialDive:dive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:InitialDive:dive
2025-03-13T08:54:02.761Z,1741856042.761 [sci2_noyo_optim:DiveCmd:InitialDive:dive:A] Stopped
2025-03-13T08:54:02.761Z,1741856042.761 [sci2_noyo_optim:DiveCmd:InitialDive:dive:B] Stopped
2025-03-13T08:54:02.761Z,1741856042.761 [sci2_noyo_optim:DiveCmd:InitialDive:dive:C.Mass] Stopped
2025-03-13T08:54:02.761Z,1741856042.761 [sci2_noyo_optim:DiveCmd:InitialDive:dive:C.Mass](DEBUG): Uninitialize.
2025-03-13T08:54:02.761Z,1741856042.761 [sci2_noyo_optim:DiveCmd:InitialDive](INFO): Completed sci2_noyo_optim:DiveCmd:InitialDive
2025-03-13T08:54:03.133Z,1741856043.133 [sci2_noyo_optim:DiveCmd:SettleAtDepth] Running Loop=1
2025-03-13T08:54:03.133Z,1741856043.133 [sci2_noyo_optim:DiveCmd:SettleAtDepth](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:SettleAtDepth
2025-03-13T08:54:03.133Z,1741856043.133 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive] Running Loop=1
2025-03-13T08:54:03.134Z,1741856043.134 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:SettleAtDepth:dive
2025-03-13T08:54:03.134Z,1741856043.134 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:B.Pitch] Running Loop=1
2025-03-13T08:54:03.134Z,1741856043.134 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:B.Pitch](DEBUG): Initialize.
2025-03-13T08:54:03.134Z,1741856043.134 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:A] Running Loop=1
2025-03-13T08:54:03.136Z,1741856043.136 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:A](INFO): Reached  10.043290 m , settling for  3.000000 min 
2025-03-13T08:54:03.136Z,1741856043.136 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:A] Stopped
2025-03-13T08:54:03.136Z,1741856043.136 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:C.Wait] Running Loop=1
2025-03-13T08:54:03.136Z,1741856043.136 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:C.Wait](DEBUG): Initialize Wait Component.
2025-03-13T08:56:49.793Z,1741856209.793 [CTD_Seabird](ERROR): Failed to parse device response: 20.81,11.4945,3
2025-03-13T08:57:03.680Z,1741856223.680 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:C.Wait](INFO): Done Waiting.
2025-03-13T08:57:03.680Z,1741856223.680 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:C.Wait] Stopped
2025-03-13T08:57:03.680Z,1741856223.680 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:C.Wait](DEBUG): Uninitialize Wait Component.
2025-03-13T08:57:03.680Z,1741856223.680 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:D] Running Loop=1
2025-03-13T08:57:04.060Z,1741856224.060 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:D] Stopped
2025-03-13T08:57:04.060Z,1741856224.060 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive](INFO): Completed sci2_noyo_optim:DiveCmd:SettleAtDepth:dive
2025-03-13T08:57:04.060Z,1741856224.060 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive] Stopped
2025-03-13T08:57:04.060Z,1741856224.060 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:SettleAtDepth:dive
2025-03-13T08:57:04.060Z,1741856224.060 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:B.Pitch] Stopped
2025-03-13T08:57:04.061Z,1741856224.061 [sci2_noyo_optim:DiveCmd:SettleAtDepth](INFO): Completed sci2_noyo_optim:DiveCmd:SettleAtDepth
2025-03-13T08:59:35.792Z,1741856375.792 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow] Running Loop=1
2025-03-13T08:59:35.793Z,1741856375.793 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepthSlow
2025-03-13T08:59:35.793Z,1741856375.793 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:A.SetSpeed] Running Loop=1
2025-03-13T08:59:35.794Z,1741856375.794 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:A.SetSpeed](DEBUG): Initialize.
2025-03-13T08:59:35.794Z,1741856375.794 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:B] Running Loop=1
2025-03-13T08:59:35.795Z,1741856375.795 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:C.Buoyancy] Running Loop=1
2025-03-13T08:59:35.799Z,1741856375.799 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:C.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-03-13T08:59:35.800Z,1741856375.800 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:D.Pitch] Running Loop=1
2025-03-13T08:59:35.800Z,1741856375.800 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:D.Pitch](DEBUG): Initialize.
2025-03-13T08:59:35.810Z,1741856375.810 [sci2_noyo_optim:DiveCmd:MaintainDepth] Stopped
2025-03-13T08:59:35.815Z,1741856375.815 [sci2_noyo_optim:DiveCmd:MaintainDepth](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepth
2025-03-13T08:59:35.815Z,1741856375.815 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive] Stopped
2025-03-13T08:59:35.816Z,1741856375.816 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive
2025-03-13T08:59:35.816Z,1741856375.816 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive] Stopped
2025-03-13T08:59:35.817Z,1741856375.817 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive
2025-03-13T08:59:35.817Z,1741856375.817 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass] Stopped
2025-03-13T08:59:35.818Z,1741856375.818 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass](DEBUG): Uninitialize.
2025-03-13T08:59:35.818Z,1741856375.818 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed] Stopped
2025-03-13T08:59:35.818Z,1741856375.818 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed](DEBUG): Uninitialize.
2025-03-13T08:59:35.819Z,1741856375.819 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:B.Pitch] Stopped
2025-03-13T09:05:12.572Z,1741856712.572 [Waterlinked](ERROR): only read 0 of 1 data item for altitude. Device response::BD,       +0.00,       +0.00,       +0.0
2025-03-13T09:08:04.692Z,1741856884.692 [BPC1](INFO): Calculating totals. Valid battery stick count: 50. Valid reserve battery stick count: 5.
2025-03-13T09:08:04.695Z,1741856884.695 [BPC1](FAULT): Failed to receive data from 4 sticks prior to timeout. Will not retry this scan cycle. Missing stick IDs are: 17, 21, 22, 24.
2025-03-13T09:08:21.011Z,1741856901.011 [Waterlinked](ERROR): only read 0 of 1 data item for BIT error. Device response::TS,240527131919 +0.0,   0.0,1475.0,  0
2025-03-13T09:10:31.164Z,1741857031.164 [CTD_Seabird](ERROR): Failed to parse device response: .04
2025-03-13T09:12:50.938Z,1741857170.938 [Waterlinked](ERROR): only read 0 of 1 data item for BIT error. Device response::TS,24052713234922, 0.0, +0.,  0.00
2025-03-13T09:15:16.367Z,1741857316.367 [Waterlinked](ERROR): only read 0 of 1 data item for BIT error. Device response::TS,2.0, +0.0,   0.0,1475.0,  0
2025-03-13T09:15:26.455Z,1741857326.455 [CTD_Seabird](ERROR): Failed to parse device response: 49.55,10.462847
2025-03-13T09:17:08.797Z,1741857428.797 [Waterlinked](ERROR): only read 0 of 1 data item for BIT error. Device response::TS,24052713280695,.0,   0.0,1475.0,  0
2025-03-13T09:21:26.948Z,1741857686.948 [CTD_Seabird](ERROR): Failed to parse device response: 45,2837.80
2025-03-13T09:30:55.895Z,1741858255.895 [BackseatComponent](FAULT): Failed to receive device response within the specified timeout.
2025-03-13T09:30:55.895Z,1741858255.895 [BackseatComponent] Communications Fault, FailCount= 1
2025-03-13T09:30:55.895Z,1741858255.895 [BackseatComponent](ERROR): Communications Fault
2025-03-13T09:30:55.896Z,1741858255.896 [Power24vConverter] Hardware Fault, FailCount= 1
2025-03-13T09:30:55.896Z,1741858255.896 [Power24vConverter](ERROR): Hardware Fault
2025-03-13T09:30:56.304Z,1741858256.304 [BackseatComponent](INFO): Sent LCM shutdown request.
2025-03-13T09:30:56.304Z,1741858256.304 [BackseatComponent](INFO): Shutdown requested. Waiting (18.00 sec to power down.).
2025-03-13T09:30:56.309Z,1741858256.309 [CBIT](ERROR): Communications Fault in component: BackseatComponent
2025-03-13T09:30:56.309Z,1741858256.309 [CBIT](ERROR): Hardware Fault in component: Power24vConverter
2025-03-13T09:30:56.354Z,1741858256.354 [Power24vConverter](INFO): Powering down.
2025-03-13T09:30:57.204Z,1741858257.204 [Power24vConverter](INFO): Powering up.
2025-03-13T09:30:57.642Z,1741858257.642 [CBIT](INFO): Clearing failed state for component Power24vConverter
2025-03-13T09:30:57.642Z,1741858257.642 [Power24vConverter] No Fault, FailCount= 1
2025-03-13T09:31:02.305Z,1741858262.305 [DAT](FAULT): LCB fault:  Current Limiter Activated.
2025-03-13T09:31:02.305Z,1741858262.305 [DAT] Hardware Fault, FailCount= 1
2025-03-13T09:31:02.305Z,1741858262.305 [DAT](ERROR): Hardware Fault
2025-03-13T09:31:02.305Z,1741858262.305 [DAT](INFO): Powering down
2025-03-13T09:31:02.327Z,1741858262.327 [CBIT](ERROR): Hardware Fault in component: DAT
2025-03-13T09:31:02.780Z,1741858262.780 [DAT](INFO): Powering down
2025-03-13T09:31:03.184Z,1741858263.184 [DAT](FAULT): LCB fault:  Current Limiter Activated.
2025-03-13T09:31:03.227Z,1741858263.227 [PowerOnly](FAULT): loadControlLCB fault:  Current Limiter Activated.
2025-03-13T09:31:03.228Z,1741858263.228 [PowerOnly] Hardware Fault, FailCount= 1
2025-03-13T09:31:03.228Z,1741858263.228 [PowerOnly](ERROR): Hardware Fault
2025-03-13T09:31:03.415Z,1741858263.415 [CBIT](ERROR): Hardware Fault in component: PowerOnly
2025-03-13T09:31:03.553Z,1741858263.553 [PowerOnly](INFO): Powering down loadControl
2025-03-13T09:31:03.851Z,1741858263.851 [CBIT](INFO): Clearing failed state for component DAT
2025-03-13T09:31:03.851Z,1741858263.851 [DAT] No Fault, FailCount= 1
2025-03-13T09:31:03.949Z,1741858263.949 [PowerOnly](FAULT): loadControl LCB fault:  Current Limiter Activated.
2025-03-13T09:31:04.356Z,1741858264.356 [PowerOnly](INFO): Powering down loadControl
2025-03-13T09:31:04.776Z,1741858264.776 [PowerOnly](FAULT): loadControl LCB fault:  Current Limiter Activated.
2025-03-13T09:31:05.216Z,1741858265.216 [PowerOnly](INFO): Powering down loadControl
2025-03-13T09:31:06.007Z,1741858266.007 [DAT](INFO): Powering up
2025-03-13T09:31:06.008Z,1741858266.008 [DAT](DEBUG): Initializing DAT.
2025-03-13T09:31:06.134Z,1741858266.134 [PowerOnly](INFO): Powering up loadControl
2025-03-13T09:31:06.366Z,1741858266.366 [CBIT](INFO): Clearing failed state for component PowerOnly
2025-03-13T09:31:06.366Z,1741858266.366 [PowerOnly] No Fault, FailCount= 1
2025-03-13T09:31:14.496Z,1741858274.496 [BackseatComponent](INFO): Powering down and starting shutdown timer (18.00 sec).
2025-03-13T09:31:14.496Z,1741858274.496 [BackseatComponent](INFO): Unsubscribing from LCM channels.
2025-03-13T09:31:14.497Z,1741858274.497 [LcmUniversalReporter](INFO): Deactivating messaging.
2025-03-13T09:31:18.362Z,1741858278.362 [DAT](INFO): DAT read: 

2025-03-13T09:31:18.364Z,1741858278.364 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series

2025-03-13T09:31:20.124Z,1741858280.124 [DAT](INFO): DAT read: MF Frequency Band

2025-03-13T09:31:20.125Z,1741858280.125 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.15.0

2025-03-13T09:31:20.126Z,1741858280.126 [DAT](INFO): DAT read: Mar 13 2025 09:31:14 

2025-03-13T09:31:21.135Z,1741858281.135 [DAT](INFO): DAT read: Features enabled [Bearing]

2025-03-13T09:31:21.138Z,1741858281.138 [DAT](INFO): DAT read: CONNECT 00800 bits/sec 1 of 4, Rate 1/2 CC 12.50ms MGP

2025-03-13T09:31:21.138Z,1741858281.138 [DAT](INFO): commRate: 800
2025-03-13T09:31:23.199Z,1741858283.199 [DAT](INFO): entering command mode
2025-03-13T09:31:23.400Z,1741858283.400 [DAT](INFO): DAT read: 

2025-03-13T09:31:23.400Z,1741858283.400 [DAT](INFO): DAT read: user:1>

2025-03-13T09:31:23.401Z,1741858283.401 [DAT](INFO): setting verbose to 3
2025-03-13T09:31:23.654Z,1741858283.654 [DAT](INFO): DAT read: user:1>

2025-03-13T09:31:23.656Z,1741858283.656 [DAT](INFO): DAT read: Verbose         | 3           

2025-03-13T09:31:23.657Z,1741858283.657 [DAT](INFO): set verbose to 3
2025-03-13T09:31:23.658Z,1741858283.658 [DAT](INFO): setting DatVerbose to 27440
2025-03-13T09:31:23.905Z,1741858283.905 [DAT](INFO): DAT read: user:2>

2025-03-13T09:31:23.908Z,1741858283.908 [DAT](INFO): DAT read: DatVerbose      | 27440       

2025-03-13T09:31:23.908Z,1741858283.908 [DAT](INFO): set DatVerbose to 27440
2025-03-13T09:31:23.909Z,1741858283.909 [DAT](INFO): setting transmit power to 8
2025-03-13T09:31:24.156Z,1741858284.156 [DAT](INFO): DAT read: user:3>

2025-03-13T09:31:24.157Z,1741858284.157 [DAT](INFO): DAT read: TxPower         | 8 (Max)     

2025-03-13T09:31:24.157Z,1741858284.157 [DAT](INFO): set transmit power to 8
2025-03-13T09:31:24.158Z,1741858284.158 [DAT](INFO): setting local address to 9
2025-03-13T09:31:24.409Z,1741858284.409 [DAT](INFO): DAT read: user:4>

2025-03-13T09:31:24.412Z,1741858284.412 [DAT](INFO): DAT read: LocalAddr       | 9           

2025-03-13T09:31:24.412Z,1741858284.412 [DAT](INFO): set local address to 9
2025-03-13T09:31:24.415Z,1741858284.415 [DAT](INFO): Setting time to: 9:31:24 And date to:3/13/2025
2025-03-13T09:31:24.661Z,1741858284.661 [DAT](INFO): DAT read: user:5>

2025-03-13T09:31:24.664Z,1741858284.664 [DAT](INFO): DAT read: Thu Mar 13, 2025  09:31:24  

2025-03-13T09:31:24.664Z,1741858284.664 [DAT](INFO): Local DAT time set to Thu Mar 13, 2025  09:31:24  

2025-03-13T09:31:33.086Z,1741858293.086 [BackseatComponent](INFO): Powering up
2025-03-13T09:31:33.088Z,1741858293.088 [BackseatComponent](INFO): Subscribing to LCM channels.
2025-03-13T09:31:33.123Z,1741858293.123 [CBIT](INFO): Clearing failed state for component BackseatComponent
2025-03-13T09:31:33.123Z,1741858293.123 [BackseatComponent] No Fault, FailCount= 1
2025-03-13T09:36:51.483Z,1741858611.483 [BackseatComponent](FAULT): Failed to receive device response within the specified timeout.
2025-03-13T09:36:51.484Z,1741858611.484 [BackseatComponent] Communications Fault, FailCount= 2
2025-03-13T09:36:51.484Z,1741858611.484 [BackseatComponent](ERROR): Communications Fault
2025-03-13T09:36:51.484Z,1741858611.484 [Power24vConverter] Hardware Fault, FailCount= 1
2025-03-13T09:36:51.484Z,1741858611.484 [Power24vConverter](ERROR): Hardware Fault
2025-03-13T09:36:51.570Z,1741858611.570 [Power24vConverter](INFO): Powering down.
2025-03-13T09:36:51.887Z,1741858611.887 [CBIT](ERROR): Communications Fault in component: BackseatComponent
2025-03-13T09:36:51.889Z,1741858611.889 [BackseatComponent](INFO): Sent LCM shutdown request.
2025-03-13T09:36:51.889Z,1741858611.889 [BackseatComponent](INFO): Shutdown requested. Waiting (18.00 sec to power down.).
2025-03-13T09:36:51.889Z,1741858611.889 [CBIT](ERROR): Hardware Fault in component: Power24vConverter
2025-03-13T09:36:52.374Z,1741858612.374 [Power24vConverter](INFO): Powering up.
2025-03-13T09:36:52.700Z,1741858612.700 [CBIT](INFO): Clearing failed state for component Power24vConverter
2025-03-13T09:36:52.700Z,1741858612.700 [Power24vConverter] No Fault, FailCount= 1
2025-03-13T09:37:00.326Z,1741858620.326 [DAT](INFO): DAT read: user:6>

2025-03-13T09:37:00.328Z,1741858620.328 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series

2025-03-13T09:37:02.091Z,1741858622.091 [DAT](INFO): DAT read: MF Frequency Band

2025-03-13T09:37:02.093Z,1741858622.093 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.15.0

2025-03-13T09:37:02.095Z,1741858622.095 [DAT](INFO): DAT read: Mar 13 2025 09:36:56 

2025-03-13T09:37:03.105Z,1741858623.105 [DAT](INFO): DAT read: Features enabled [Bearing]

2025-03-13T09:37:03.353Z,1741858623.353 [DAT](INFO): DAT read: CONNECT 00800 bits/sec 1 of 4, Rate 1/2 CC 12.50ms MGP

2025-03-13T09:37:03.353Z,1741858623.353 [DAT](INFO): commRate: 800
2025-03-13T09:37:10.073Z,1741858630.073 [BackseatComponent](INFO): Powering down and starting shutdown timer (18.00 sec).
2025-03-13T09:37:10.074Z,1741858630.074 [BackseatComponent](INFO): Unsubscribing from LCM channels.
2025-03-13T09:37:10.075Z,1741858630.075 [LcmUniversalReporter](INFO): Deactivating messaging.
2025-03-13T09:37:28.672Z,1741858648.672 [BackseatComponent](INFO): Powering up
2025-03-13T09:37:28.673Z,1741858648.673 [BackseatComponent](INFO): Subscribing to LCM channels.
2025-03-13T09:37:28.702Z,1741858648.702 [CBIT](INFO): Clearing failed state for component BackseatComponent
2025-03-13T09:37:28.702Z,1741858648.702 [BackseatComponent] No Fault, FailCount= 2
2025-03-13T09:38:33.978Z,1741858713.978 [Waterlinked](ERROR): only read 0 of 1 data item for BIT error. Device response::TS,24052713493251,.0,   0.0,1475.0,  0
2025-03-13T09:42:47.048Z,1741858967.048 [BackseatComponent](FAULT): Failed to receive device response within the specified timeout.
2025-03-13T09:42:47.048Z,1741858967.048 [BackseatComponent] Communications Fault, FailCount= 3
2025-03-13T09:42:47.048Z,1741858967.048 [BackseatComponent](ERROR): Communications Fault
2025-03-13T09:42:47.048Z,1741858967.048 [Power24vConverter] Hardware Fault, FailCount= 1
2025-03-13T09:42:47.048Z,1741858967.048 [Power24vConverter](ERROR): Hardware Fault
2025-03-13T09:42:47.295Z,1741858967.295 [CBIT](ERROR): Communications Fault in component: BackseatComponent
2025-03-13T09:42:47.295Z,1741858967.295 [CBIT](ERROR): Hardware Fault in component: Power24vConverter
2025-03-13T09:42:47.337Z,1741858967.337 [Power24vConverter](INFO): Powering down.
2025-03-13T09:42:47.453Z,1741858967.453 [BackseatComponent](INFO): Sent LCM shutdown request.
2025-03-13T09:42:47.453Z,1741858967.453 [BackseatComponent](INFO): Shutdown requested. Waiting (18.00 sec to power down.).
2025-03-13T09:42:48.122Z,1741858968.122 [Power24vConverter](INFO): Powering up.
2025-03-13T09:42:48.310Z,1741858968.310 [CBIT](INFO): Clearing failed state for component Power24vConverter
2025-03-13T09:42:48.311Z,1741858968.311 [Power24vConverter] No Fault, FailCount= 1
2025-03-13T09:42:56.160Z,1741858976.160 [DAT](INFO): DAT read: 

2025-03-13T09:42:56.161Z,1741858976.161 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series

2025-03-13T09:42:57.924Z,1741858977.924 [DAT](INFO): DAT read: MF Frequency Band

2025-03-13T09:42:57.925Z,1741858977.925 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.15.0

2025-03-13T09:42:57.926Z,1741858977.926 [DAT](INFO): DAT read: Mar 13 2025 09:42:52 

2025-03-13T09:42:58.932Z,1741858978.932 [DAT](INFO): DAT read: Features enabled [Bearing]

2025-03-13T09:42:58.934Z,1741858978.934 [DAT](INFO): DAT read: CONNECT 00800 bits/sec 1 of 4, Rate 1/2 CC 12.50ms MGP

2025-03-13T09:42:58.934Z,1741858978.934 [DAT](INFO): commRate: 800
2025-03-13T09:43:05.637Z,1741858985.637 [BackseatComponent](INFO): Powering down and starting shutdown timer (18.00 sec).
2025-03-13T09:43:05.641Z,1741858985.641 [BackseatComponent](INFO): Unsubscribing from LCM channels.
2025-03-13T09:43:05.642Z,1741858985.642 [LcmUniversalReporter](INFO): Deactivating messaging.
2025-03-13T09:43:24.236Z,1741859004.236 [BackseatComponent](INFO): Powering up
2025-03-13T09:43:24.237Z,1741859004.237 [BackseatComponent](INFO): Subscribing to LCM channels.
2025-03-13T09:43:24.491Z,1741859004.491 [CBIT](INFO): Clearing failed state for component BackseatComponent
2025-03-13T09:43:24.492Z,1741859004.492 [BackseatComponent] No Fault, FailCount= 3
2025-03-13T09:43:52.501Z,1741859032.501 [Waterlinked](ERROR): only read 0 of 1 data item for BIT error. Device response::TS,24052713545075,.0,   0.0,1475.0,  0
2025-03-13T09:47:38.336Z,1741859258.336 [Waterlinked](ERROR): only read 3 of 5 data items. Device response::BI,    +0,    +0,    +00.00
2025-03-13T09:48:42.647Z,1741859322.647 [BackseatComponent](FAULT): Failed to receive device response within the specified timeout.
2025-03-13T09:48:42.647Z,1741859322.647 [BackseatComponent] Communications Fault, FailCount= 4
2025-03-13T09:48:42.647Z,1741859322.647 [BackseatComponent](ERROR): Communications Fault
2025-03-13T09:48:42.648Z,1741859322.648 [Power24vConverter] Hardware Fault, FailCount= 1
2025-03-13T09:48:42.648Z,1741859322.648 [Power24vConverter](ERROR): Hardware Fault
2025-03-13T09:48:42.709Z,1741859322.709 [Power24vConverter](INFO): Powering down.
2025-03-13T09:48:42.828Z,1741859322.828 [CBIT](ERROR): Communications Fault in component: BackseatComponent
2025-03-13T09:48:42.828Z,1741859322.828 [CBIT](ERROR): Hardware Fault in component: Power24vConverter
2025-03-13T09:48:43.053Z,1741859323.053 [BackseatComponent](INFO): Sent LCM shutdown request.
2025-03-13T09:48:43.053Z,1741859323.053 [BackseatComponent](INFO): Shutdown requested. Waiting (18.00 sec to power down.).
2025-03-13T09:48:43.470Z,1741859323.470 [Power24vConverter](INFO): Powering up.
2025-03-13T09:48:43.614Z,1741859323.614 [CBIT](INFO): Clearing failed state for component Power24vConverter
2025-03-13T09:48:43.614Z,1741859323.614 [Power24vConverter] No Fault, FailCount= 1
2025-03-13T09:48:45.210Z,1741859325.210 [DAT](INFO): DAT read: 

2025-03-13T09:48:45.212Z,1741859325.212 [DAT](INFO): DAT read: >>> Watchdog: 0x0018 [ TXRX PM ]

2025-03-13T09:48:45.213Z,1741859325.213 [DAT](DEBUG): Re-entering command mode due to deviceResponse_: >>> Watchdog: 0x0018 [ TXRX PM ]

2025-03-13T09:48:51.510Z,1741859331.510 [DAT](INFO): DAT read: 

2025-03-13T09:48:51.512Z,1741859331.512 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series

2025-03-13T09:48:53.272Z,1741859333.272 [DAT](INFO): DAT read: MF Frequency Band

2025-03-13T09:48:53.274Z,1741859333.274 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.15.0

2025-03-13T09:48:53.274Z,1741859333.274 [DAT](INFO): DAT read: Mar 13 2025 09:48:47 

2025-03-13T09:48:54.281Z,1741859334.281 [DAT](INFO): DAT read: Features enabled [Bearing]

2025-03-13T09:48:54.283Z,1741859334.283 [DAT](INFO): DAT read: CONNECT 00800 bits/sec 1 of 4, Rate 1/2 CC 12.50ms MGP

2025-03-13T09:48:54.284Z,1741859334.284 [DAT](INFO): commRate: 800
2025-03-13T09:49:01.232Z,1741859341.232 [BackseatComponent](INFO): Powering down and starting shutdown timer (18.00 sec).
2025-03-13T09:49:01.232Z,1741859341.232 [BackseatComponent](INFO): Unsubscribing from LCM channels.
2025-03-13T09:49:01.233Z,1741859341.233 [LcmUniversalReporter](INFO): Deactivating messaging.
2025-03-13T09:49:06.472Z,1741859346.472 [BPC1](INFO): Calculating totals. Valid battery stick count: 51. Valid reserve battery stick count: 5.
2025-03-13T09:49:06.475Z,1741859346.475 [BPC1](FAULT): Failed to receive data from 4 sticks prior to timeout. Will not retry this scan cycle. Missing stick IDs are: 17, 21, 22, 24.
2025-03-13T09:49:19.820Z,1741859359.820 [BackseatComponent](INFO): Powering up
2025-03-13T09:49:19.820Z,1741859359.820 [BackseatComponent](INFO): Subscribing to LCM channels.
2025-03-13T09:49:19.864Z,1741859359.864 [CBIT](INFO): Clearing failed state for component BackseatComponent
2025-03-13T09:49:19.864Z,1741859359.864 [BackseatComponent] No Fault, FailCount= 4
2025-03-13T09:54:38.207Z,1741859678.207 [BackseatComponent](FAULT): Failed to receive device response within the specified timeout.
2025-03-13T09:54:38.207Z,1741859678.207 [BackseatComponent] Communications Fault, FailCount= 5
2025-03-13T09:54:38.207Z,1741859678.207 [BackseatComponent](ERROR): Communications Fault
2025-03-13T09:54:38.208Z,1741859678.208 [Power24vConverter] Hardware Fault, FailCount= 1
2025-03-13T09:54:38.208Z,1741859678.208 [Power24vConverter](ERROR): Hardware Fault
2025-03-13T09:54:38.397Z,1741859678.397 [Power24vConverter](INFO): Powering down.
2025-03-13T09:54:38.479Z,1741859678.479 [CBIT](ERROR): Communications Fault in component: BackseatComponent
2025-03-13T09:54:38.479Z,1741859678.479 [CBIT](CRITICAL): Communications Fault in component: BackseatComponent
2025-03-13T09:54:38.480Z,1741859678.480 [CBIT](ERROR): Hardware Fault in component: Power24vConverter
2025-03-13T09:54:38.613Z,1741859678.613 [BackseatComponent](INFO): Sent LCM shutdown request.
2025-03-13T09:54:38.613Z,1741859678.613 [BackseatComponent](INFO): Shutdown requested. Waiting (18.00 sec to power down.).
2025-03-13T09:54:38.897Z,1741859678.897 [CBIT](INFO): Critical error at 20250313T095438
2025-03-13T09:54:38.897Z,1741859678.897 [Supervisor](INFO): Stop Mission called by CBIT::checkCriticals
2025-03-13T09:54:39.244Z,1741859679.244 [Power24vConverter](INFO): Powering up.
2025-03-13T09:54:39.405Z,1741859679.405 [MissionManager](INFO): MissionManager is completed.
2025-03-13T09:54:39.406Z,1741859679.406 [MissionManager](INFO): Uninitializing Mission sci2_noyo_optim
2025-03-13T09:54:39.406Z,1741859679.406 [sci2_noyo_optim] Stopped
2025-03-13T09:54:39.406Z,1741859679.406 [sci2_noyo_optim](DEBUG): Aggregate::uninitialize sci2_noyo_optim
2025-03-13T09:54:39.406Z,1741859679.406 [sci2_noyo_optim:Science] Stopped
2025-03-13T09:54:39.406Z,1741859679.406 [sci2_noyo_optim:Science](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science
2025-03-13T09:54:39.407Z,1741859679.407 [sci2_noyo_optim:Science:B] Stopped
2025-03-13T09:54:39.411Z,1741859679.411 [sci2_noyo_optim:Science:C] Stopped
2025-03-13T09:54:39.412Z,1741859679.412 [sci2_noyo_optim:Science:E] Stopped
2025-03-13T09:54:39.412Z,1741859679.412 [sci2_noyo_optim:Science:OceanCurrent] Stopped
2025-03-13T09:54:39.412Z,1741859679.412 [sci2_noyo_optim:Science:OceanCurrent](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:OceanCurrent
2025-03-13T09:54:39.412Z,1741859679.412 [sci2_noyo_optim:Science:OceanCurrent:A.] Stopped
2025-03-13T09:54:39.412Z,1741859679.412 [sci2_noyo_optim:StandardEnvelopes] Stopped
2025-03-13T09:54:39.413Z,1741859679.413 [sci2_noyo_optim:StandardEnvelopes](DEBUG): Aggregate::uninitialize sci2_noyo_optim:StandardEnvelopes
2025-03-13T09:54:39.413Z,1741859679.413 [sci2_noyo_optim:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-03-13T09:54:39.413Z,1741859679.413 [sci2_noyo_optim:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-03-13T09:54:39.413Z,1741859679.413 [sci2_noyo_optim:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-03-13T09:54:39.413Z,1741859679.413 [sci2_noyo_optim:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-03-13T09:54:39.414Z,1741859679.414 [sci2_noyo_optim:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-03-13T09:54:39.414Z,1741859679.414 [sci2_noyo_optim:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-03-13T09:54:39.414Z,1741859679.414 [sci2_noyo_optim:BackseatDriver] Stopped
2025-03-13T09:54:39.414Z,1741859679.414 [sci2_noyo_optim:BackseatDriver](DEBUG): Aggregate::uninitialize sci2_noyo_optim:BackseatDriver
2025-03-13T09:54:39.414Z,1741859679.414 [sci2_noyo_optim:BackseatDriver:A.BackseatDriver] Stopped
2025-03-13T09:54:39.415Z,1741859679.415 [sci2_noyo_optim:J] Stopped
2025-03-13T09:54:39.420Z,1741859679.420 [sci2_noyo_optim:PowerOnly] Stopped
2025-03-13T09:54:39.421Z,1741859679.421 [sci2_noyo_optim:PowerOnly](DEBUG): Aggregate::uninitialize sci2_noyo_optim:PowerOnly
2025-03-13T09:54:39.421Z,1741859679.421 [sci2_noyo_optim:PowerOnly:B] Stopped
2025-03-13T09:54:39.421Z,1741859679.421 [sci2_noyo_optim:PowerOnly:E.Wait] Stopped
2025-03-13T09:54:39.421Z,1741859679.421 [sci2_noyo_optim:PowerOnly:E.Wait](DEBUG): Uninitialize Wait Component.
2025-03-13T09:54:39.421Z,1741859679.421 [sci2_noyo_optim:L] Stopped
2025-03-13T09:54:39.422Z,1741859679.422 [sci2_noyo_optim:N] Stopped
2025-03-13T09:54:39.422Z,1741859679.422 [sci2_noyo_optim:O.Buoyancy] Stopped
2025-03-13T09:54:39.422Z,1741859679.422 [sci2_noyo_optim:O.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-03-13T09:54:39.422Z,1741859679.422 [sci2_noyo_optim:DiveCmd] Stopped
2025-03-13T09:54:39.422Z,1741859679.422 [sci2_noyo_optim:DiveCmd](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd
2025-03-13T09:54:39.422Z,1741859679.422 [sci2_noyo_optim:DiveCmd:InitialDive] Stopped
2025-03-13T09:54:39.423Z,1741859679.423 [sci2_noyo_optim:DiveCmd:InitialDive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:InitialDive
2025-03-13T09:54:39.423Z,1741859679.423 [sci2_noyo_optim:DiveCmd:SettleAtDepth] Stopped
2025-03-13T09:54:39.423Z,1741859679.423 [sci2_noyo_optim:DiveCmd:SettleAtDepth](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:SettleAtDepth
2025-03-13T09:54:39.427Z,1741859679.427 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow] Stopped
2025-03-13T09:54:39.428Z,1741859679.428 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepthSlow
2025-03-13T09:54:39.428Z,1741859679.428 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:A.SetSpeed] Stopped
2025-03-13T09:54:39.428Z,1741859679.428 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:A.SetSpeed](DEBUG): Uninitialize.
2025-03-13T09:54:39.428Z,1741859679.428 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:B] Stopped
2025-03-13T09:54:39.428Z,1741859679.428 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:C.Buoyancy] Stopped
2025-03-13T09:54:39.428Z,1741859679.428 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-03-13T09:54:39.429Z,1741859679.429 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:D.Pitch] Stopped
2025-03-13T09:54:39.429Z,1741859679.429 [sci2_noyo_optim:Lap] Stopped
2025-03-13T09:54:39.429Z,1741859679.429 [sci2_noyo_optim:Lap](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Lap
2025-03-13T09:54:39.429Z,1741859679.429 [sci2_noyo_optim:Lap:Dive] Stopped
2025-03-13T09:54:39.429Z,1741859679.429 [sci2_noyo_optim:Lap:Dive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Lap:Dive
2025-03-13T09:54:39.430Z,1741859679.430 [sci2_noyo_optim:Lap:Dive:A] Stopped
2025-03-13T09:54:39.430Z,1741859679.430 [sci2_noyo_optim:Lap:Dive:A](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Lap:Dive:A
2025-03-13T09:54:39.430Z,1741859679.430 [sci2_noyo_optim:Lap:DepthByLap] Stopped
2025-03-13T09:54:39.430Z,1741859679.430 [sci2_noyo_optim:Lap:DepthByLap](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Lap:DepthByLap
2025-03-13T09:54:39.430Z,1741859679.430 [sci2_noyo_optim:Lap:DepthByLap:Leg2] Stopped
2025-03-13T09:54:39.431Z,1741859679.431 [sci2_noyo_optim:Lap:DepthByLap:Leg2](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Lap:DepthByLap:Leg2
2025-03-13T09:54:39.431Z,1741859679.431 [sci2_noyo_optim:Lap:DepthByLap:Leg2:Wpt2] Stopped
2025-03-13T09:54:39.438Z,1741859679.438 [sci2_noyo_optim:Lap:DepthByLap:Leg2:Wpt2](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Lap:DepthByLap:Leg2:Wpt2
2025-03-13T09:54:39.438Z,1741859679.438 [sci2_noyo_optim:Lap:DepthByLap:Leg2:Wpt2:A.Waypoint] Stopped
2025-03-13T09:54:39.438Z,1741859679.438 [sci2_noyo_optim:Lap:DepthByLap:Leg2:Wpt2:A.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-03-13T09:54:39.936Z,1741859679.936 [WetLabsBB2FL](INFO): Powering down
2025-03-13T09:54:40.245Z,1741859680.245 [CBIT](INFO): Clearing failed state for component Power24vConverter
2025-03-13T09:54:40.245Z,1741859680.245 [Power24vConverter] No Fault, FailCount= 1
2025-03-13T09:54:40.407Z,1741859680.407 [MissionManager](IMPORTANT): Started mission Default
2025-03-13T09:54:40.407Z,1741859680.407 [Default] Running Loop=1
2025-03-13T09:54:40.408Z,1741859680.408 [Default](DEBUG): Aggregate::initialize Default
2025-03-13T09:54:40.408Z,1741859680.408 [Default:B.GoToSurface] Running Loop=1
2025-03-13T09:54:40.408Z,1741859680.408 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-03-13T09:54:40.408Z,1741859680.408 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-03-13T09:54:40.408Z,1741859680.408 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-03-13T09:54:40.408Z,1741859680.408 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-03-13T09:54:40.409Z,1741859680.409 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-03-13T09:54:40.409Z,1741859680.409 [Default:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-03-13T09:54:40.409Z,1741859680.409 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-03-13T09:54:40.410Z,1741859680.410 [Default:A.Wait] Running Loop=1
2025-03-13T09:54:40.410Z,1741859680.410 [Default:A.Wait](DEBUG): Initialize Wait Component.
2025-03-13T09:54:40.818Z,1741859680.818 [ElevatorOffsetCalculator](INFO): New estimator for commanded vars: speed 1.00 m/s, pitch 30.00 deg, mass-position -26.00 mm (2 active estimators).
2025-03-13T09:54:40.949Z,1741859680.949 [DAT](INFO): DAT read: 

2025-03-13T09:54:40.950Z,1741859680.950 [DAT](INFO): DAT read: >>> Watchdog: 0x0010 [ PM ]

2025-03-13T09:54:40.950Z,1741859680.950 [DAT](INFO): unknown deviceResponse_: >>> Watchdog: 0x0010 [ PM ]

2025-03-13T09:54:40.979Z,1741859680.979 [Radio_Surface](INFO): Powering up
2025-03-13T09:54:46.867Z,1741859686.867 [DataOverHttps](INFO): Radio surface powered ON.
2025-03-13T09:54:47.254Z,1741859687.254 [DAT](INFO): DAT read: 

2025-03-13T09:54:47.257Z,1741859687.257 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series

2025-03-13T09:54:49.016Z,1741859689.016 [DAT](INFO): DAT read: MF Frequency Band

2025-03-13T09:54:49.018Z,1741859689.018 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.15.0

2025-03-13T09:54:49.018Z,1741859689.018 [DAT](INFO): DAT read: Mar 13 2025 09:54:43 

2025-03-13T09:54:50.034Z,1741859690.034 [DAT](INFO): DAT read: Features enabled [Bearing]

2025-03-13T09:54:50.038Z,1741859690.038 [DAT](INFO): DAT read: CONNECT 00800 bits/sec 1 of 4, Rate 1/2 CC 12.50ms MGP

2025-03-13T09:54:50.039Z,1741859690.039 [DAT](INFO): commRate: 800
2025-03-13T09:54:53.580Z,1741859693.580 [Default:A.Wait](INFO): Done Waiting.
2025-03-13T09:54:53.581Z,1741859693.581 [Default:A.Wait] Stopped
2025-03-13T09:54:53.581Z,1741859693.581 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2025-03-13T09:54:56.800Z,1741859696.800 [BackseatComponent](INFO): Powering down and starting shutdown timer (18.00 sec).
2025-03-13T09:54:56.800Z,1741859696.800 [BackseatComponent](INFO): Unsubscribing from LCM channels.
2025-03-13T09:54:56.800Z,1741859696.800 [LcmUniversalReporter](INFO): Deactivating messaging.
2025-03-13T09:55:16.988Z,1741859716.988 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T09:55:52.132Z,1741859752.132 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T09:56:09.816Z,1741859769.816 [PowerOnly](INFO): Powering down loadControl
2025-03-13T09:56:27.281Z,1741859787.281 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T09:56:29.165Z,1741859789.165 [Waterlinked](ERROR): only read -1 of 1 data item for BIT error. Device response::TS,24052714072755, 0.0, +0.0, 
2025-03-13T09:56:35.039Z,1741859795.039 [ElevatorOffsetCalculator](INFO): Removing expired estimator for commanded vars: speed 1.00 m/s, pitch 20.00 deg, mass-position 6.85 mm.
2025-03-13T09:56:35.044Z,1741859795.044 [Default:CheckIn] Running Loop=1
2025-03-13T09:56:35.044Z,1741859795.044 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-03-13T09:56:35.044Z,1741859795.044 [Default:CheckIn:Read_GPS] Running Loop=1
2025-03-13T09:56:35.407Z,1741859795.407 [Waterlinked](INFO): Powering down
2025-03-13T09:57:02.420Z,1741859822.420 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T09:57:07.637Z,1741859827.637 [NAL9602](ERROR): Failed to receive proper response when querying signal strength for MT queue check.
2025-03-13T09:57:07.711Z,1741859827.711 [NAL9602](ERROR): received: 
+CSQ:0

OK543, 2, 0, 0, 0

OK
2025-03-13T09:57:08.568Z,1741859828.568 [CBIT](INFO): Clearing failed state for component BackseatComponent
2025-03-13T09:57:08.568Z,1741859828.568 [BackseatComponent] No Fault, FailCount= 5
2025-03-13T09:57:08.940Z,1741859828.940 [BackseatComponent](INFO): Powering up
2025-03-13T09:57:08.940Z,1741859828.940 [BackseatComponent](INFO): Subscribing to LCM channels.
2025-03-13T09:57:29.816Z,1741859849.816 [BackseatComponent](INFO): Sent LCM shutdown request.
2025-03-13T09:57:29.817Z,1741859849.817 [BackseatComponent](INFO): Shutdown requested. Waiting (18.00 sec to power down.).
2025-03-13T09:57:37.560Z,1741859857.560 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T09:57:47.988Z,1741859867.988 [BackseatComponent](INFO): Powering down and starting shutdown timer (18.00 sec).
2025-03-13T09:57:47.988Z,1741859867.988 [BackseatComponent](INFO): Unsubscribing from LCM channels.
2025-03-13T09:57:47.988Z,1741859867.988 [LcmUniversalReporter](INFO): Deactivating messaging.
2025-03-13T09:58:10.032Z,1741859890.032 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003915
2025-03-13T09:58:51.066Z,1741859931.066 [NAL9602](INFO): SBD MO Status=0, MOMSN=18543, MT Status=0, MTMSN=0
2025-03-13T09:58:51.066Z,1741859931.066 [NAL9602](INFO): No messages in MT queue
2025-03-13T09:59:31.063Z,1741859971.063 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,095930.00,A,3647.58253,N,12154.23736,W,2.099,0.00,130325,,,A*71
2025-03-13T09:59:31.065Z,1741859971.065 [NAL9602](INFO): GPS fix at 20250313T095930: (36.793042, -121.903956)
2025-03-13T09:59:31.077Z,1741859971.077 [UniversalFixResidualReporter](INFO): Fix residual: 54.7 %DT, over the last 1941.8 m. Residual distance 1062.1 m at bearing -142.9 degrees. Fix at (36.7930, -121.9040) with 754.5 m made good.
2025-03-13T09:59:31.078Z,1741859971.078 [Default:CheckIn:Read_GPS] Stopped
2025-03-13T09:59:31.078Z,1741859971.078 [Default:CheckIn:Read_Iridium] Running Loop=1
2025-03-13T09:59:36.635Z,1741859976.635 [DataOverHttps](INFO): Sending 150 bytes from file Logs/20250311T232940/Courier0260.lzma
2025-03-13T09:59:37.638Z,1741859977.638 [DataOverHttps](INFO): Moved sent file to Logs/20250311T232940/Courier0260.lzma.bak
2025-03-13T09:59:37.638Z,1741859977.638 [DataOverHttps](INFO): SBD MOMSN=24222104
2025-03-13T09:59:57.024Z,1741859997.024 [DataOverHttps](INFO): Sending 681 bytes from file Logs/20250311T232940/Express0261.lzma
2025-03-13T09:59:58.026Z,1741859998.026 [DataOverHttps](INFO): Moved sent file to Logs/20250311T232940/Express0261.lzma.bak
2025-03-13T09:59:58.026Z,1741859998.026 [DataOverHttps](INFO): SBD MOMSN=24222108
2025-03-13T09:59:59.390Z,1741859999.390 [Default:CheckIn:Read_Iridium] Stopped
2025-03-13T09:59:59.390Z,1741859999.390 [Default:CheckIn:C.Wait] Running Loop=1
2025-03-13T09:59:59.390Z,1741859999.390 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2025-03-13T10:00:03.812Z,1741860003.812 [NAL9602](INFO): Not Powering down - fast GPS
2025-03-13T10:03:40.161Z,1741860220.161 [DataOverHttps](IMPORTANT): SBD MTMSN=20250313T100339
2025-03-13T10:03:49.708Z,1741860229.708 [BPC1](ERROR): BPC1A: No match for serial number 1717 in BPC1A's battery stick inventory (sticks 1-31 in onboard configuration file).
2025-03-13T10:03:50.643Z,1741860230.643 [DataOverHttps](INFO): Received command: resume
2025-03-13T10:03:50.704Z,1741860230.704 [CommandExec](IMPORTANT): got command resume
2025-03-13T10:03:50.705Z,1741860230.705 [MissionManager](INFO): Loading Mission from file: ./Missions/Science/sci2_noyo_optim.tl
2025-03-13T10:03:50.705Z,1741860230.705 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Science/sci2_noyo_optim.tl
2025-03-13T10:03:50.708Z,1741860230.708 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Science/sci2_noyo_optim.tl
2025-03-13T10:03:56.171Z,1741860236.171 [MissionManager](DEBUG): TethyslAPI: ./Missions/Science/sci2_noyo_optim.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Mission Id="sci2_noyo_optim">
    <DefineArg Name="MissionTimeout">
        <Units:hour />
        <Value>2</Value>
    </DefineArg>
    <DefineArg Name="NeedCommsTime">
        <Units:minute />
        <Value>60</Value>
    </DefineArg>
    <DefineArg Name="Depth1">
        <Units:meter />
        <Value>35</Value>
    </DefineArg>
    <DefineArg Name="Depth2">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Depth3">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Depth4">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Depth5">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Depth6">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Depth7">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Depth8">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="DepthPerLeg">
        <False />
    </DefineArg>
    <DefineArg Name="Repeat">
        <Units:count />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="Lat1">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lat2">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lat3">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lat4">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lat5">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lat6">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lat7">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lat8">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lon1">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lon2">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lon3">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lon4">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lon5">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lon6">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lon7">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lon8">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="FastSpeed">
        <Units:meter_per_second />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="ApproachDepth">
        <Units:meter />
        <Value>30</Value>
    </DefineArg>
    <DefineArg Name="ApproachSpeed">
        <Units:meter_per_second />
        <Value>0.7</Value>
    </DefineArg>
    <DefineArg Name="ApproachDepthRate">
        <Units:meter_per_second />
        <Value>0.05</Value>
    </DefineArg>
    <DefineArg Name="ApproachPitchLimit">
        <Units:degree />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="ApproachDepthTimeout">
        <Units:minute />
        <Value>15</Value>
    </DefineArg>
    <DefineArg Name="ApproachSettleTimePreDive">
        <Units:minute />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="ApproachSettleTimePostDive">
        <Units:minute />
        <Value>3</Value>
    </DefineArg>
    <DefineArg Name="kpDepth">
        <Units:radian_per_meter />
        <Value>0.07</Value>
    </DefineArg>
    <DefineArg Name="SlowSpeed">
        <Units:meter_per_second />
        <Value>0.25</Value>
    </DefineArg>
    <DefineArg Name="DepthDeviationSlow">
        <Units:meter />
        <Value>3</Value>
    </DefineArg>
    <DefineArg Name="BuoyancyNeutral">
        <Control:VerticalControl.buoyancyNeutral />
    </DefineArg>
    <DefineArg Name="MassDefault">
        <Control:VerticalControl.massDefault />
    </DefineArg>
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>2</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>50</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:kilometer />
        <Value>2</Value>
    </DefineArg>
    <DefineOutput Name="DiveMode">
        <Units:count />
        <Value>0</Value>
    </DefineOutput>
    <DefineOutput Name="DoingComms">
        <Units:count />
        <Value>0</Value>
    </DefineOutput>
    <DefineOutput Name="InitialDive">
        <Units:count />
        <Value>1</Value>
    </DefineOutput>
    <DefineOutput Name="SettleAtDepth">
        <Units:count />
        <Value>2</Value>
    </DefineOutput>
    <DefineOutput Name="MaintainDepth">
        <Units:count />
        <Value>3</Value>
    </DefineOutput>
    <DefineOutput Name="LegDepth">
        <Arg Name="Depth1" />
    </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="MissionTimeout" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="NeedComms:WaitForPitchUp" />
        <Units:minute />
        <Value>0</Value>
    </Assign>
    <Insert Filename="Insert/BackseatDriver.tl" />
    <Assign>
        <Parallel />
        <Arg Name="BackseatDriver:EnableBackseat" />
        <True />
    </Assign>
    <Insert Filename="Insert/PowerOnly.tl" />
    <Assign>
        <Parallel />
        <Arg Name="PowerOnly:SampleLoad1" />
        <True />
    </Assign>
    <Assign>
        <Sequence />
        <Sensor:MultiRay.lightModeCommand />
        <Units:count />
        <Value>2</Value>
    </Assign>
    <ReadData Strategy="MinError">
        <While>
            <Sensor:MultiRay.loadAtStartup />
        </While>
        <Sensor:MultiRay.lightModeLog />
    </ReadData>
    <Guidance:Buoyancy>
        <Parallel />
        <Setting>
            <Guidance:Buoyancy.position />
            <Arg Name="BuoyancyNeutral" />
        </Setting>
    </Guidance:Buoyancy>
    <Aggregate Id="SurfaceComms">
        <When>
            <Called />
            <Or>
                <Elapsed>
                    <Universal:time_fix />
                </Elapsed>
                <Gt>
                    <Arg Name="NeedCommsTime" />
                </Gt>
            </Or>
        </When>
        <Assign>
            <Sequence />
            <Arg Name="DiveMode" />
            <Arg Name="DoingComms" />
        </Assign>
        <Call RefId="NeedComms" />
        <Assign>
            <Sequence />
            <Arg Name="DiveMode" />
            <Arg Name="InitialDive" />
        </Assign>
    </Aggregate>
    <Aggregate Id="DiveCmd">
        <When>
            <Called />
        </When>
        <Aggregate Id="InitialDive">
            <While>
                <Arg Name="DiveMode" />
                <Eq>
                    <Arg Name="InitialDive" />
                </Eq>
            </While>
            <Aggregate Id="dive">
                <Sequence />
                <Assign>
                    <Parallel />
                    <Control:VerticalControl.pitchLimit />
                    <Arg Name="ApproachPitchLimit" />
                </Assign>
                <Assign>
                    <Parallel />
                    <Control:VerticalControl.kpDepth />
                    <Arg Name="kpDepth" />
                </Assign>
                <Guidance:Mass>
                    <Parallel />
                    <Setting>
                        <Guidance:Mass.position />
                        <Arg Name="MassDefault" />
                    </Setting>
                </Guidance:Mass>
                <Syslog Severity="Info">
                    Waiting for 
                    <Arg Name="ApproachSettleTimePreDive" />
                    <Units:minute />
                    while pumping down to neutral.
                </Syslog>
                <Guidance:Wait>
                    <Sequence />
                    <Setting>
                        <Guidance:Wait.duration />
                        <Arg Name="ApproachSettleTimePreDive" />
                    </Setting>
                </Guidance:Wait>
                <Syslog>
                    Moving to 
                    <Arg Name="ApproachDepth" />
                    <Units:meter />
                </Syslog>
                <Aggregate Id="ApproachDepth">
                    <Sequence />
                    <Guidance:SetSpeed>
                        <Parallel />
                        <Setting>
                            <Guidance:SetSpeed.speed />
                            <Arg Name="ApproachSpeed" />
                        </Setting>
                    </Guidance:SetSpeed>
                    <Guidance:Pitch>
                        <Sequence />
                        <Timeout Duration="ApproachDepthTimeout">
                            <Syslog Severity="Important">
                                Timed out while trying to reach target depth at current depth of 
                                <Universal:depth />
                                <Units:meter />
                            </Syslog>
                            <Guidance:Execute>
                                <Sequence />
                                <Setting>
                                    <Guidance:Execute.command />
                                    <String>stop</String>
                                </Setting>
                            </Guidance:Execute>
                        </Timeout>
                        <Setting>
                            <Guidance:Pitch.depth />
                            <Arg Name="ApproachDepth" />
                        </Setting>
                        <Setting>
                            <Guidance:Pitch.depthRate />
                            <Arg Name="ApproachDepthRate" />
                        </Setting>
                    </Guidance:Pitch>
                </Aggregate>
                <Assign>
                    <Sequence />
                    <Arg Name="DiveMode" />
                    <Arg Name="SettleAtDepth" />
                </Assign>
            </Aggregate>
        </Aggregate>
        <Aggregate Id="SettleAtDepth">
            <While>
                <Arg Name="DiveMode" />
                <Eq>
                    <Arg Name="SettleAtDepth" />
                </Eq>
            </While>
            <Aggregate Id="dive">
                <Sequence />
                <Syslog Severity="Info">
                    Reached 
                    <Universal:depth />
                    <Units:meter />
                    , settling for 
                    <Arg Name="ApproachSettleTimePostDive" />
                    <Units:minute />
                </Syslog>
                <Guidance:Pitch>
                    <Parallel />
                    <Setting>
                        <Guidance:Pitch.depth />
                        <Arg Name="LegDepth" />
                    </Setting>
                </Guidance:Pitch>
                <Guidance:Wait>
                    <Sequence />
                    <Setting>
                        <Guidance:Wait.duration />
                        <Arg Name="ApproachSettleTimePostDive" />
                    </Setting>
                </Guidance:Wait>
                <Assign>
                    <Sequence />
                    <Arg Name="DiveMode" />
                    <Arg Name="MaintainDepth" />
                </Assign>
            </Aggregate>
        </Aggregate>
        <Aggregate Id="MaintainDepth">
            <While>
                <Arg Name="DiveMode" />
                <Eq>
                    <Arg Name="MaintainDepth" />
                </Eq>
                <And>
                    <Universal:depth />
                    <Gt>
                        <Arg Name="LegDepth" />
                        <Add>
                            <Arg Name="DepthDeviationSlow" />
                        </Add>
                    </Gt>
                </And>
                <Or>
                    <Universal:depth />
                    <Lt>
                        <Arg Name="LegDepth" />
                        <Sub>
                            <Arg Name="DepthDeviationSlow" />
                        </Sub>
                    </Lt>
                </Or>
            </While>
            <Aggregate Id="dive">
                <Parallel />
                <Aggregate Id="ThrusterDive">
                    <While>
                        <Arg Name="FastSpeed" />
                        <Gt>
                            <Units:meter_per_second />
                            <Value>0.0</Value>
                        </Gt>
                    </While>
                    <Guidance:Mass>
                        <Parallel />
                        <Setting>
                            <Guidance:Mass.position />
                            <Arg Name="MassDefault" />
                        </Setting>
                    </Guidance:Mass>
                    <Guidance:SetSpeed>
                        <Parallel />
                        <Setting>
                            <Guidance:SetSpeed.speed />
                            <Arg Name="FastSpeed" />
                        </Setting>
                    </Guidance:SetSpeed>
                </Aggregate>
                <Guidance:Pitch>
                    <Parallel />
                    <Setting>
                        <Guidance:Pitch.depth />
                        <Arg Name="LegDepth" />
                    </Setting>
                </Guidance:Pitch>
            </Aggregate>
        </Aggregate>
        <Aggregate Id="MaintainDepthSlow">
            <While>
                <Not>
                    <IsNaN>
                        <Arg Name="SlowSpeed" />
                    </IsNaN>
                </Not>
                <And>
                    <Arg Name="DiveMode" />
                    <Eq>
                        <Arg Name="MaintainDepth" />
                    </Eq>
                </And>
                <And>
                    <Universal:depth />
                    <Le>
                        <Arg Name="LegDepth" />
                        <Add>
                            <Arg Name="DepthDeviationSlow" />
                        </Add>
                    </Le>
                </And>
                <And>
                    <Universal:depth />
                    <Ge>
                        <Arg Name="LegDepth" />
                        <Sub>
                            <Arg Name="DepthDeviationSlow" />
                        </Sub>
                    </Ge>
                </And>
            </While>
            <Guidance:SetSpeed>
                <Parallel />
                <Setting>
                    <Guidance:SetSpeed.speed />
                    <Arg Name="SlowSpeed" />
                </Setting>
            </Guidance:SetSpeed>
            <Assign>
                <Parallel />
                <Control:VerticalControl.depthDeadband />
                <Arg Name="DepthDeviationSlow" />
                <Add>
                    <Units:meter />
                    <Value>3</Value>
                </Add>
            </Assign>
            <Guidance:Buoyancy>
                <Parallel />
                <Setting>
                    <Guidance:Buoyancy.position />
                    <Units:cubic_centimeter />
                    <Value>NaN</Value>
                </Setting>
            </Guidance:Buoyancy>
            <Guidance:Pitch>
                <Parallel />
                <Setting>
                    <Guidance:Pitch.depth />
                    <Arg Name="LegDepth" />
                </Setting>
            </Guidance:Pitch>
        </Aggregate>
    </Aggregate>
    <Call RefId="SurfaceComms" Id="StartingMission" />
    <Aggregate Id="Lap">
        <Sequence Repeat="Repeat" />
        <Aggregate Id="Dive">
            <While>
                <Not>
                    <Arg Name="DiveMode" />
                    <Eq>
                        <Arg Name="DoingComms" />
                    </Eq>
                </Not>
            </While>
            <Call RefId="DiveCmd" />
        </Aggregate>
        <Aggregate Id="DepthByLap">
            <Sequence />
            <Break>
                <Arg Name="DepthPerLeg" />
            </Break>
            <Assign>
                <Sequence />
                <Arg Name="LegDepth" />
                <Arg Name="Depth1" />
            </Assign>
            <Aggregate Id="Wpt1">
                <Sequence />
                <Guidance:Waypoint>
                    <Sequence />
                    <Setting>
                        <Guidance:Waypoint.latitude />
                        <Arg Name="Lat1" />
                    </Setting>
                    <Setting>
                        <Guidance:Waypoint.longitude />
                        <Arg Name="Lon1" />
                    </Setting>
                </Guidance:Waypoint>
            </Aggregate>
            <Aggregate Id="Wpt2">
                <Sequence />
                <Guidance:Waypoint>
                    <Sequence />
                    <Setting>
                        <Guidance:Waypoint.latitude />
                        <Arg Name="Lat2" />
                    </Setting>
                    <Setting>
                        <Guidance:Waypoint.longitude />
                        <Arg Name="Lon2" />
                    </Setting>
                </Guidance:Waypoint>
            </Aggregate>
            <Aggregate Id="Wpt3">
                <Sequence />
                <Guidance:Waypoint>
                    <Sequence />
                    <Setting>
                        <Guidance:Waypoint.latitude />
                        <Arg Name="Lat3" />
                    </Setting>
                    <Setting>
                        <Guidance:Waypoint.longitude />
                        <Arg Name="Lon3" />
                    </Setting>
                </Guidance:Waypoint>
            </Aggregate>
            <Aggregate Id="Wpt4">
                <Sequence />
                <Guidance:Waypoint>
                    <Sequence />
                    <Setting>
                        <Guidance:Waypoint.latitude />
                        <Arg Name="Lat4" />
                    </Setting>
                    <Setting>
                        <Guidance:Waypoint.longitude />
                        <Arg Name="Lon4" />
                    </Setting>
                </Guidance:Waypoint>
            </Aggregate>
            <Aggregate Id="Wpt5">
                <Sequence />
                <Guidance:Waypoint>
                    <Sequence />
                    <Setting>
                        <Guidance:Waypoint.latitude />
                        <Arg Name="Lat5" />
                    </Setting>
                    <Setting>
                        <Guidance:Waypoint.longitude />
                        <Arg Name="Lon5" />
                    </Setting>
                </Guidance:Waypoint>
            </Aggregate>
            <Aggregate Id="Wpt6">
                <Sequence />
                <Guidance:Waypoint>
                    <Sequence />
                    <Setting>
                        <Guidance:Waypoint.latitude />
                        <Arg Name="Lat6" />
                    </Setting>
                    <Setting>
                        <Guidance:Waypoint.longitude />
                        <Arg Name="Lon6" />
                    </Setting>
                </Guidance:Waypoint>
            </Aggregate>
            <Aggregate Id="Wpt7">
                <Sequence />
                <Guidance:Waypoint>
                    <Sequence />
                    <Setting>
                        <Guidance:Waypoint.latitude />
                        <Arg Name="Lat7" />
                    </Setting>
                    <Setting>
                        <Guidance:Waypoint.longitude />
                        <Arg Name="Lon7" />
                    </Setting>
                </Guidance:Waypoint>
            </Aggregate>
            <Aggregate Id="Wpt8">
                <Sequence />
                <Guidance:Waypoint>
                    <Sequence />
                    <Setting>
                        <Guidance:Waypoint.latitude />
                        <Arg Name="Lat8" />
                    </Setting>
                    <Setting>
                        <Guidance:Waypoint.longitude />
                        <Arg Name="Lon8" />
                    </Setting>
                </Guidance:Waypoint>
            </Aggregate>
            <Aggregate Id="Leg2">
                <Sequence />
                <Break>
                    <IsNaN>
                        <Arg Name="Depth2" />
                    </IsNaN>
                </Break>
                <Syslog Severity="Important">
                    Transiting waypoints at depth 
                    <Arg Name="Depth2" />
                    <Units:meter />
                </Syslog>
                <Assign>
                    <Sequence />
                    <Arg Name="LegDepth" />
                    <Arg Name="Depth2" />
                </Assign>
                <Aggregate Id="Wpt1">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat1" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon1" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt2">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat2" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon2" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt3">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat3" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon3" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt4">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat4" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon4" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt5">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat5" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon5" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt6">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat6" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon6" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt7">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat7" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon7" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt8">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat8" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon8" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
            </Aggregate>
            <Aggregate Id="Leg3">
                <Sequence />
                <Break>
                    <IsNaN>
                        <Arg Name="Depth3" />
                    </IsNaN>
                </Break>
                <Syslog Severity="Important">
                    Transiting waypoints at depth 
                    <Arg Name="Depth3" />
                    <Units:meter />
                </Syslog>
                <Assign>
                    <Sequence />
                    <Arg Name="LegDepth" />
                    <Arg Name="Depth3" />
                </Assign>
                <Aggregate Id="Wpt1">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat1" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon1" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt2">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat2" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon2" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt3">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat3" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon3" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt4">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat4" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon4" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt5">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat5" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon5" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt6">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat6" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon6" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt7">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat7" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon7" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt8">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat8" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon8" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
            </Aggregate>
            <Aggregate Id="Leg4">
                <Sequence />
                <Break>
                    <IsNaN>
                        <Arg Name="Depth4" />
                    </IsNaN>
                </Break>
                <Syslog Severity="Important">
                    Transiting waypoints at depth 
                    <Arg Name="Depth4" />
                    <Units:meter />
                </Syslog>
                <Assign>
                    <Sequence />
                    <Arg Name="LegDepth" />
                    <Arg Name="Depth4" />
                </Assign>
                <Aggregate Id="Wpt1">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat1" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon1" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt2">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat2" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon2" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt3">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat3" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon3" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt4">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat4" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon4" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt5">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat5" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon5" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt6">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat6" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon6" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt7">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat7" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon7" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt8">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat8" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon8" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
            </Aggregate>
            <Aggregate Id="Leg5">
                <Sequence />
                <Break>
                    <IsNaN>
                        <Arg Name="Depth5" />
                    </IsNaN>
                </Break>
                <Syslog Severity="Important">
                    Transiting waypoints at depth 
                    <Arg Name="Depth5" />
                    <Units:meter />
                </Syslog>
                <Assign>
                    <Sequence />
                    <Arg Name="LegDepth" />
                    <Arg Name="Depth5" />
                </Assign>
                <Aggregate Id="Wpt1">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat1" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon1" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt2">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat2" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon2" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt3">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat3" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon3" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt4">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat4" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon4" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt5">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat5" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon5" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt6">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat6" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon6" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt7">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat7" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon7" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt8">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat8" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon8" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
            </Aggregate>
            <Aggregate Id="Leg6">
                <Sequence />
                <Break>
                    <IsNaN>
                        <Arg Name="Depth6" />
                    </IsNaN>
                </Break>
                <Syslog Severity="Important">
                    Transiting waypoints at depth 
                    <Arg Name="Depth6" />
                    <Units:meter />
                </Syslog>
                <Assign>
                    <Sequence />
                    <Arg Name="LegDepth" />
                    <Arg Name="Depth6" />
                </Assign>
                <Aggregate Id="Wpt1">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat1" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon1" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt2">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat2" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon2" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt3">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat3" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon3" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt4">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat4" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon4" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt5">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat5" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon5" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt6">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat6" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon6" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt7">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat7" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon7" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt8">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat8" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon8" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
            </Aggregate>
            <Aggregate Id="Leg7">
                <Sequence />
                <Break>
                    <IsNaN>
                        <Arg Name="Depth7" />
                    </IsNaN>
                </Break>
                <Syslog Severity="Important">
                    Transiting waypoints at depth 
                    <Arg Name="Depth7" />
                    <Units:meter />
                </Syslog>
                <Assign>
                    <Sequence />
                    <Arg Name="LegDepth" />
                    <Arg Name="Depth7" />
                </Assign>
                <Aggregate Id="Wpt1">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat1" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon1" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt2">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat2" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon2" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt3">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat3" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon3" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt4">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat4" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon4" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt5">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat5" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon5" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt6">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat6" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon6" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt7">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat7" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon7" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt8">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat8" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon8" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
            </Aggregate>
            <Aggregate Id="Leg8">
                <Sequence />
                <Break>
                    <IsNaN>
                        <Arg Name="Depth8" />
                    </IsNaN>
                </Break>
                <Syslog Severity="Important">
                    Transiting waypoints at depth 
                    <Arg Name="Depth8" />
                    <Units:meter />
                </Syslog>
                <Assign>
                    <Sequence />
                    <Arg Name="LegDepth" />
                    <Arg Name="Depth8" />
                </Assign>
                <Aggregate Id="Wpt1">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat1" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon1" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt2">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat2" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon2" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt3">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat3" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon3" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt4">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat4" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon4" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt5">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat5" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon5" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt6">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat6" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon6" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt7">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat7" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon7" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt8">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat8" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon8" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
            </Aggregate>
        </Aggregate>
        <Aggregate Id="DepthByLeg">
            <Sequence />
            <Break>
                <Not>
                    <Arg Name="DepthPerLeg" />
                </Not>
            </Break>
            <Aggregate Id="Leg1">
                <Sequence />
                <Assign>
                    <Sequence />
                    <Arg Name="LegDepth" />
                    <Arg Name="Depth1" />
                </Assign>
                <Guidance:Waypoint>
                    <Sequence />
                    <Setting>
                        <Guidance:Waypoint.latitude />
                        <Arg Name="Lat1" />
                    </Setting>
                    <Setting>
                        <Guidance:Waypoint.longitude />
                        <Arg Name="Lon1" />
                    </Setting>
                </Guidance:Waypoint>
            </Aggregate>
            <Aggregate Id="Leg2">
                <Sequence />
                <Break>
                    <IsNaN>
                        <Arg Name="Depth2" />
                    </IsNaN>
                </Break>
                <Syslog Severity="Info">
                    Transiting to next waypoint at depth 
                    <Arg Name="Depth2" />
                    <Units:meter />
                </Syslog>
                <Assign>
                    <Sequence />
                    <Arg Name="LegDepth" />
                    <Arg Name="Depth2" />
                </Assign>
                <Aggregate Id="Wpt2">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat2" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon2" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
            </Aggregate>
            <Aggregate Id="Leg3">
                <Sequence />
                <Break>
                    <IsNaN>
                        <Arg Name="Depth3" />
                    </IsNaN>
                </Break>
                <Syslog Severity="Info">
                    Transiting to next waypoint at depth 
                    <Arg Name="Depth3" />
                    <Units:meter />
                </Syslog>
                <Assign>
                    <Sequence />
                    <Arg Name="LegDepth" />
                    <Arg Name="Depth3" />
                </Assign>
                <Aggregate Id="Wpt3">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat3" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon3" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
            </Aggregate>
            <Aggregate Id="Leg4">
                <Sequence />
                <Break>
                    <IsNaN>
                        <Arg Name="Depth4" />
                    </IsNaN>
                </Break>
                <Syslog Severity="Info">
                    Transiting to next waypoint at depth 
                    <Arg Name="Depth4" />
                    <Units:meter />
                </Syslog>
                <Assign>
                    <Sequence />
                    <Arg Name="LegDepth" />
                    <Arg Name="Depth4" />
                </Assign>
                <Aggregate Id="Wpt4">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat4" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon4" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
            </Aggregate>
            <Aggregate Id="Leg5">
                <Sequence />
                <Break>
                    <IsNaN>
                        <Arg Name="Depth5" />
                    </IsNaN>
                </Break>
                <Syslog Severity="Info">
                    Transiting to next waypoint at depth 
                    <Arg Name="Depth5" />
                    <Units:meter />
                </Syslog>
                <Assign>
                    <Sequence />
                    <Arg Name="LegDepth" />
                    <Arg Name="Depth5" />
                </Assign>
                <Aggregate Id="Wpt5">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat5" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon5" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
            </Aggregate>
            <Aggregate Id="Leg6">
                <Sequence />
                <Break>
                    <IsNaN>
                        <Arg Name="Depth6" />
                    </IsNaN>
                </Break>
                <Syslog Severity="Info">
                    Transiting to next waypoint at depth 
                    <Arg Name="Depth6" />
                    <Units:meter />
                </Syslog>
                <Assign>
                    <Sequence />
                    <Arg Name="LegDepth" />
                    <Arg Name="Depth6" />
                </Assign>
                <Aggregate Id="Wpt6">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat6" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon6" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
            </Aggregate>
            <Aggregate Id="Leg7">
                <Sequence />
                <Break>
                    <IsNaN>
                        <Arg Name="Depth7" />
                    </IsNaN>
                </Break>
                <Syslog Severity="Info">
                    Transiting to next waypoint at depth 
                    <Arg Name="Depth7" />
                    <Units:meter />
                </Syslog>
                <Assign>
                    <Sequence />
                    <Arg Name="LegDepth" />
                    <Arg Name="Depth7" />
                </Assign>
                <Aggregate Id="Wpt7">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat7" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon7" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
            </Aggregate>
            <Aggregate Id="Leg8">
                <Sequence />
                <Break>
                    <IsNaN>
                        <Arg Name="Depth8" />
                    </IsNaN>
                </Break>
                <Syslog Severity="Info">
                    Transiting to next waypoint at depth 
                    <Arg Name="Depth8" />
                    <Units:meter />
                </Syslog>
                <Assign>
                    <Sequence />
                    <Arg Name="LegDepth" />
                    <Arg Name="Depth8" />
                </Assign>
                <Aggregate Id="Wpt8">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat8" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon8" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
            </Aggregate>
        </Aggregate>
    </Aggregate>
</Mission>

2025-03-13T10:03:56.243Z,1741860236.243 [MissionManager](INFO): DefineArg sci2_noyo_optim.MissionTimeout = 2.000000 h
2025-03-13T10:03:56.245Z,1741860236.245 [MissionManager](INFO): DefineArg sci2_noyo_optim.NeedCommsTime = 60.000000 min
2025-03-13T10:03:56.263Z,1741860236.263 [MissionManager](INFO): DefineArg sci2_noyo_optim.Depth1 = 35.000000 m
2025-03-13T10:03:56.265Z,1741860236.265 [MissionManager](INFO): DefineArg sci2_noyo_optim.Depth2 = nan m
2025-03-13T10:03:56.267Z,1741860236.267 [MissionManager](INFO): DefineArg sci2_noyo_optim.Depth3 = nan m
2025-03-13T10:03:56.269Z,1741860236.269 [MissionManager](INFO): DefineArg sci2_noyo_optim.Depth4 = nan m
2025-03-13T10:03:56.284Z,1741860236.284 [MissionManager](INFO): DefineArg sci2_noyo_optim.Depth5 = nan m
2025-03-13T10:03:56.286Z,1741860236.286 [MissionManager](INFO): DefineArg sci2_noyo_optim.Depth6 = nan m
2025-03-13T10:03:56.288Z,1741860236.288 [MissionManager](INFO): DefineArg sci2_noyo_optim.Depth7 = nan m
2025-03-13T10:03:56.291Z,1741860236.291 [MissionManager](INFO): DefineArg sci2_noyo_optim.Depth8 = nan m
2025-03-13T10:03:56.293Z,1741860236.293 [MissionManager](INFO): DefineArg sci2_noyo_optim.DepthPerLeg = 0 bool
2025-03-13T10:03:56.295Z,1741860236.295 [MissionManager](INFO): DefineArg sci2_noyo_optim.Repeat = 1.000000 count
2025-03-13T10:03:56.310Z,1741860236.310 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lat1 = nan arcdeg
2025-03-13T10:03:56.317Z,1741860236.317 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lat2 = nan arcdeg
2025-03-13T10:03:56.319Z,1741860236.319 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lat3 = nan arcdeg
2025-03-13T10:03:56.325Z,1741860236.325 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lat4 = nan arcdeg
2025-03-13T10:03:56.336Z,1741860236.336 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lat5 = nan arcdeg
2025-03-13T10:03:56.338Z,1741860236.338 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lat6 = nan arcdeg
2025-03-13T10:03:56.344Z,1741860236.344 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lat7 = nan arcdeg
2025-03-13T10:03:56.346Z,1741860236.346 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lat8 = nan arcdeg
2025-03-13T10:03:56.353Z,1741860236.353 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lon1 = nan arcdeg
2025-03-13T10:03:56.360Z,1741860236.360 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lon2 = nan arcdeg
2025-03-13T10:03:56.362Z,1741860236.362 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lon3 = nan arcdeg
2025-03-13T10:03:56.365Z,1741860236.365 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lon4 = nan arcdeg
2025-03-13T10:03:56.367Z,1741860236.367 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lon5 = nan arcdeg
2025-03-13T10:03:56.373Z,1741860236.373 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lon6 = nan arcdeg
2025-03-13T10:03:56.380Z,1741860236.380 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lon7 = nan arcdeg
2025-03-13T10:03:56.382Z,1741860236.382 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lon8 = nan arcdeg
2025-03-13T10:03:56.400Z,1741860236.400 [MissionManager](INFO): DefineArg sci2_noyo_optim.FastSpeed = 1.000000 m/s
2025-03-13T10:03:56.403Z,1741860236.403 [MissionManager](INFO): DefineArg sci2_noyo_optim.ApproachDepth = 30.000000 m
2025-03-13T10:03:56.409Z,1741860236.409 [MissionManager](INFO): DefineArg sci2_noyo_optim.ApproachSpeed = 0.700000 m/s
2025-03-13T10:03:56.416Z,1741860236.416 [MissionManager](INFO): DefineArg sci2_noyo_optim.ApproachDepthRate = 0.050000 m/s
2025-03-13T10:03:56.419Z,1741860236.419 [MissionManager](INFO): DefineArg sci2_noyo_optim.ApproachPitchLimit = 20.000000 arcdeg
2025-03-13T10:03:56.425Z,1741860236.425 [MissionManager](INFO): DefineArg sci2_noyo_optim.ApproachDepthTimeout = 15.000000 min
2025-03-13T10:03:56.440Z,1741860236.440 [MissionManager](INFO): DefineArg sci2_noyo_optim.ApproachSettleTimePreDive = 1.000000 min
2025-03-13T10:03:56.442Z,1741860236.442 [MissionManager](INFO): DefineArg sci2_noyo_optim.ApproachSettleTimePostDive = 3.000000 min
2025-03-13T10:03:56.448Z,1741860236.448 [MissionManager](INFO): DefineArg sci2_noyo_optim.kpDepth = 0.070000 rad/m
2025-03-13T10:03:56.451Z,1741860236.451 [MissionManager](INFO): DefineArg sci2_noyo_optim.SlowSpeed = 0.250000 m/s
2025-03-13T10:03:56.457Z,1741860236.457 [MissionManager](INFO): DefineArg sci2_noyo_optim.DepthDeviationSlow = 3.000000 m
2025-03-13T10:03:56.461Z,1741860236.461 [MissionManager](INFO): DefineArg sci2_noyo_optim.BuoyancyNeutral = 373.087250 cc
2025-03-13T10:03:56.476Z,1741860236.476 [MissionManager](INFO): DefineArg sci2_noyo_optim.MassDefault = 0.684636 cm
2025-03-13T10:03:56.479Z,1741860236.479 [MissionManager](INFO): DefineArg sci2_noyo_optim.MinAltitude = 2.000000 m
2025-03-13T10:03:56.490Z,1741860236.490 [MissionManager](INFO): DefineArg sci2_noyo_optim.MaxDepth = 50.000000 m
2025-03-13T10:03:56.504Z,1741860236.504 [MissionManager](INFO): DefineArg sci2_noyo_optim.MinOffshore = 2.000000 km
2025-03-13T10:03:56.507Z,1741860236.507 [MissionManager](INFO): DefineOutput sci2_noyo_optim.DiveMode = 0.000000 count
2025-03-13T10:03:56.528Z,1741860236.528 [MissionManager](INFO): DefineOutput sci2_noyo_optim.DoingComms = 0.000000 count
2025-03-13T10:03:56.531Z,1741860236.531 [MissionManager](INFO): DefineOutput sci2_noyo_optim.InitialDive = 1.000000 count
2025-03-13T10:03:56.537Z,1741860236.537 [MissionManager](INFO): DefineOutput sci2_noyo_optim.SettleAtDepth = 2.000000 count
2025-03-13T10:03:56.588Z,1741860236.588 [MissionManager](INFO): DefineOutput sci2_noyo_optim.MaintainDepth = 3.000000 count
2025-03-13T10:03:56.590Z,1741860236.590 [MissionManager](INFO): DefineOutput sci2_noyo_optim.LegDepth = 35.000000 m
2025-03-13T10:03:56.599Z,1741860236.599 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/Science.tl
2025-03-13T10:03:56.599Z,1741860236.599 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/Science.tl
2025-03-13T10:03:56.611Z,1741860236.611 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/Science.tl
2025-03-13T10:03:59.355Z,1741860239.355 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/Science.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="Science">
    <DefineArg Name="PeakDetectChlActive">
        <False />
    </DefineArg>
    <DefineArg Name="EdgeDetectChlActive">
        <False />
    </DefineArg>
    <DefineArg Name="TimeWindowPeakReport">
        <Units:minute />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="HighestChlPeakReportActive">
        <False />
    </DefineArg>
    <DefineArg Name="HighestSaltPeakReportActive">
        <False />
    </DefineArg>
    <DefineArg Name="HighestOilPeakReportActive">
        <False />
    </DefineArg>
    <DefineArg Name="PatchTracking">
        <False />
    </DefineArg>
    <DefineArg Name="FilterWidthHorizontal">
        <Units:count />
        <Value>3</Value>
    </DefineArg>
    <DefineArg Name="NumProfilesSlidingwindow">
        <Units:count />
        <Value>100</Value>
    </DefineArg>
    <DefineArg Name="OffPeakFractionHorizontal">
        <Units:percent />
        <Value>80</Value>
    </DefineArg>
    <DefineArg Name="PeakDetectNO3Active">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectOilActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectFDOMActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectSalinityActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreLMavgROIActive">
        <False />
    </DefineArg>
    <DefineArg Name="EdgeDetectPlanktivoreLMavgROIActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreHMavgROIActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreDiatomsActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreDinoflagellatesActive">
        <False />
    </DefineArg>
    <DefineArg Name="UpwardDerivativeOfTemperatureActive">
        <False />
    </DefineArg>
    <DefineArg Name="EnabledAanderaaO2">
        <Science:Aanderaa_O2.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledNeilBrown">
        <Science:CTD_NeilBrown.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledSeabird">
        <Science:CTD_Seabird.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledWetLabsBB2FL">
        <Science:WetLabsBB2FL.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledWetLabsSeaOWL_UV_A">
        <Science:WetLabsSeaOWL_UV_A.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledWetLabsUBAT">
        <Science:WetLabsUBAT.loadAtStartup />
    </DefineArg>
    <DefineArg Name="LowPassWindowLength">
        <Units:count />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="MedianFilterLen">
        <Units:count />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="ShallowBound">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="DeepBound">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="DepChangeThreshForAttitudeFlip">
        <Units:meter />
        <Value>2.0</Value>
    </DefineArg>
    <DefineArg Name="OffPeakFractionVertical">
        <Units:percent />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="ChlPeakThresh">
        <Units:microgram_per_liter />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="ChlThreshTriggerActive">
        <False />
    </DefineArg>
    <DefineArg Name="ChlLowerThresh">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="ChlUpperThresh">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="NumProfilesThresh">
        <Units:count />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="PlanktivoreLMavgROIPeakThresh">
        <Units:count_per_second />
        <Value>0</Value>
    </DefineArg>
    <DefineOutput Name="GoDown">
        <True />
    </DefineOutput>
    <DefineOutput Name="PeakChl">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChl">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChlDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChlTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChlLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChlLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3">
        <Units:micromole_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3Depth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3Latitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3Longitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOil">
        <Units:kilogram_per_cubic_meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOilDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOilLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOilLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOM">
        <Units:part_per_billion />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSalt">
        <Units:practical_salinity_unit />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROI">
        <Units:count_per_second />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROIDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROITemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROILatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROILongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROI">
        <Units:count_per_second />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROIDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROITemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROILatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROILongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROI">
        <Units:count_per_second />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROIDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROITemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROILatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROILongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatoms">
        <Units:count_per_milliliter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellates">
        <Units:count_per_milliliter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChl">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlDistance">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSalt">
        <Units:practical_salinity_unit />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltDistance">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOil">
        <Units:practical_salinity_unit />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilDistance">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="TriggeredOnChl">
        <False />
    </DefineOutput>
    <DefineOutput Name="ChlTriggering">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <Parallel />
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledAanderaaO2" />
        </While>
        <Universal:mass_concentration_of_oxygen_in_sea_water />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledNeilBrown" />
            <Or>
                <Arg Name="EnabledSeabird" />
            </Or>
        </While>
        <Universal:sea_water_temperature />
        <Universal:sea_water_salinity />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledSeabird" />
        </While>
        <Science:CTD_Seabird.sea_water_temperature />
        <Science:CTD_Seabird.sea_water_salinity />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledNeilBrown" />
            <Or>
                <Arg Name="EnabledSeabird" />
            </Or>
            <And>
                <Arg Name="UpwardDerivativeOfTemperatureActive" />
            </And>
        </While>
        <Universal:upward_derivative_of_sea_water_temperature />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledWetLabsBB2FL" />
            <Or>
                <Arg Name="PeakDetectChlActive" />
            </Or>
        </While>
        <Universal:mass_concentration_of_chlorophyll_in_sea_water />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledWetLabsUBAT" />
        </While>
        <Science:WetLabsUBAT.average_bioluminescence />
    </ReadData>
    <ReadData Id="Read_Oil" Strategy="MinError">
        <While>
            <Arg Name="EnabledWetLabsSeaOWL_UV_A" />
            <Or>
                <Arg Name="PeakDetectOilActive" />
            </Or>
        </While>
        <Universal:mass_concentration_of_petroleum_hydrocarbons_in_sea_water />
    </ReadData>
    <Aggregate Id="OceanCurrent">
        <Sequence />
        <Estimation:CurrentEstimator>
            <Parallel />
        </Estimation:CurrentEstimator>
    </Aggregate>
    <Aggregate Id="PeakDetectChl">
        <While>
            <Arg Name="PeakDetectChlActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:mass_concentration_of_chlorophyll_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakChl">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakChlDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakChlTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakChlLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakChlLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakChl" />
            <Arg Name="PeakChlDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="EdgeDetectChl">
        <While>
            <Arg Name="EdgeDetectChlActive" />
        </While>
        <Syslog Severity="Debug">EdgeDetectVsDepth</Syslog>
        <Trigger:EdgeDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:EdgeDetectVsDepth.detect />
                <Universal:mass_concentration_of_chlorophyll_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFraction />
                <Arg Name="OffPeakFractionVertical" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.peakThresh />
                <Arg Name="ChlPeakThresh" />
            </Setting>
            <OutputArg Name="GoDown">
                <Trigger:EdgeDetectVsDepth.goDown />
            </OutputArg>
            <OutputArg Name="PeakChl">
                <Trigger:EdgeDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakChlDepth">
                <Trigger:EdgeDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakChlTemperature">
                <Trigger:EdgeDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakChlLatitude">
                <Trigger:EdgeDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakChlLongitude">
                <Trigger:EdgeDetectVsDepth.peakLongitude />
            </OutputArg>
            <OutputArg Name="EdgeChl">
                <Trigger:EdgeDetectVsDepth.edgeDetect />
            </OutputArg>
            <OutputArg Name="EdgeChlDepth">
                <Trigger:EdgeDetectVsDepth.edgeDepth />
            </OutputArg>
            <OutputArg Name="EdgeChlTemperature">
                <Trigger:EdgeDetectVsDepth.edgeTemperature />
            </OutputArg>
            <OutputArg Name="EdgeChlLatitude">
                <Trigger:EdgeDetectVsDepth.edgeLatitude />
            </OutputArg>
            <OutputArg Name="EdgeChlLongitude">
                <Trigger:EdgeDetectVsDepth.edgeLongitude />
            </OutputArg>
        </Trigger:EdgeDetectVsDepth>
        <Syslog Severity="Info">
            GoDown, ChlPeakThresh, PeakChl, PeakChlDepth, EdgeChl, EdgeChlDepth = 
            <Arg Name="GoDown" />
            <Units:bool />
            , 
            <Arg Name="ChlPeakThresh" />
            <Units:microgram_per_liter />
            , 
            <Arg Name="PeakChl" />
            <Units:microgram_per_liter />
            , 
            <Arg Name="PeakChlDepth" />
            <Units:meter />
            , 
            <Arg Name="EdgeChl" />
            <Units:microgram_per_liter />
            , 
            <Arg Name="EdgeChlDepth" />
            <Units:meter />
        </Syslog>
        <SendData Service="Express">
            <Arg Name="PeakChl" />
            <Arg Name="PeakChlDepth" />
            <Arg Name="EdgeChl" />
            <Arg Name="EdgeChlDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="HighestChlPeakReport">
        <While>
            <Arg Name="HighestChlPeakReportActive" />
        </While>
        <Trigger:PeakDetectHorizontal>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectHorizontal.detectFrom />
                <Arg Name="PeakChl" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.depthFrom />
                <Arg Name="PeakChlDepth" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.latitudeFrom />
                <Arg Name="PeakChlLatitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.longitudeFrom />
                <Arg Name="PeakChlLongitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.patchTracking />
                <Arg Name="PatchTracking" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.filterWidth />
                <Arg Name="FilterWidthHorizontal" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.numProfilesSlidingwindow />
                <Arg Name="NumProfilesSlidingwindow" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.offPeakFraction />
                <Arg Name="OffPeakFractionHorizontal" />
            </Setting>
            <OutputArg Name="PatchChl">
                <Trigger:PeakDetectHorizontal.peakDetect />
            </OutputArg>
            <OutputArg Name="PatchChlDepth">
                <Trigger:PeakDetectHorizontal.peakDepth />
            </OutputArg>
            <OutputArg Name="PatchChlLatitude">
                <Trigger:PeakDetectHorizontal.peakLatitude />
            </OutputArg>
            <OutputArg Name="PatchChlLongitude">
                <Trigger:PeakDetectHorizontal.peakLongitude />
            </OutputArg>
            <OutputArg Name="PatchChlDistance">
                <Trigger:PeakDetectHorizontal.peakDistance />
            </OutputArg>
        </Trigger:PeakDetectHorizontal>
    </Aggregate>
    <Aggregate Id="PeakDetectNO3">
        <While>
            <Arg Name="PeakDetectNO3Active" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:mole_concentration_of_nitrate_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <OutputArg Name="PeakNO3">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakNO3Depth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakNO3Latitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakNO3Longitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakNO3" />
            <Arg Name="PeakNO3Depth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectOil">
        <While>
            <Arg Name="PeakDetectOilActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:mass_concentration_of_petroleum_hydrocarbons_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <OutputArg Name="PeakOil">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakOilDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakOilLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakOilLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakOil" />
            <Arg Name="PeakOilDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="HighestOilPeakReport">
        <While>
            <Arg Name="HighestOilPeakReportActive" />
        </While>
        <Trigger:PeakDetectHorizontal>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectHorizontal.detectFrom />
                <Arg Name="PeakOil" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.depthFrom />
                <Arg Name="PeakOilDepth" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.latitudeFrom />
                <Arg Name="PeakOilLatitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.longitudeFrom />
                <Arg Name="PeakOilLongitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.patchTracking />
                <Arg Name="PatchTracking" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.filterWidth />
                <Arg Name="FilterWidthHorizontal" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.numProfilesSlidingwindow />
                <Arg Name="NumProfilesSlidingwindow" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.offPeakFraction />
                <Arg Name="OffPeakFractionHorizontal" />
            </Setting>
            <OutputArg Name="PatchOil">
                <Trigger:PeakDetectHorizontal.peakDetect />
            </OutputArg>
            <OutputArg Name="PatchOilDepth">
                <Trigger:PeakDetectHorizontal.peakDepth />
            </OutputArg>
            <OutputArg Name="PatchOilLatitude">
                <Trigger:PeakDetectHorizontal.peakLatitude />
            </OutputArg>
            <OutputArg Name="PatchOilLongitude">
                <Trigger:PeakDetectHorizontal.peakLongitude />
            </OutputArg>
            <OutputArg Name="PatchOilDistance">
                <Trigger:PeakDetectHorizontal.peakDistance />
            </OutputArg>
        </Trigger:PeakDetectHorizontal>
    </Aggregate>
    <Aggregate Id="PeakDetectFDOM">
        <While>
            <Arg Name="PeakDetectFDOMActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:concentration_of_colored_dissolved_organic_matter_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <OutputArg Name="PeakFDOM">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakFDOMDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakFDOMTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakFDOMLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakFDOMLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakFDOM" />
            <Arg Name="PeakFDOMDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectSalinity">
        <While>
            <Arg Name="PeakDetectSalinityActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:sea_water_salinity />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakSalt">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakSaltDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakSaltTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakSaltLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakSaltLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakSalt" />
            <Arg Name="PeakSaltDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="HighestSaltPeakReport">
        <While>
            <Arg Name="HighestSaltPeakReportActive" />
        </While>
        <Trigger:PeakDetectHorizontal>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectHorizontal.detectFrom />
                <Arg Name="PeakSalt" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.depthFrom />
                <Arg Name="PeakSaltDepth" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.latitudeFrom />
                <Arg Name="PeakSaltLatitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.longitudeFrom />
                <Arg Name="PeakSaltLongitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.patchTracking />
                <Arg Name="PatchTracking" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.filterWidth />
                <Arg Name="FilterWidthHorizontal" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.numProfilesSlidingwindow />
                <Arg Name="NumProfilesSlidingwindow" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.offPeakFraction />
                <Arg Name="OffPeakFractionHorizontal" />
            </Setting>
            <OutputArg Name="PatchSalt">
                <Trigger:PeakDetectHorizontal.peakDetect />
            </OutputArg>
            <OutputArg Name="PatchSaltDepth">
                <Trigger:PeakDetectHorizontal.peakDepth />
            </OutputArg>
            <OutputArg Name="PatchSaltLatitude">
                <Trigger:PeakDetectHorizontal.peakLatitude />
            </OutputArg>
            <OutputArg Name="PatchSaltLongitude">
                <Trigger:PeakDetectHorizontal.peakLongitude />
            </OutputArg>
            <OutputArg Name="PatchSaltDistance">
                <Trigger:PeakDetectHorizontal.peakDistance />
            </OutputArg>
        </Trigger:PeakDetectHorizontal>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreLMavgROI">
        <While>
            <Arg Name="PeakDetectPlanktivoreLMavgROIActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_LM_AvgRois</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreLMavgROI">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROIDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROITemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROILatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROILongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreLMavgROI" />
            <Arg Name="PeakPlanktivoreLMavgROIDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="EdgeDetectPlanktivoreLMavgROI">
        <While>
            <Arg Name="EdgeDetectPlanktivoreLMavgROIActive" />
        </While>
        <Syslog Severity="Debug">EdgeDetectVsDepth</Syslog>
        <Trigger:EdgeDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:EdgeDetectVsDepth.detect />
                <String>_.planktivore_LM_AvgRois</String>
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFraction />
                <Arg Name="OffPeakFractionVertical" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.peakThresh />
                <Arg Name="PlanktivoreLMavgROIPeakThresh" />
            </Setting>
            <OutputArg Name="GoDown">
                <Trigger:EdgeDetectVsDepth.goDown />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROI">
                <Trigger:EdgeDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROIDepth">
                <Trigger:EdgeDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROITemperature">
                <Trigger:EdgeDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROILatitude">
                <Trigger:EdgeDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROILongitude">
                <Trigger:EdgeDetectVsDepth.peakLongitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROI">
                <Trigger:EdgeDetectVsDepth.edgeDetect />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROIDepth">
                <Trigger:EdgeDetectVsDepth.edgeDepth />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROITemperature">
                <Trigger:EdgeDetectVsDepth.edgeTemperature />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROILatitude">
                <Trigger:EdgeDetectVsDepth.edgeLatitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROILongitude">
                <Trigger:EdgeDetectVsDepth.edgeLongitude />
            </OutputArg>
        </Trigger:EdgeDetectVsDepth>
        <Syslog Severity="Important">
            GoDown, PlanktivoreLMavgROIPeakThresh, PeakPlanktivoreLMavgROI, PeakPlanktivoreLMavgROIDepth, EdgePlanktivoreLMavgROI, EdgePlanktivoreLMavgROIDepth = 
            <Arg Name="GoDown" />
            <Units:bool />
            , 
            <Arg Name="PlanktivoreLMavgROIPeakThresh" />
            <Units:microgram_per_liter />
            , 
            <Arg Name="PeakPlanktivoreLMavgROI" />
            <Units:microgram_per_liter />
            , 
            <Arg Name="PeakPlanktivoreLMavgROIDepth" />
            <Units:meter />
            , 
            <Arg Name="EdgePlanktivoreLMavgROI" />
            <Units:microgram_per_liter />
            , 
            <Arg Name="EdgePlanktivoreLMavgROIDepth" />
            <Units:meter />
        </Syslog>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreLMavgROI" />
            <Arg Name="PeakPlanktivoreLMavgROIDepth" />
            <Arg Name="EdgePlanktivoreLMavgROI" />
            <Arg Name="EdgePlanktivoreLMavgROIDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreHMavgROI">
        <While>
            <Arg Name="PeakDetectPlanktivoreHMavgROIActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_HM_AvgRois</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreHMavgROI">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROIDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROITemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROILatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROILongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreHMavgROI" />
            <Arg Name="PeakPlanktivoreHMavgROIDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreDiatoms">
        <While>
            <Arg Name="PeakDetectPlanktivoreDiatomsActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_diatoms</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreDiatoms">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreDiatoms" />
            <Arg Name="PeakPlanktivoreDiatomsDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreDinoflagellates">
        <While>
            <Arg Name="PeakDetectPlanktivoreDinoflagellatesActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_dinoflagellates</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreDinoflagellates">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreDinoflagellates" />
            <Arg Name="PeakPlanktivoreDinoflagellatesDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="ChlThreshTrigger">
        <While>
            <Arg Name="ChlThreshTriggerActive" />
        </While>
        <Trigger:ValueDetect>
            <Sequence />
            <Setting>
                <Trigger:ValueDetect.detect />
                <Arg Name="PeakChl" />
            </Setting>
            <Setting>
                <Trigger:ValueDetect.lowerThreshold />
                <Arg Name="ChlLowerThresh" />
            </Setting>
            <Setting>
                <Trigger:ValueDetect.upperThreshold />
                <Arg Name="ChlUpperThresh" />
            </Setting>
            <Setting>
                <Trigger:ValueDetect.numProfilesThreshold />
                <Arg Name="NumProfilesThresh" />
            </Setting>
            <OutputArg Name="ChlTriggering">
                <Trigger:ValueDetect.outputValue />
            </OutputArg>
        </Trigger:ValueDetect>
        <Assign>
            <Sequence />
            <Arg Name="TriggeredOnChl" />
            <True />
        </Assign>
        <Syslog Severity="Important">
            Triggered. PeakChl values on 
            <Arg Name="NumProfilesThresh" />
            <Units:count />
             consecutive yo-yo profiles fall in [
            <Arg Name="ChlLowerThresh" />
            <Units:microgram_per_liter />
            <Arg Name="ChlUpperThresh" />
            <Units:microgram_per_liter />
            ] (NaN bound is ignored).
        </Syslog>
    </Aggregate>
</Aggregate>

2025-03-13T10:03:59.421Z,1741860239.421 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.PeakDetectChlActive = 0 bool
2025-03-13T10:03:59.428Z,1741860239.428 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.EdgeDetectChlActive = 0 bool
2025-03-13T10:03:59.430Z,1741860239.430 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.TimeWindowPeakReport = nan min
2025-03-13T10:03:59.436Z,1741860239.436 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.HighestChlPeakReportActive = 0 bool
2025-03-13T10:03:59.438Z,1741860239.438 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.HighestSaltPeakReportActive = 0 bool
2025-03-13T10:03:59.468Z,1741860239.468 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.HighestOilPeakReportActive = 0 bool
2025-03-13T10:03:59.470Z,1741860239.470 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.PatchTracking = 0 bool
2025-03-13T10:03:59.481Z,1741860239.481 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.FilterWidthHorizontal = 3.000000 count
2025-03-13T10:03:59.487Z,1741860239.487 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.NumProfilesSlidingwindow = 100.000000 count
2025-03-13T10:03:59.490Z,1741860239.490 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.OffPeakFractionHorizontal = 80.000000 %
2025-03-13T10:03:59.500Z,1741860239.500 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.PeakDetectNO3Active = 0 bool
2025-03-13T10:03:59.502Z,1741860239.502 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.PeakDetectOilActive = 0 bool
2025-03-13T10:03:59.519Z,1741860239.519 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.PeakDetectFDOMActive = 0 bool
2025-03-13T10:03:59.521Z,1741860239.521 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.PeakDetectSalinityActive = 0 bool
2025-03-13T10:03:59.528Z,1741860239.528 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.PeakDetectPlanktivoreLMavgROIActive = 0 bool
2025-03-13T10:03:59.530Z,1741860239.530 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.EdgeDetectPlanktivoreLMavgROIActive = 0 bool
2025-03-13T10:03:59.536Z,1741860239.536 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.PeakDetectPlanktivoreHMavgROIActive = 0 bool
2025-03-13T10:03:59.538Z,1741860239.538 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.PeakDetectPlanktivoreDiatomsActive = 0 bool
2025-03-13T10:03:59.541Z,1741860239.541 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.PeakDetectPlanktivoreDinoflagellatesActive = 0 bool
2025-03-13T10:03:59.555Z,1741860239.555 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2025-03-13T10:03:59.558Z,1741860239.558 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.EnabledAanderaaO2 = 0 bool
2025-03-13T10:03:59.569Z,1741860239.569 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.EnabledNeilBrown = 0 bool
2025-03-13T10:03:59.576Z,1741860239.576 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.EnabledSeabird = 1 bool
2025-03-13T10:03:59.579Z,1741860239.579 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.EnabledWetLabsBB2FL = 1 bool
2025-03-13T10:03:59.586Z,1741860239.586 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.EnabledWetLabsSeaOWL_UV_A = 0 bool
2025-03-13T10:03:59.600Z,1741860239.600 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.EnabledWetLabsUBAT = 0 bool
2025-03-13T10:03:59.603Z,1741860239.603 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.LowPassWindowLength = 20.000000 count
2025-03-13T10:03:59.609Z,1741860239.609 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.MedianFilterLen = 5.000000 count
2025-03-13T10:03:59.620Z,1741860239.620 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.ShallowBound = nan m
2025-03-13T10:03:59.622Z,1741860239.622 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.DeepBound = nan m
2025-03-13T10:03:59.628Z,1741860239.628 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.DepChangeThreshForAttitudeFlip = 2.000000 m
2025-03-13T10:03:59.631Z,1741860239.631 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.OffPeakFractionVertical = nan %
2025-03-13T10:03:59.641Z,1741860239.641 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.ChlPeakThresh = 0.000000 ug/l
2025-03-13T10:03:59.648Z,1741860239.648 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.ChlThreshTriggerActive = 0 bool
2025-03-13T10:03:59.650Z,1741860239.650 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.ChlLowerThresh = nan ug/l
2025-03-13T10:03:59.656Z,1741860239.656 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.ChlUpperThresh = nan ug/l
2025-03-13T10:03:59.658Z,1741860239.658 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.NumProfilesThresh = 5.000000 count
2025-03-13T10:03:59.666Z,1741860239.666 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.PlanktivoreLMavgROIPeakThresh = 0.000000 count/s
2025-03-13T10:03:59.669Z,1741860239.669 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.GoDown = 1 bool
2025-03-13T10:03:59.671Z,1741860239.671 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakChl = nan ug/l
2025-03-13T10:03:59.673Z,1741860239.673 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakChlDepth = nan m
2025-03-13T10:03:59.692Z,1741860239.692 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakChlTemperature = nan degC
2025-03-13T10:03:59.694Z,1741860239.694 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakChlLatitude = nan arcdeg
2025-03-13T10:03:59.697Z,1741860239.697 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakChlLongitude = nan arcdeg
2025-03-13T10:03:59.699Z,1741860239.699 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.EdgeChl = nan ug/l
2025-03-13T10:03:59.718Z,1741860239.718 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.EdgeChlDepth = nan m
2025-03-13T10:03:59.721Z,1741860239.721 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.EdgeChlTemperature = nan degC
2025-03-13T10:03:59.723Z,1741860239.723 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.EdgeChlLatitude = nan arcdeg
2025-03-13T10:03:59.725Z,1741860239.725 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.EdgeChlLongitude = nan arcdeg
2025-03-13T10:03:59.749Z,1741860239.749 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakNO3 = nan umol/l
2025-03-13T10:03:59.753Z,1741860239.753 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakNO3Depth = nan m
2025-03-13T10:03:59.755Z,1741860239.755 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakNO3Latitude = nan arcdeg
2025-03-13T10:03:59.758Z,1741860239.758 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakNO3Longitude = nan arcdeg
2025-03-13T10:03:59.760Z,1741860239.760 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakOil = nan kg/m3
2025-03-13T10:03:59.762Z,1741860239.762 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakOilDepth = nan m
2025-03-13T10:03:59.819Z,1741860239.819 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakOilLatitude = nan arcdeg
2025-03-13T10:03:59.821Z,1741860239.821 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakOilLongitude = nan arcdeg
2025-03-13T10:03:59.824Z,1741860239.824 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakFDOM = nan ppb
2025-03-13T10:03:59.826Z,1741860239.826 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakFDOMDepth = nan m
2025-03-13T10:03:59.845Z,1741860239.845 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakFDOMTemperature = nan degC
2025-03-13T10:03:59.847Z,1741860239.847 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakFDOMLatitude = nan arcdeg
2025-03-13T10:03:59.849Z,1741860239.849 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakFDOMLongitude = nan arcdeg
2025-03-13T10:03:59.867Z,1741860239.867 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakSalt = nan psu
2025-03-13T10:03:59.869Z,1741860239.869 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakSaltDepth = nan m
2025-03-13T10:03:59.872Z,1741860239.872 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakSaltTemperature = nan degC
2025-03-13T10:03:59.874Z,1741860239.874 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakSaltLatitude = nan arcdeg
2025-03-13T10:03:59.893Z,1741860239.893 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakSaltLongitude = nan arcdeg
2025-03-13T10:03:59.895Z,1741860239.895 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreLMavgROI = nan count/s
2025-03-13T10:03:59.897Z,1741860239.897 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreLMavgROIDepth = nan m
2025-03-13T10:03:59.915Z,1741860239.915 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreLMavgROITemperature = nan degC
2025-03-13T10:03:59.918Z,1741860239.918 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreLMavgROILatitude = nan arcdeg
2025-03-13T10:03:59.920Z,1741860239.920 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreLMavgROILongitude = nan arcdeg
2025-03-13T10:03:59.922Z,1741860239.922 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.EdgePlanktivoreLMavgROI = nan count/s
2025-03-13T10:03:59.937Z,1741860239.937 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.EdgePlanktivoreLMavgROIDepth = nan m
2025-03-13T10:03:59.940Z,1741860239.940 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.EdgePlanktivoreLMavgROITemperature = nan degC
2025-03-13T10:03:59.942Z,1741860239.942 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.EdgePlanktivoreLMavgROILatitude = nan arcdeg
2025-03-13T10:03:59.953Z,1741860239.953 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.EdgePlanktivoreLMavgROILongitude = nan arcdeg
2025-03-13T10:03:59.956Z,1741860239.956 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreHMavgROI = nan count/s
2025-03-13T10:03:59.958Z,1741860239.958 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreHMavgROIDepth = nan m
2025-03-13T10:03:59.973Z,1741860239.973 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreHMavgROITemperature = nan degC
2025-03-13T10:03:59.980Z,1741860239.980 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreHMavgROILatitude = nan arcdeg
2025-03-13T10:03:59.982Z,1741860239.982 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreHMavgROILongitude = nan arcdeg
2025-03-13T10:03:59.989Z,1741860239.989 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreDiatoms = nan count/ml
2025-03-13T10:03:59.996Z,1741860239.996 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreDiatomsDepth = nan m
2025-03-13T10:03:59.998Z,1741860239.998 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreDiatomsTemperature = nan degC
2025-03-13T10:04:00.005Z,1741860240.005 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreDiatomsLatitude = nan arcdeg
2025-03-13T10:04:00.011Z,1741860240.011 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreDiatomsLongitude = nan arcdeg
2025-03-13T10:04:00.014Z,1741860240.014 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreDinoflagellates = nan count/ml
2025-03-13T10:04:00.017Z,1741860240.017 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreDinoflagellatesDepth = nan m
2025-03-13T10:04:00.027Z,1741860240.027 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreDinoflagellatesTemperature = nan degC
2025-03-13T10:04:00.029Z,1741860240.029 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreDinoflagellatesLatitude = nan arcdeg
2025-03-13T10:04:00.033Z,1741860240.033 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreDinoflagellatesLongitude = nan arcdeg
2025-03-13T10:04:00.043Z,1741860240.043 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchChl = nan ug/l
2025-03-13T10:04:00.046Z,1741860240.046 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchChlDepth = nan m
2025-03-13T10:04:00.048Z,1741860240.048 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchChlLatitude = nan arcdeg
2025-03-13T10:04:00.051Z,1741860240.051 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchChlLongitude = nan arcdeg
2025-03-13T10:04:00.061Z,1741860240.061 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchChlDistance = nan m
2025-03-13T10:04:00.068Z,1741860240.068 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchSalt = nan psu
2025-03-13T10:04:00.070Z,1741860240.070 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchSaltDepth = nan m
2025-03-13T10:04:00.077Z,1741860240.077 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchSaltLatitude = nan arcdeg
2025-03-13T10:04:00.088Z,1741860240.088 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchSaltLongitude = nan arcdeg
2025-03-13T10:04:00.090Z,1741860240.090 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchSaltDistance = nan m
2025-03-13T10:04:00.093Z,1741860240.093 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchOil = nan psu
2025-03-13T10:04:00.099Z,1741860240.099 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchOilDepth = nan m
2025-03-13T10:04:00.102Z,1741860240.102 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchOilLatitude = nan arcdeg
2025-03-13T10:04:00.120Z,1741860240.120 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchOilLongitude = nan arcdeg
2025-03-13T10:04:00.122Z,1741860240.122 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchOilDistance = nan m
2025-03-13T10:04:00.129Z,1741860240.129 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.TriggeredOnChl = 0 bool
2025-03-13T10:04:00.140Z,1741860240.140 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.ChlTriggering = nan ug/l
2025-03-13T10:04:00.174Z,1741860240.174 [sci2_noyo_optim:Science:PeakDetectChl:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-03-13T10:04:00.254Z,1741860240.254 [sci2_noyo_optim:Science:EdgeDetectChl:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-03-13T10:04:00.308Z,1741860240.308 [sci2_noyo_optim:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-03-13T10:04:00.338Z,1741860240.338 [sci2_noyo_optim:Science:PeakDetectNO3:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-03-13T10:04:00.372Z,1741860240.372 [sci2_noyo_optim:Science:PeakDetectOil:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-03-13T10:04:00.400Z,1741860240.400 [sci2_noyo_optim:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-03-13T10:04:00.429Z,1741860240.429 [sci2_noyo_optim:Science:PeakDetectFDOM:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-03-13T10:04:00.477Z,1741860240.477 [sci2_noyo_optim:Science:PeakDetectSalinity:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-03-13T10:04:00.512Z,1741860240.512 [sci2_noyo_optim:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-03-13T10:04:00.545Z,1741860240.545 [sci2_noyo_optim:Science:PeakDetectPlanktivoreLMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-03-13T10:04:00.574Z,1741860240.574 [sci2_noyo_optim:Science:EdgeDetectPlanktivoreLMavgROI:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-03-13T10:04:00.666Z,1741860240.666 [sci2_noyo_optim:Science:PeakDetectPlanktivoreHMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-03-13T10:04:00.698Z,1741860240.698 [sci2_noyo_optim:Science:PeakDetectPlanktivoreDiatoms:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-03-13T10:04:00.723Z,1741860240.723 [sci2_noyo_optim:Science:PeakDetectPlanktivoreDinoflagellates:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-03-13T10:04:00.747Z,1741860240.747 [sci2_noyo_optim:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Construct ValueDetect.
2025-03-13T10:04:00.762Z,1741860240.762 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-03-13T10:04:00.762Z,1741860240.762 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-03-13T10:04:00.763Z,1741860240.763 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-03-13T10:04:00.859Z,1741860240.859 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/StandardEnvelopes.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="StandardEnvelopes">
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="MaxDepthIgnore">
        <Units:meter />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>200</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:meter />
        <Value>2000</Value>
    </DefineArg>
    <Parallel />
    <Guidance:AltitudeEnvelope>
        <Parallel />
        <Setting>
            <Guidance:AltitudeEnvelope.minAltitude />
            <Arg Name="MinAltitude" />
        </Setting>
        <Setting>
            <Guidance:AltitudeEnvelope.maxDepthIgnore />
            <Arg Name="MaxDepthIgnore" />
        </Setting>
    </Guidance:AltitudeEnvelope>
    <Guidance:DepthEnvelope>
        <Parallel />
        <Setting>
            <Guidance:DepthEnvelope.maxDepth />
            <Arg Name="MaxDepth" />
        </Setting>
    </Guidance:DepthEnvelope>
    <Guidance:OffshoreEnvelope>
        <Parallel />
        <Setting>
            <Guidance:OffshoreEnvelope.minOffshore />
            <Arg Name="MinOffshore" />
        </Setting>
    </Guidance:OffshoreEnvelope>
</Aggregate>

2025-03-13T10:04:00.863Z,1741860240.863 [MissionManager](INFO): DefineArg sci2_noyo_optim:StandardEnvelopes.MinAltitude = 5.000000 m
2025-03-13T10:04:00.865Z,1741860240.865 [MissionManager](INFO): DefineArg sci2_noyo_optim:StandardEnvelopes.MaxDepthIgnore = 0.000000 m
2025-03-13T10:04:00.868Z,1741860240.868 [MissionManager](INFO): DefineArg sci2_noyo_optim:StandardEnvelopes.MaxDepth = 200.000000 m
2025-03-13T10:04:00.870Z,1741860240.870 [MissionManager](INFO): DefineArg sci2_noyo_optim:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-03-13T10:04:00.873Z,1741860240.873 [sci2_noyo_optim:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-03-13T10:04:00.881Z,1741860240.881 [sci2_noyo_optim:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-03-13T10:04:00.890Z,1741860240.890 [sci2_noyo_optim:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-03-13T10:04:00.898Z,1741860240.898 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl
2025-03-13T10:04:00.899Z,1741860240.899 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl
2025-03-13T10:04:00.934Z,1741860240.934 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl
2025-03-13T10:04:01.191Z,1741860241.191 [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>

2025-03-13T10:04:01.196Z,1741860241.196 [MissionManager](INFO): DefineArg sci2_noyo_optim:NeedComms.DiveInterval = 1.000000 h
2025-03-13T10:04:01.199Z,1741860241.199 [MissionManager](INFO): DefineArg sci2_noyo_optim:NeedComms.WaitForPitchUp = 10.000000 min
2025-03-13T10:04:01.201Z,1741860241.201 [MissionManager](INFO): DefineArg sci2_noyo_optim:NeedComms.SurfacePitch = 20.000000 arcdeg
2025-03-13T10:04:01.204Z,1741860241.204 [MissionManager](INFO): DefineArg sci2_noyo_optim:NeedComms.SurfaceDepthRate = nan m/s
2025-03-13T10:04:01.206Z,1741860241.206 [MissionManager](INFO): DefineArg sci2_noyo_optim:NeedComms.SurfaceSpeed = 1.000000 m/s
2025-03-13T10:04:01.208Z,1741860241.208 [MissionManager](INFO): DefineArg sci2_noyo_optim:NeedComms.SurfacingTimeout = 1000.000000 s
2025-03-13T10:04:01.211Z,1741860241.211 [MissionManager](INFO): DefineArg sci2_noyo_optim:NeedComms.GPSTimeout = 7.000000 min
2025-03-13T10:04:01.245Z,1741860241.245 [MissionManager](INFO): DefineArg sci2_noyo_optim:NeedComms.CommsTimeout = 30.000000 min
2025-03-13T10:04:01.260Z,1741860241.260 [sci2_noyo_optim:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2025-03-13T10:04:01.292Z,1741860241.292 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2025-03-13T10:04:01.292Z,1741860241.292 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2025-03-13T10:04:01.293Z,1741860241.293 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2025-03-13T10:04:01.313Z,1741860241.313 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/BackseatDriver.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="BackseatDriver">
    <DefineArg Name="EnableBackseat">
        <False />
    </DefineArg>
    <Parallel />
    <Guidance:BackseatDriver>
        <Sequence />
        <Setting>
            <Guidance:BackseatDriver.powerBackseat />
            <Arg Name="EnableBackseat" />
        </Setting>
    </Guidance:BackseatDriver>
</Aggregate>

2025-03-13T10:04:01.326Z,1741860241.326 [MissionManager](INFO): DefineArg sci2_noyo_optim:BackseatDriver.EnableBackseat = 0 bool
2025-03-13T10:04:01.328Z,1741860241.328 [sci2_noyo_optim:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2025-03-13T10:04:01.332Z,1741860241.332 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2025-03-13T10:04:01.332Z,1741860241.332 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2025-03-13T10:04:01.333Z,1741860241.333 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2025-03-13T10:04:01.517Z,1741860241.517 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/PowerOnly.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="PowerOnly">
    <DefineArg Name="SampleAll">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad1">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad2">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad3">
        <False />
    </DefineArg>
    <DefineArg Name="EnabledPowerOnly">
        <Sensor:PowerOnly.loadAtStartup />
    </DefineArg>
    <Parallel />
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleAll" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.samplePowerOnly />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad1" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad1 />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad2" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad2 />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad3" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad3 />
    </ReadData>
    <Guidance:Wait>
        <Sequence />
        <Setting>
            <Guidance:Wait.duration />
            <Units:hour />
            <Value>99999</Value>
        </Setting>
    </Guidance:Wait>
</Aggregate>

2025-03-13T10:04:01.521Z,1741860241.521 [MissionManager](INFO): DefineArg sci2_noyo_optim:PowerOnly.SampleAll = 0 bool
2025-03-13T10:04:01.522Z,1741860241.522 [MissionManager](INFO): DefineArg sci2_noyo_optim:PowerOnly.SampleLoad1 = 0 bool
2025-03-13T10:04:01.538Z,1741860241.538 [MissionManager](INFO): DefineArg sci2_noyo_optim:PowerOnly.SampleLoad2 = 0 bool
2025-03-13T10:04:01.540Z,1741860241.540 [MissionManager](INFO): DefineArg sci2_noyo_optim:PowerOnly.SampleLoad3 = 0 bool
2025-03-13T10:04:01.542Z,1741860241.542 [MissionManager](INFO): DefineArg sci2_noyo_optim:PowerOnly.EnabledPowerOnly = 1 bool
2025-03-13T10:04:01.549Z,1741860241.549 [sci2_noyo_optim:PowerOnly:E.Wait](DEBUG): Construct Wait.
2025-03-13T10:04:01.556Z,1741860241.556 [sci2_noyo_optim:O.Buoyancy](DEBUG): Construct Buoyancy.
2025-03-13T10:04:01.570Z,1741860241.570 [sci2_noyo_optim:DiveCmd:InitialDive:dive:C.Mass](DEBUG): Construct.
2025-03-13T10:04:01.574Z,1741860241.574 [sci2_noyo_optim:DiveCmd:InitialDive:dive:E.Wait](DEBUG): Construct Wait.
2025-03-13T10:04:01.597Z,1741860241.597 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:A.SetSpeed](DEBUG): Construct.
2025-03-13T10:04:01.600Z,1741860241.600 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:B.Pitch](DEBUG): Construct.
2025-03-13T10:04:01.610Z,1741860241.610 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:B.Pitch:A_Timeout:B.Execute](DEBUG): Construct Execute.
2025-03-13T10:04:01.621Z,1741860241.621 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:B.Pitch](DEBUG): Construct.
2025-03-13T10:04:01.626Z,1741860241.626 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:C.Wait](DEBUG): Construct Wait.
2025-03-13T10:04:01.638Z,1741860241.638 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass](DEBUG): Construct.
2025-03-13T10:04:01.641Z,1741860241.641 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed](DEBUG): Construct.
2025-03-13T10:04:01.643Z,1741860241.643 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:B.Pitch](DEBUG): Construct.
2025-03-13T10:04:01.652Z,1741860241.652 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:A.SetSpeed](DEBUG): Construct.
2025-03-13T10:04:01.656Z,1741860241.656 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:C.Buoyancy](DEBUG): Construct Buoyancy.
2025-03-13T10:04:01.659Z,1741860241.659 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:D.Pitch](DEBUG): Construct.
2025-03-13T10:04:01.670Z,1741860241.670 [sci2_noyo_optim:Lap:DepthByLap:Wpt1:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T10:04:01.678Z,1741860241.678 [sci2_noyo_optim:Lap:DepthByLap:Wpt2:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T10:04:01.701Z,1741860241.701 [sci2_noyo_optim:Lap:DepthByLap:Wpt3:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T10:04:01.707Z,1741860241.707 [sci2_noyo_optim:Lap:DepthByLap:Wpt4:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T10:04:01.713Z,1741860241.713 [sci2_noyo_optim:Lap:DepthByLap:Wpt5:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T10:04:01.718Z,1741860241.718 [sci2_noyo_optim:Lap:DepthByLap:Wpt6:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T10:04:01.725Z,1741860241.725 [sci2_noyo_optim:Lap:DepthByLap:Wpt7:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T10:04:01.731Z,1741860241.731 [sci2_noyo_optim:Lap:DepthByLap:Wpt8:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T10:04:01.749Z,1741860241.749 [sci2_noyo_optim:Lap:DepthByLap:Leg2:Wpt1:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T10:04:01.755Z,1741860241.755 [sci2_noyo_optim:Lap:DepthByLap:Leg2:Wpt2:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T10:04:01.761Z,1741860241.761 [sci2_noyo_optim:Lap:DepthByLap:Leg2:Wpt3:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T10:04:01.766Z,1741860241.766 [sci2_noyo_optim:Lap:DepthByLap:Leg2:Wpt4:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T10:04:01.772Z,1741860241.772 [sci2_noyo_optim:Lap:DepthByLap:Leg2:Wpt5:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T10:04:01.777Z,1741860241.777 [sci2_noyo_optim:Lap:DepthByLap:Leg2:Wpt6:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T10:04:01.783Z,1741860241.783 [sci2_noyo_optim:Lap:DepthByLap:Leg2:Wpt7:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T10:04:01.831Z,1741860241.831 [sci2_noyo_optim:Lap:DepthByLap:Leg2:Wpt8:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T10:04:01.864Z,1741860241.864 [sci2_noyo_optim:Lap:DepthByLap:Leg3:Wpt1:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T10:04:01.880Z,1741860241.880 [sci2_noyo_optim:Lap:DepthByLap:Leg3:Wpt2:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T10:04:01.890Z,1741860241.890 [sci2_noyo_optim:Lap:DepthByLap:Leg3:Wpt3:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T10:04:01.896Z,1741860241.896 [sci2_noyo_optim:Lap:DepthByLap:Leg3:Wpt4:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T10:04:01.901Z,1741860241.901 [sci2_noyo_optim:Lap:DepthByLap:Leg3:Wpt5:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T10:04:01.907Z,1741860241.907 [sci2_noyo_optim:Lap:DepthByLap:Leg3:Wpt6:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T10:04:01.913Z,1741860241.913 [sci2_noyo_optim:Lap:DepthByLap:Leg3:Wpt7:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T10:04:01.918Z,1741860241.918 [sci2_noyo_optim:Lap:DepthByLap:Leg3:Wpt8:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T10:04:01.928Z,1741860241.928 [sci2_noyo_optim:Lap:DepthByLap:Leg4:Wpt1:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T10:04:01.933Z,1741860241.933 [sci2_noyo_optim:Lap:DepthByLap:Leg4:Wpt2:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T10:04:01.939Z,1741860241.939 [sci2_noyo_optim:Lap:DepthByLap:Leg4:Wpt3:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T10:04:01.958Z,1741860241.958 [sci2_noyo_optim:Lap:DepthByLap:Leg4:Wpt4:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T10:04:01.965Z,1741860241.965 [sci2_noyo_optim:Lap:DepthByLap:Leg4:Wpt5:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T10:04:01.970Z,1741860241.970 [sci2_noyo_optim:Lap:DepthByLap:Leg4:Wpt6:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T10:04:01.977Z,1741860241.977 [sci2_noyo_optim:Lap:DepthByLap:Leg4:Wpt7:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T10:04:01.983Z,1741860241.983 [sci2_noyo_optim:Lap:DepthByLap:Leg4:Wpt8:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T10:04:02.001Z,1741860242.001 [sci2_noyo_optim:Lap:DepthByLap:Leg5:Wpt1:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T10:04:02.007Z,1741860242.007 [sci2_noyo_optim:Lap:DepthByLap:Leg5:Wpt2:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T10:04:02.013Z,1741860242.013 [sci2_noyo_optim:Lap:DepthByLap:Leg5:Wpt3:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T10:04:02.018Z,1741860242.018 [sci2_noyo_optim:Lap:DepthByLap:Leg5:Wpt4:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T10:04:02.024Z,1741860242.024 [sci2_noyo_optim:Lap:DepthByLap:Leg5:Wpt5:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T10:04:02.029Z,1741860242.029 [sci2_noyo_optim:Lap:DepthByLap:Leg5:Wpt6:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T10:04:02.034Z,1741860242.034 [sci2_noyo_optim:Lap:DepthByLap:Leg5:Wpt7:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T10:04:02.040Z,1741860242.040 [sci2_noyo_optim:Lap:DepthByLap:Leg5:Wpt8:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T10:04:02.060Z,1741860242.060 [sci2_noyo_optim:Lap:DepthByLap:Leg6:Wpt1:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T10:04:02.065Z,1741860242.065 [sci2_noyo_optim:Lap:DepthByLap:Leg6:Wpt2:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T10:04:02.070Z,1741860242.070 [sci2_noyo_optim:Lap:DepthByLap:Leg6:Wpt3:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T10:04:02.081Z,1741860242.081 [sci2_noyo_optim:Lap:DepthByLap:Leg6:Wpt4:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T10:04:02.086Z,1741860242.086 [sci2_noyo_optim:Lap:DepthByLap:Leg6:Wpt5:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T10:04:02.092Z,1741860242.092 [sci2_noyo_optim:Lap:DepthByLap:Leg6:Wpt6:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T10:04:02.108Z,1741860242.108 [sci2_noyo_optim:Lap:DepthByLap:Leg6:Wpt7:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T10:04:02.113Z,1741860242.113 [sci2_noyo_optim:Lap:DepthByLap:Leg6:Wpt8:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T10:04:02.122Z,1741860242.122 [sci2_noyo_optim:Lap:DepthByLap:Leg7:Wpt1:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T10:04:02.128Z,1741860242.128 [sci2_noyo_optim:Lap:DepthByLap:Leg7:Wpt2:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T10:04:02.133Z,1741860242.133 [sci2_noyo_optim:Lap:DepthByLap:Leg7:Wpt3:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T10:04:02.138Z,1741860242.138 [sci2_noyo_optim:Lap:DepthByLap:Leg7:Wpt4:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T10:04:02.144Z,1741860242.144 [sci2_noyo_optim:Lap:DepthByLap:Leg7:Wpt5:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T10:04:02.159Z,1741860242.159 [sci2_noyo_optim:Lap:DepthByLap:Leg7:Wpt6:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T10:04:02.165Z,1741860242.165 [sci2_noyo_optim:Lap:DepthByLap:Leg7:Wpt7:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T10:04:02.170Z,1741860242.170 [sci2_noyo_optim:Lap:DepthByLap:Leg7:Wpt8:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T10:04:02.179Z,1741860242.179 [sci2_noyo_optim:Lap:DepthByLap:Leg8:Wpt1:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T10:04:02.184Z,1741860242.184 [sci2_noyo_optim:Lap:DepthByLap:Leg8:Wpt2:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T10:04:02.190Z,1741860242.190 [sci2_noyo_optim:Lap:DepthByLap:Leg8:Wpt3:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T10:04:02.195Z,1741860242.195 [sci2_noyo_optim:Lap:DepthByLap:Leg8:Wpt4:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T10:04:02.249Z,1741860242.249 [sci2_noyo_optim:Lap:DepthByLap:Leg8:Wpt5:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T10:04:02.254Z,1741860242.254 [sci2_noyo_optim:Lap:DepthByLap:Leg8:Wpt6:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T10:04:02.268Z,1741860242.268 [sci2_noyo_optim:Lap:DepthByLap:Leg8:Wpt7:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T10:04:02.273Z,1741860242.273 [sci2_noyo_optim:Lap:DepthByLap:Leg8:Wpt8:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T10:04:02.290Z,1741860242.290 [sci2_noyo_optim:Lap:DepthByLeg:Leg1:B.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T10:04:02.307Z,1741860242.307 [sci2_noyo_optim:Lap:DepthByLeg:Leg2:Wpt2:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T10:04:02.337Z,1741860242.337 [sci2_noyo_optim:Lap:DepthByLeg:Leg3:Wpt3:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T10:04:02.346Z,1741860242.346 [sci2_noyo_optim:Lap:DepthByLeg:Leg4:Wpt4:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T10:04:02.355Z,1741860242.355 [sci2_noyo_optim:Lap:DepthByLeg:Leg5:Wpt5:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T10:04:02.369Z,1741860242.369 [sci2_noyo_optim:Lap:DepthByLeg:Leg6:Wpt6:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T10:04:02.378Z,1741860242.378 [sci2_noyo_optim:Lap:DepthByLeg:Leg7:Wpt7:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T10:04:02.387Z,1741860242.387 [sci2_noyo_optim:Lap:DepthByLeg:Leg8:Wpt8:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T10:04:02.493Z,1741860242.493 [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 sci2_noyo_optim {
  """
  Vehicle transits to the specified waypoints at the commanded depth
  (flat-and-level, no yoyos) with science, Optim camera, and multiray
  lights on.
  """

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

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

    Depth1 = 35 meter
      """
      Depth of flat and level flight during the mission for the first transit leg or lap.
      """

    Depth[2..8] = NaN meter
      """
      Depth of flat and level flight during the mission for subsequent transit legs or laps.
      Skipped if NaN.
      """

    DepthPerLeg = false
      """
      Indicates whether additional depths correspond to laps (cycle through all waypoints at
      each depth, default) or legs (use depth for transit leg ending at corresponding waypoint,
      each lap repeats all depths and waypoints).
      """

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

    Lat[1..8] = NaN degree
      """
      Latitude of waypoint {$}. If nan, waypoint is skipped.
      """

    Lon[1..8] = NaN degree
      """
      Longitude of waypoint {$}. If nan, waypoint is skipped.
      """

    FastSpeed = 1 meter_per_second
      """
      Speed while transiting to waypoint.
      """

    ApproachDepth = 30 meter
      """
      Depth for initial descent form the surface.
      """

    ApproachSpeed = 0.7 meter_per_second
      """
      Speed while descending to target depth.
      """

    ApproachDepthRate = 0.05 meter_per_second
      """
      Descent depth rate (Positive depth rate means going down).
      """

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

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

    ApproachSettleTimePreDive = 1 minute
      """
      Time duration for the vehicle to pump down the VBS *BEFORE* leaving the
      surface.
      """

    ApproachSettleTimePostDive = 3 minute
      """
      Time duration for the vehicle to settle *AFTER* reaching the target
      depth.
      """

    kpDepth = 0.07 radian_per_meter
      """
      Dive loop proportional gain (applied only while the vehicle is
      descending to target depth).
      """

    SlowSpeed = 0.25 meter_per_second
      """
      Set this to something other than Nan if slow speed filming with a
      wide depth deadband is desired.
      """

    DepthDeviationSlow = 3 meter
      """
      Allowable +/- deviation from depth during slow flight. Needs a SlowSpeed
      to be set.
      """

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

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

    MinAltitude = 2 meter
      """
      Minimum height above the sea floor for the entire mission.
      """

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

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

  output {
    DiveMode = 0 count
      """
      Mission variable (don't change). The mission sets this variable to
      switch between dive modes. Initialized to DoingComms.
      """

    DoingComms = 0 count
      """
      Mission variable (don't change). The mission will run in this to mode
      when doing surface comms.
      """

    InitialDive = 1 count
      """
      Mission variable (don't change). The mission will run in this mode after
      surface comms are done to dive the vehicle to the approach depth.
      """

    SettleAtDepth = 2 count
      """
      Mission variable (don't change). The mission will run in this mode to
      settle the vehicle at the target depth.
      """

    MaintainDepth = 3 count
      """
      Mission variable (don't change). The mission will run in this mode to
      maintain the vehicle at the target depth.
      """

    LegDepth = Depth1
      """
      Mission variable to track the current depth for the current leg.
      """
  }

  # Mission timeout

  timeout duration=MissionTimeout

  # Science!

  insert Insert/Science.tl {
    """
    Run the science sensors.
    """
  }

  # 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 = MissionTimeout

  assign in sequence NeedComms:WaitForPitchUp = 0 minute

  insert Insert/BackseatDriver.tl
  assign in parallel BackseatDriver:EnableBackseat = true

  insert Insert/PowerOnly.tl
  assign in parallel PowerOnly:SampleLoad1 = true

  assign in sequence Sensor:MultiRay.lightModeCommand = 2 count
  readData strategy="MinError" {
    while ( Sensor:MultiRay.loadAtStartup )

    Sensor:MultiRay.lightModeLog
  }

  behavior Guidance:Buoyancy {
    run in parallel

    set position = BuoyancyNeutral
  }

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

    assign in sequence DiveMode = DoingComms

    call refId="NeedComms"

    assign in sequence DiveMode = InitialDive
  }

  aggregate DiveCmd {
    """
    Called when the vehicle should be underwater. Arbitrates between 4
    dive modes: 1) descend from the surface to initial depth. 2) settle
    at target depth using the VB. 3) cruise at target depth and go slow
    while within depth deviation bounds if a slow speed is set.
    """

    run when ( called )

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

      run while ( DiveMode == InitialDive )

      aggregate dive {
        run in sequence

        assign in parallel Control:VerticalControl.pitchLimit = ApproachPitchLimit

        assign in parallel Control:VerticalControl.kpDepth = kpDepth

        behavior Guidance:Mass {
          run in parallel

          set position = MassDefault
        }

        # behavior Guidance:Buoyancy {
        #   run in parallel

        #   set position = BuoyancyNeutral
        # }

        syslog info "Waiting for "
             + ApproachSettleTimePreDive~minute + "while pumping down to neutral."

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

          run in sequence

          set duration = ApproachSettleTimePreDive
        }

        syslog "Moving to " + ApproachDepth~meter

        aggregate ApproachDepth {
          run in sequence

          behavior Guidance:SetSpeed {
            run in parallel

            set speed = ApproachSpeed
          }

          behavior Guidance:Pitch {
            run in sequence

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

              behavior Guidance:Execute {
                run in sequence

                set command = "stop"
              }
            }

            set depth = ApproachDepth
            set depthRate = ApproachDepthRate
          }
        }

        assign in sequence DiveMode = SettleAtDepth
      }
    }

    aggregate SettleAtDepth {
      """
      Take a few more moments here to make sure the vehicle is settled
      at the target depth.
      """

      run while ( DiveMode == SettleAtDepth )

      aggregate dive {
        run in sequence

        syslog info "Reached " + Universal:depth~meter + ", settling for "
             + ApproachSettleTimePostDive~minute

        behavior Guidance:Pitch {
          run in parallel

          set depth = LegDepth
        }

        behavior Guidance:Wait {
          run in sequence

          set duration = ApproachSettleTimePostDive
        }

        assign in sequence DiveMode = MaintainDepth
      }
    }

    aggregate MaintainDepth {
      """
      Cruise at the target depth.
      """

      run while (
        DiveMode == MaintainDepth
        and ( Universal:depth > ( LegDepth + DepthDeviationSlow ) )
        or ( Universal:depth < ( LegDepth - DepthDeviationSlow ) )
      )

      aggregate dive {
        run in parallel

        aggregate ThrusterDive {
          run while ( FastSpeed > 0.0 meter_per_second )

          behavior Guidance:Mass {
            run in parallel

            set position = MassDefault
          }

          # behavior Guidance:Buoyancy {
          #   run in parallel

          #   set position = BuoyancyNeutral
          # }

          behavior Guidance:SetSpeed {
            run in parallel

            set speed = FastSpeed
          }
        }

        behavior Guidance:Pitch {
          run in parallel

          set depth = LegDepth
        }
      }
    }

    aggregate MaintainDepthSlow {
      """
      Cruise slow at the target depth.
      """

      run while (
        ( not isNaN ( SlowSpeed ) )
        and ( DiveMode == MaintainDepth )
        and ( Universal:depth <= ( LegDepth + DepthDeviationSlow ) )
        and ( Universal:depth >= ( LegDepth - DepthDeviationSlow ) )
      )

      behavior Guidance:SetSpeed {
        run in parallel

        set speed = SlowSpeed
      }

      # Let's make sure the vertical control depth deadband doesn't interfere with our mission
      # level version of the deadband. And we'll add an extra 3m so we don't trigger any
      # faults inside vertical control when attempting to regain the commanded depth.
      assign in parallel Control:VerticalControl.depthDeadband = ( DepthDeviationSlow + 3 m )

      behavior Guidance:Buoyancy {
        run in parallel

        set position = NaN cc
      }

      behavior Guidance:Pitch {
        run in parallel

        set depth = LegDepth
      }
    }
  }

  # Start mission sequence

  call id="StartingMission" refId="SurfaceComms"

  aggregate Lap {
    run in sequence repeat=Repeat

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

      call refId="DiveCmd"
    }

    # Default behavior: Depths correspond to laps
    # Run through all waypoints at each depth
    aggregate DepthByLap {
      run in sequence

      break if ( DepthPerLeg )

      assign in sequence LegDepth = Depth1

      aggregate Wpt1 {
        run in sequence

        behavior Guidance:Waypoint {
          run in sequence

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

      macro $i = 2..8 {
        aggregate Wpt$i {
          run in sequence

          behavior Guidance:Waypoint {
            run in sequence

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

      macro $j = 2..8 {
        aggregate Leg$j {
          run in sequence

          break if ( isNaN ( Depth[$j] ) )

          syslog important "Transiting waypoints at depth " + Depth[$j]~meter
          assign in sequence LegDepth = Depth[$j]

          macro $i = 1..8 {
            aggregate Wpt$i {
              run in sequence

              behavior Guidance:Waypoint {
                run in sequence

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

    # Non-default behavior: depth by leg
    # Transit to waypoint at corresponding depth, repeat per lap
    # (e.g. Transit to waypoint 1 at depth 1, waypoint 2 at depth 2, and so on)
    aggregate DepthByLeg {
      run in sequence

      break if ( not DepthPerLeg )

      aggregate Leg1 {
        run in sequence

        assign in sequence LegDepth = Depth1

        behavior Guidance:Waypoint {
          run in sequence

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

      macro $i = 2..8 {
        aggregate Leg$i {
          run in sequence

          break if ( isNaN ( Depth[$i] ) )

          syslog info "Transiting to next waypoint at depth " + Depth[$i]~meter
          assign in sequence LegDepth = Depth[$i]

          aggregate Wpt$i {
            run in sequence

            behavior Guidance:Waypoint {
              run in sequence

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


2025-03-13T10:04:02.505Z,1741860242.505 [MissionManager](IMPORTANT): Resuming from info in Logs/20250311T232940/Science_sci2_noyo_optim_tl.state
2025-03-13T10:04:02.542Z,1741860242.542 [MissionManager](INFO): Default->Default:CheckIn/0
2025-03-13T10:04:02.543Z,1741860242.543 [MissionManager](INFO): Default:A.Wait->null/0
2025-03-13T10:04:02.544Z,1741860242.544 [MissionManager](INFO): Default:B.GoToSurface->null/0
2025-03-13T10:04:02.544Z,1741860242.544 [MissionManager](INFO): Default:CheckIn->Default:CheckIn:C.Wait/0
2025-03-13T10:04:02.544Z,1741860242.544 [MissionManager](INFO): Default:CheckIn:Read_GPS->null/0
2025-03-13T10:04:02.545Z,1741860242.545 [MissionManager](INFO): Default:CheckIn:Read_Iridium->null/0
2025-03-13T10:04:02.545Z,1741860242.545 [MissionManager](INFO): Default:CheckIn:C.Wait->null/0
2025-03-13T10:04:02.546Z,1741860242.546 [MissionManager](INFO): sci2_noyo_optim->sci2_noyo_optim:Lap/0
2025-03-13T10:04:02.546Z,1741860242.546 [MissionManager](INFO): sci2_noyo_optim:Science->sci2_noyo_optim:Science:OceanCurrent/0
2025-03-13T10:04:02.546Z,1741860242.546 [MissionManager](INFO): sci2_noyo_optim:Science:OceanCurrent->null/0
2025-03-13T10:04:02.547Z,1741860242.547 [MissionManager](INFO): sci2_noyo_optim:Science:PeakDetectChl->sci2_noyo_optim:Science:PeakDetectChl:A/0
2025-03-13T10:04:02.547Z,1741860242.547 [MissionManager](INFO): sci2_noyo_optim:Science:PeakDetectChl:A->null/0
2025-03-13T10:04:02.548Z,1741860242.548 [MissionManager](INFO): sci2_noyo_optim:Science:EdgeDetectChl->sci2_noyo_optim:Science:EdgeDetectChl:A/0
2025-03-13T10:04:02.548Z,1741860242.548 [MissionManager](INFO): sci2_noyo_optim:Science:EdgeDetectChl:A->null/0
2025-03-13T10:04:02.549Z,1741860242.549 [MissionManager](INFO): sci2_noyo_optim:Science:HighestChlPeakReport->sci2_noyo_optim:Science:HighestChlPeakReport:A.PeakDetectHorizontal/0
2025-03-13T10:04:02.549Z,1741860242.549 [MissionManager](INFO): sci2_noyo_optim:Science:HighestChlPeakReport:A.PeakDetectHorizontal->null/0
2025-03-13T10:04:02.549Z,1741860242.549 [MissionManager](INFO): sci2_noyo_optim:Science:PeakDetectNO3->sci2_noyo_optim:Science:PeakDetectNO3:A/0
2025-03-13T10:04:02.550Z,1741860242.550 [MissionManager](INFO): sci2_noyo_optim:Science:PeakDetectNO3:A->null/0
2025-03-13T10:04:02.550Z,1741860242.550 [MissionManager](INFO): sci2_noyo_optim:Science:PeakDetectOil->sci2_noyo_optim:Science:PeakDetectOil:A/0
2025-03-13T10:04:02.551Z,1741860242.551 [MissionManager](INFO): sci2_noyo_optim:Science:PeakDetectOil:A->null/0
2025-03-13T10:04:02.551Z,1741860242.551 [MissionManager](INFO): sci2_noyo_optim:Science:HighestOilPeakReport->sci2_noyo_optim:Science:HighestOilPeakReport:A.PeakDetectHorizontal/0
2025-03-13T10:04:02.552Z,1741860242.552 [MissionManager](INFO): sci2_noyo_optim:Science:HighestOilPeakReport:A.PeakDetectHorizontal->null/0
2025-03-13T10:04:02.552Z,1741860242.552 [MissionManager](INFO): sci2_noyo_optim:Science:PeakDetectFDOM->sci2_noyo_optim:Science:PeakDetectFDOM:A/0
2025-03-13T10:04:02.552Z,1741860242.552 [MissionManager](INFO): sci2_noyo_optim:Science:PeakDetectFDOM:A->null/0
2025-03-13T10:04:02.553Z,1741860242.553 [MissionManager](INFO): sci2_noyo_optim:Science:PeakDetectSalinity->sci2_noyo_optim:Science:PeakDetectSalinity:A/0
2025-03-13T10:04:02.553Z,1741860242.553 [MissionManager](INFO): sci2_noyo_optim:Science:PeakDetectSalinity:A->null/0
2025-03-13T10:04:02.554Z,1741860242.554 [MissionManager](INFO): sci2_noyo_optim:Science:HighestSaltPeakReport->sci2_noyo_optim:Science:HighestSaltPeakReport:A.PeakDetectHorizontal/0
2025-03-13T10:04:02.554Z,1741860242.554 [MissionManager](INFO): sci2_noyo_optim:Science:HighestSaltPeakReport:A.PeakDetectHorizontal->null/0
2025-03-13T10:04:02.554Z,1741860242.554 [MissionManager](INFO): sci2_noyo_optim:Science:PeakDetectPlanktivoreLMavgROI->sci2_noyo_optim:Science:PeakDetectPlanktivoreLMavgROI:A/0
2025-03-13T10:04:02.555Z,1741860242.555 [MissionManager](INFO): sci2_noyo_optim:Science:PeakDetectPlanktivoreLMavgROI:A->null/0
2025-03-13T10:04:02.555Z,1741860242.555 [MissionManager](INFO): sci2_noyo_optim:Science:EdgeDetectPlanktivoreLMavgROI->sci2_noyo_optim:Science:EdgeDetectPlanktivoreLMavgROI:A/0
2025-03-13T10:04:02.556Z,1741860242.556 [MissionManager](INFO): sci2_noyo_optim:Science:EdgeDetectPlanktivoreLMavgROI:A->null/0
2025-03-13T10:04:02.556Z,1741860242.556 [MissionManager](INFO): sci2_noyo_optim:Science:PeakDetectPlanktivoreHMavgROI->sci2_noyo_optim:Science:PeakDetectPlanktivoreHMavgROI:A/0
2025-03-13T10:04:02.557Z,1741860242.557 [MissionManager](INFO): sci2_noyo_optim:Science:PeakDetectPlanktivoreHMavgROI:A->null/0
2025-03-13T10:04:02.557Z,1741860242.557 [MissionManager](INFO): sci2_noyo_optim:Science:PeakDetectPlanktivoreDiatoms->sci2_noyo_optim:Science:PeakDetectPlanktivoreDiatoms:A/0
2025-03-13T10:04:02.557Z,1741860242.557 [MissionManager](INFO): sci2_noyo_optim:Science:PeakDetectPlanktivoreDiatoms:A->null/0
2025-03-13T10:04:02.558Z,1741860242.558 [MissionManager](INFO): sci2_noyo_optim:Science:PeakDetectPlanktivoreDinoflagellates->sci2_noyo_optim:Science:PeakDetectPlanktivoreDinoflagellates:A/0
2025-03-13T10:04:02.558Z,1741860242.558 [MissionManager](INFO): sci2_noyo_optim:Science:PeakDetectPlanktivoreDinoflagellates:A->null/0
2025-03-13T10:04:02.559Z,1741860242.559 [MissionManager](INFO): sci2_noyo_optim:Science:ChlThreshTrigger->sci2_noyo_optim:Science:ChlThreshTrigger:A.ValueDetect/0
2025-03-13T10:04:02.559Z,1741860242.559 [MissionManager](INFO): sci2_noyo_optim:Science:ChlThreshTrigger:A.ValueDetect->null/0
2025-03-13T10:04:02.560Z,1741860242.560 [MissionManager](INFO): sci2_noyo_optim:C->null/0
2025-03-13T10:04:02.560Z,1741860242.560 [MissionManager](INFO): sci2_noyo_optim:D->null/0
2025-03-13T10:04:02.560Z,1741860242.560 [MissionManager](INFO): sci2_noyo_optim:E->null/0
2025-03-13T10:04:02.561Z,1741860242.561 [MissionManager](INFO): sci2_noyo_optim:NeedComms->null/0
2025-03-13T10:04:02.561Z,1741860242.561 [MissionManager](INFO): sci2_noyo_optim:NeedComms:A->null/0
2025-03-13T10:04:02.561Z,1741860242.561 [MissionManager](INFO): sci2_noyo_optim:NeedComms:B.GoToSurface->null/0
2025-03-13T10:04:02.562Z,1741860242.562 [MissionManager](INFO): sci2_noyo_optim:NeedComms:C->null/0
2025-03-13T10:04:02.562Z,1741860242.562 [MissionManager](INFO): sci2_noyo_optim:NeedComms:D->null/0
2025-03-13T10:04:02.563Z,1741860242.563 [MissionManager](INFO): sci2_noyo_optim:NeedComms:E->null/0
2025-03-13T10:04:02.563Z,1741860242.563 [MissionManager](INFO): sci2_noyo_optim:G->null/0
2025-03-13T10:04:02.564Z,1741860242.564 [MissionManager](INFO): sci2_noyo_optim:H->null/0
2025-03-13T10:04:02.564Z,1741860242.564 [MissionManager](INFO): sci2_noyo_optim:BackseatDriver->sci2_noyo_optim:BackseatDriver:A.BackseatDriver/0
2025-03-13T10:04:02.564Z,1741860242.564 [MissionManager](INFO): sci2_noyo_optim:BackseatDriver:A.BackseatDriver->null/0
2025-03-13T10:04:02.565Z,1741860242.565 [MissionManager](INFO): sci2_noyo_optim:PowerOnly->sci2_noyo_optim:PowerOnly:E.Wait/0
2025-03-13T10:04:02.565Z,1741860242.565 [MissionManager](INFO): sci2_noyo_optim:PowerOnly:E.Wait->null/0
2025-03-13T10:04:02.566Z,1741860242.566 [MissionManager](INFO): sci2_noyo_optim:SurfaceComms->null/0
2025-03-13T10:04:02.566Z,1741860242.566 [MissionManager](INFO): sci2_noyo_optim:SurfaceComms:A->null/0
2025-03-13T10:04:02.566Z,1741860242.566 [MissionManager](INFO): sci2_noyo_optim:SurfaceComms:B->null/0
2025-03-13T10:04:02.567Z,1741860242.567 [MissionManager](INFO): sci2_noyo_optim:SurfaceComms:C->null/0
2025-03-13T10:04:02.600Z,1741860242.600 [MissionManager](INFO): sci2_noyo_optim:DiveCmd:InitialDive->null/0
2025-03-13T10:04:02.600Z,1741860242.600 [MissionManager](INFO): sci2_noyo_optim:DiveCmd:InitialDive:dive->null/0
2025-03-13T10:04:02.601Z,1741860242.601 [MissionManager](INFO): sci2_noyo_optim:DiveCmd:InitialDive:dive:D->null/0
2025-03-13T10:04:02.601Z,1741860242.601 [MissionManager](INFO): sci2_noyo_optim:DiveCmd:InitialDive:dive:E.Wait->null/0
2025-03-13T10:04:02.601Z,1741860242.601 [MissionManager](INFO): sci2_noyo_optim:DiveCmd:InitialDive:dive:F->null/0
2025-03-13T10:04:02.602Z,1741860242.602 [MissionManager](INFO): sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth->null/0
2025-03-13T10:04:02.602Z,1741860242.602 [MissionManager](INFO): sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:B.Pitch->null/0
2025-03-13T10:04:02.603Z,1741860242.603 [MissionManager](INFO): sci2_noyo_optim:DiveCmd:InitialDive:dive:H->null/0
2025-03-13T10:04:02.607Z,1741860242.607 [MissionManager](INFO): sci2_noyo_optim:DiveCmd:SettleAtDepth->null/0
2025-03-13T10:04:02.608Z,1741860242.608 [MissionManager](INFO): sci2_noyo_optim:DiveCmd:SettleAtDepth:dive->null/0
2025-03-13T10:04:02.608Z,1741860242.608 [MissionManager](INFO): sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:A->null/0
2025-03-13T10:04:02.608Z,1741860242.608 [MissionManager](INFO): sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:C.Wait->null/0
2025-03-13T10:04:02.609Z,1741860242.609 [MissionManager](INFO): sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:D->null/0
2025-03-13T10:04:02.609Z,1741860242.609 [MissionManager](INFO): sci2_noyo_optim:StartingMission->null/0
2025-03-13T10:04:02.610Z,1741860242.610 [MissionManager](INFO): sci2_noyo_optim:Lap->sci2_noyo_optim:Lap:DepthByLap/0
2025-03-13T10:04:02.610Z,1741860242.610 [MissionManager](INFO): sci2_noyo_optim:Lap:Dive->sci2_noyo_optim:Lap:Dive:A/0
2025-03-13T10:04:02.610Z,1741860242.610 [MissionManager](INFO): sci2_noyo_optim:Lap:Dive:A->null/0
2025-03-13T10:04:02.655Z,1741860242.655 [MissionManager](INFO): sci2_noyo_optim:Lap:DepthByLap->sci2_noyo_optim:Lap:DepthByLap:Leg2/0
2025-03-13T10:04:02.656Z,1741860242.656 [MissionManager](INFO): sci2_noyo_optim:Lap:DepthByLap:A->null/0
2025-03-13T10:04:02.656Z,1741860242.656 [MissionManager](INFO): sci2_noyo_optim:Lap:DepthByLap:Wpt1->null/0
2025-03-13T10:04:02.657Z,1741860242.657 [MissionManager](INFO): sci2_noyo_optim:Lap:DepthByLap:Wpt1:A.Waypoint->null/0
2025-03-13T10:04:02.657Z,1741860242.657 [MissionManager](INFO): sci2_noyo_optim:Lap:DepthByLap:Wpt2->null/0
2025-03-13T10:04:02.657Z,1741860242.657 [MissionManager](INFO): sci2_noyo_optim:Lap:DepthByLap:Wpt2:A.Waypoint->null/0
2025-03-13T10:04:02.658Z,1741860242.658 [MissionManager](INFO): sci2_noyo_optim:Lap:DepthByLap:Wpt3->null/0
2025-03-13T10:04:02.658Z,1741860242.658 [MissionManager](INFO): sci2_noyo_optim:Lap:DepthByLap:Wpt3:A.Waypoint->null/0
2025-03-13T10:04:02.658Z,1741860242.658 [MissionManager](INFO): sci2_noyo_optim:Lap:DepthByLap:Wpt4->null/0
2025-03-13T10:04:02.659Z,1741860242.659 [MissionManager](INFO): sci2_noyo_optim:Lap:DepthByLap:Wpt4:A.Waypoint->null/0
2025-03-13T10:04:02.663Z,1741860242.663 [MissionManager](INFO): sci2_noyo_optim:Lap:DepthByLap:Wpt5->null/0
2025-03-13T10:04:02.664Z,1741860242.664 [MissionManager](INFO): sci2_noyo_optim:Lap:DepthByLap:Wpt5:A.Waypoint->null/0
2025-03-13T10:04:02.664Z,1741860242.664 [MissionManager](INFO): sci2_noyo_optim:Lap:DepthByLap:Wpt6->null/0
2025-03-13T10:04:02.665Z,1741860242.665 [MissionManager](INFO): sci2_noyo_optim:Lap:DepthByLap:Wpt6:A.Waypoint->null/0
2025-03-13T10:04:02.665Z,1741860242.665 [MissionManager](INFO): sci2_noyo_optim:Lap:DepthByLap:Wpt7->null/0
2025-03-13T10:04:02.665Z,1741860242.665 [MissionManager](INFO): sci2_noyo_optim:Lap:DepthByLap:Wpt7:A.Waypoint->null/0
2025-03-13T10:04:02.666Z,1741860242.666 [MissionManager](INFO): sci2_noyo_optim:Lap:DepthByLap:Wpt8->null/0
2025-03-13T10:04:02.666Z,1741860242.666 [MissionManager](INFO): sci2_noyo_optim:Lap:DepthByLap:Wpt8:A.Waypoint->null/0
2025-03-13T10:04:02.667Z,1741860242.667 [MissionManager](INFO): sci2_noyo_optim:Lap:DepthByLap:Leg2->sci2_noyo_optim:Lap:DepthByLap:Leg2:Wpt2/0
2025-03-13T10:04:02.675Z,1741860242.675 [MissionManager](INFO): sci2_noyo_optim:Lap:DepthByLap:Leg2:A->null/0
2025-03-13T10:04:02.676Z,1741860242.676 [MissionManager](INFO): sci2_noyo_optim:Lap:DepthByLap:Leg2:B->null/0
2025-03-13T10:04:02.676Z,1741860242.676 [MissionManager](INFO): sci2_noyo_optim:Lap:DepthByLap:Leg2:Wpt1->null/0
2025-03-13T10:04:02.676Z,1741860242.676 [MissionManager](INFO): sci2_noyo_optim:Lap:DepthByLap:Leg2:Wpt1:A.Waypoint->null/0
2025-03-13T10:04:02.677Z,1741860242.677 [MissionManager](INFO): sci2_noyo_optim:Lap:DepthByLap:Leg2:Wpt2->sci2_noyo_optim:Lap:DepthByLap:Leg2:Wpt2:A.Waypoint/0
2025-03-13T10:04:02.677Z,1741860242.677 [MissionManager](INFO): sci2_noyo_optim:Lap:DepthByLap:Leg2:Wpt2:A.Waypoint->null/0
2025-03-13T10:04:02.678Z,1741860242.678 [MissionManager](INFO): sci2_noyo_optim:M->null/0
2025-03-13T10:04:02.678Z,1741860242.678 [CommandExec](IMPORTANT): Resuming mission and schedule
2025-03-13T10:04:02.678Z,1741860242.678 [CommandExec](IMPORTANT): Scheduling is resumed
2025-03-13T10:04:03.071Z,1741860243.071 [Default] Stopped
2025-03-13T10:04:03.084Z,1741860243.084 [Default](DEBUG): Aggregate::uninitialize Default
2025-03-13T10:04:03.084Z,1741860243.084 [Default:B.GoToSurface] Stopped
2025-03-13T10:04:03.084Z,1741860243.084 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-03-13T10:04:03.084Z,1741860243.084 [Default:CheckIn] Stopped
2025-03-13T10:04:03.084Z,1741860243.084 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-03-13T10:04:03.085Z,1741860243.085 [Default:CheckIn:C.Wait] Stopped
2025-03-13T10:04:03.085Z,1741860243.085 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2025-03-13T10:04:03.085Z,1741860243.085 [MissionManager](IMPORTANT): Started mission sci2_noyo_optim
2025-03-13T10:04:03.085Z,1741860243.085 [sci2_noyo_optim] Running Loop=1
2025-03-13T10:04:03.085Z,1741860243.085 [sci2_noyo_optim](DEBUG): Aggregate::initialize sci2_noyo_optim
2025-03-13T10:04:03.085Z,1741860243.085 [sci2_noyo_optim:Science] Running Loop=1
2025-03-13T10:04:03.085Z,1741860243.085 [sci2_noyo_optim:Science](DEBUG): Aggregate::initialize sci2_noyo_optim:Science
2025-03-13T10:04:03.085Z,1741860243.085 [sci2_noyo_optim:Science:A] Running Loop=1
2025-03-13T10:04:03.086Z,1741860243.086 [sci2_noyo_optim:Science:B] Running Loop=1
2025-03-13T10:04:03.086Z,1741860243.086 [sci2_noyo_optim:Science:C] Running Loop=1
2025-03-13T10:04:03.086Z,1741860243.086 [sci2_noyo_optim:Science:D] Running Loop=1
2025-03-13T10:04:03.086Z,1741860243.086 [sci2_noyo_optim:Science:E] Running Loop=1
2025-03-13T10:04:03.086Z,1741860243.086 [sci2_noyo_optim:Science:F] Running Loop=1
2025-03-13T10:04:03.086Z,1741860243.086 [sci2_noyo_optim:Science:Read_Oil] Running Loop=1
2025-03-13T10:04:03.086Z,1741860243.086 [sci2_noyo_optim:Science:PeakDetectChl] Running Loop=1
2025-03-13T10:04:03.086Z,1741860243.086 [sci2_noyo_optim:Science:PeakDetectChl](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:PeakDetectChl
2025-03-13T10:04:03.086Z,1741860243.086 [sci2_noyo_optim:Science:PeakDetectChl:A] Running Loop=1
2025-03-13T10:04:03.086Z,1741860243.086 [sci2_noyo_optim:Science:EdgeDetectChl] Running Loop=1
2025-03-13T10:04:03.086Z,1741860243.086 [sci2_noyo_optim:Science:EdgeDetectChl](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:EdgeDetectChl
2025-03-13T10:04:03.086Z,1741860243.086 [sci2_noyo_optim:Science:EdgeDetectChl:A] Running Loop=1
2025-03-13T10:04:03.086Z,1741860243.086 [sci2_noyo_optim:Science:HighestChlPeakReport] Running Loop=1
2025-03-13T10:04:03.087Z,1741860243.087 [sci2_noyo_optim:Science:HighestChlPeakReport](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:HighestChlPeakReport
2025-03-13T10:04:03.087Z,1741860243.087 [sci2_noyo_optim:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-03-13T10:04:03.087Z,1741860243.087 [sci2_noyo_optim:Science:HighestChlPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-03-13T10:04:03.087Z,1741860243.087 [sci2_noyo_optim:Science:PeakDetectNO3] Running Loop=1
2025-03-13T10:04:03.088Z,1741860243.088 [sci2_noyo_optim:Science:PeakDetectNO3](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:PeakDetectNO3
2025-03-13T10:04:03.088Z,1741860243.088 [sci2_noyo_optim:Science:PeakDetectNO3:A] Running Loop=1
2025-03-13T10:04:03.088Z,1741860243.088 [sci2_noyo_optim:Science:PeakDetectOil] Running Loop=1
2025-03-13T10:04:03.088Z,1741860243.088 [sci2_noyo_optim:Science:PeakDetectOil](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:PeakDetectOil
2025-03-13T10:04:03.088Z,1741860243.088 [sci2_noyo_optim:Science:PeakDetectOil:A] Running Loop=1
2025-03-13T10:04:03.088Z,1741860243.088 [sci2_noyo_optim:Science:HighestOilPeakReport] Running Loop=1
2025-03-13T10:04:03.088Z,1741860243.088 [sci2_noyo_optim:Science:HighestOilPeakReport](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:HighestOilPeakReport
2025-03-13T10:04:03.088Z,1741860243.088 [sci2_noyo_optim:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-03-13T10:04:03.088Z,1741860243.088 [sci2_noyo_optim:Science:HighestOilPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-03-13T10:04:03.089Z,1741860243.089 [sci2_noyo_optim:Science:PeakDetectFDOM] Running Loop=1
2025-03-13T10:04:03.089Z,1741860243.089 [sci2_noyo_optim:Science:PeakDetectFDOM](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:PeakDetectFDOM
2025-03-13T10:04:03.089Z,1741860243.089 [sci2_noyo_optim:Science:PeakDetectFDOM:A] Running Loop=1
2025-03-13T10:04:03.089Z,1741860243.089 [sci2_noyo_optim:Science:PeakDetectSalinity] Running Loop=1
2025-03-13T10:04:03.089Z,1741860243.089 [sci2_noyo_optim:Science:PeakDetectSalinity](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:PeakDetectSalinity
2025-03-13T10:04:03.089Z,1741860243.089 [sci2_noyo_optim:Science:PeakDetectSalinity:A] Running Loop=1
2025-03-13T10:04:03.089Z,1741860243.089 [sci2_noyo_optim:Science:HighestSaltPeakReport] Running Loop=1
2025-03-13T10:04:03.089Z,1741860243.089 [sci2_noyo_optim:Science:HighestSaltPeakReport](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:HighestSaltPeakReport
2025-03-13T10:04:03.089Z,1741860243.089 [sci2_noyo_optim:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-03-13T10:04:03.089Z,1741860243.089 [sci2_noyo_optim:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-03-13T10:04:03.090Z,1741860243.090 [sci2_noyo_optim:Science:PeakDetectPlanktivoreLMavgROI] Running Loop=1
2025-03-13T10:04:03.090Z,1741860243.090 [sci2_noyo_optim:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:PeakDetectPlanktivoreLMavgROI
2025-03-13T10:04:03.090Z,1741860243.090 [sci2_noyo_optim:Science:PeakDetectPlanktivoreLMavgROI:A] Running Loop=1
2025-03-13T10:04:03.090Z,1741860243.090 [sci2_noyo_optim:Science:EdgeDetectPlanktivoreLMavgROI] Running Loop=1
2025-03-13T10:04:03.090Z,1741860243.090 [sci2_noyo_optim:Science:EdgeDetectPlanktivoreLMavgROI](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:EdgeDetectPlanktivoreLMavgROI
2025-03-13T10:04:03.090Z,1741860243.090 [sci2_noyo_optim:Science:EdgeDetectPlanktivoreLMavgROI:A] Running Loop=1
2025-03-13T10:04:03.090Z,1741860243.090 [sci2_noyo_optim:Science:PeakDetectPlanktivoreHMavgROI] Running Loop=1
2025-03-13T10:04:03.090Z,1741860243.090 [sci2_noyo_optim:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:PeakDetectPlanktivoreHMavgROI
2025-03-13T10:04:03.090Z,1741860243.090 [sci2_noyo_optim:Science:PeakDetectPlanktivoreHMavgROI:A] Running Loop=1
2025-03-13T10:04:03.091Z,1741860243.091 [sci2_noyo_optim:Science:PeakDetectPlanktivoreDiatoms] Running Loop=1
2025-03-13T10:04:03.091Z,1741860243.091 [sci2_noyo_optim:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:PeakDetectPlanktivoreDiatoms
2025-03-13T10:04:03.091Z,1741860243.091 [sci2_noyo_optim:Science:PeakDetectPlanktivoreDiatoms:A] Running Loop=1
2025-03-13T10:04:03.091Z,1741860243.091 [sci2_noyo_optim:Science:PeakDetectPlanktivoreDinoflagellates] Running Loop=1
2025-03-13T10:04:03.095Z,1741860243.095 [sci2_noyo_optim:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:PeakDetectPlanktivoreDinoflagellates
2025-03-13T10:04:03.095Z,1741860243.095 [sci2_noyo_optim:Science:PeakDetectPlanktivoreDinoflagellates:A] Running Loop=1
2025-03-13T10:04:03.095Z,1741860243.095 [sci2_noyo_optim:Science:ChlThreshTrigger] Running Loop=1
2025-03-13T10:04:03.096Z,1741860243.096 [sci2_noyo_optim:Science:ChlThreshTrigger](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:ChlThreshTrigger
2025-03-13T10:04:03.096Z,1741860243.096 [sci2_noyo_optim:Science:ChlThreshTrigger:A.ValueDetect] Running Loop=1
2025-03-13T10:04:03.096Z,1741860243.096 [sci2_noyo_optim:Science:ChlThreshTrigger:A.ValueDetect](INFO): Initialize.
2025-03-13T10:04:03.096Z,1741860243.096 [sci2_noyo_optim:Science:OceanCurrent] Running Loop=1
2025-03-13T10:04:03.096Z,1741860243.096 [sci2_noyo_optim:Science:OceanCurrent](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:OceanCurrent
2025-03-13T10:04:03.096Z,1741860243.096 [sci2_noyo_optim:Science:OceanCurrent:A.] Running Loop=1
2025-03-13T10:04:03.096Z,1741860243.096 [sci2_noyo_optim:Science:OceanCurrent:A.](INFO): Initializing CurrentEstimator.
2025-03-13T10:04:03.096Z,1741860243.096 [sci2_noyo_optim:StandardEnvelopes] Running Loop=1
2025-03-13T10:04:03.097Z,1741860243.097 [sci2_noyo_optim:StandardEnvelopes](DEBUG): Aggregate::initialize sci2_noyo_optim:StandardEnvelopes
2025-03-13T10:04:03.097Z,1741860243.097 [sci2_noyo_optim:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-03-13T10:04:03.097Z,1741860243.097 [sci2_noyo_optim:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-03-13T10:04:03.097Z,1741860243.097 [sci2_noyo_optim:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-03-13T10:04:03.097Z,1741860243.097 [sci2_noyo_optim:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-03-13T10:04:03.097Z,1741860243.097 [sci2_noyo_optim:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-03-13T10:04:03.097Z,1741860243.097 [sci2_noyo_optim:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-03-13T10:04:03.097Z,1741860243.097 [sci2_noyo_optim:BackseatDriver] Running Loop=1
2025-03-13T10:04:03.097Z,1741860243.097 [sci2_noyo_optim:BackseatDriver](DEBUG): Aggregate::initialize sci2_noyo_optim:BackseatDriver
2025-03-13T10:04:03.097Z,1741860243.097 [sci2_noyo_optim:BackseatDriver:A.BackseatDriver] Running Loop=1
2025-03-13T10:04:03.098Z,1741860243.098 [sci2_noyo_optim:J] Running Loop=1
2025-03-13T10:04:03.098Z,1741860243.098 [sci2_noyo_optim:PowerOnly] Running Loop=1
2025-03-13T10:04:03.098Z,1741860243.098 [sci2_noyo_optim:PowerOnly](DEBUG): Aggregate::initialize sci2_noyo_optim:PowerOnly
2025-03-13T10:04:03.098Z,1741860243.098 [sci2_noyo_optim:PowerOnly:A] Running Loop=1
2025-03-13T10:04:03.098Z,1741860243.098 [sci2_noyo_optim:PowerOnly:B] Running Loop=1
2025-03-13T10:04:03.098Z,1741860243.098 [sci2_noyo_optim:PowerOnly:C] Running Loop=1
2025-03-13T10:04:03.098Z,1741860243.098 [sci2_noyo_optim:PowerOnly:D] Running Loop=1
2025-03-13T10:04:03.098Z,1741860243.098 [sci2_noyo_optim:PowerOnly:E.Wait] Running Loop=1
2025-03-13T10:04:03.098Z,1741860243.098 [sci2_noyo_optim:PowerOnly:E.Wait](DEBUG): Initialize Wait Component.
2025-03-13T10:04:03.098Z,1741860243.098 [sci2_noyo_optim:L] Running Loop=1
2025-03-13T10:04:03.098Z,1741860243.098 [sci2_noyo_optim:N] Running Loop=1
2025-03-13T10:04:03.098Z,1741860243.098 [sci2_noyo_optim:O.Buoyancy] Running Loop=1
2025-03-13T10:04:03.098Z,1741860243.098 [sci2_noyo_optim:O.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-03-13T10:04:03.099Z,1741860243.099 [sci2_noyo_optim:Lap] Running Loop=1
2025-03-13T10:04:03.099Z,1741860243.099 [sci2_noyo_optim:Lap](DEBUG): Aggregate::initialize sci2_noyo_optim:Lap
2025-03-13T10:04:03.099Z,1741860243.099 [sci2_noyo_optim:Lap:Dive] Running Loop=1
2025-03-13T10:04:03.099Z,1741860243.099 [sci2_noyo_optim:Lap:Dive](DEBUG): Aggregate::initialize sci2_noyo_optim:Lap:Dive
2025-03-13T10:04:03.099Z,1741860243.099 [sci2_noyo_optim:Lap:Dive:A] Running Loop=1
2025-03-13T10:04:03.103Z,1741860243.103 [sci2_noyo_optim:Lap:Dive:A](DEBUG): Aggregate::initialize sci2_noyo_optim:Lap:Dive:A
2025-03-13T10:04:03.103Z,1741860243.103 [sci2_noyo_optim:Lap:DepthByLap] Running Loop=1
2025-03-13T10:04:03.104Z,1741860243.104 [sci2_noyo_optim:Lap:DepthByLap](DEBUG): Aggregate::initialize sci2_noyo_optim:Lap:DepthByLap
2025-03-13T10:04:03.104Z,1741860243.104 [sci2_noyo_optim:Lap:DepthByLap:Leg2] Running Loop=1
2025-03-13T10:04:03.104Z,1741860243.104 [sci2_noyo_optim:Lap:DepthByLap:Leg2](DEBUG): Aggregate::initialize sci2_noyo_optim:Lap:DepthByLap:Leg2
2025-03-13T10:04:03.104Z,1741860243.104 [sci2_noyo_optim:Lap:DepthByLap:Leg2:Wpt2] Running Loop=1
2025-03-13T10:04:03.104Z,1741860243.104 [sci2_noyo_optim:Lap:DepthByLap:Leg2:Wpt2](DEBUG): Aggregate::initialize sci2_noyo_optim:Lap:DepthByLap:Leg2:Wpt2
2025-03-13T10:04:03.104Z,1741860243.104 [sci2_noyo_optim:Lap:DepthByLap:Leg2:Wpt2:A.Waypoint] Running Loop=1
2025-03-13T10:04:03.104Z,1741860243.104 [sci2_noyo_optim:Lap:DepthByLap:Leg2:Wpt2:A.Waypoint](DEBUG): Initialize WaypointComponent.
2025-03-13T10:04:03.105Z,1741860243.105 [sci2_noyo_optim:Lap:DepthByLap:Leg2:Wpt2:A.Waypoint](IMPORTANT): Navigating to waypoint: 36.784271,-121.913385
2025-03-13T10:04:03.120Z,1741860243.120 [sci2_noyo_optim:Lap:DepthByLap:Leg2:Wpt2:A.Waypoint](INFO): Navigating to waypoint: 36.784271,-121.913385
2025-03-13T10:04:03.121Z,1741860243.121 [sci2_noyo_optim:Lap:Dive] Running Loop=1
2025-03-13T10:04:03.121Z,1741860243.121 [sci2_noyo_optim:DiveCmd] Running Loop=1
2025-03-13T10:04:03.121Z,1741860243.121 [sci2_noyo_optim:DiveCmd](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd
2025-03-13T10:04:03.121Z,1741860243.121 [sci2_noyo_optim:DiveCmd:InitialDive] Running Loop=1
2025-03-13T10:04:03.121Z,1741860243.121 [sci2_noyo_optim:DiveCmd:InitialDive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:InitialDive
2025-03-13T10:04:03.121Z,1741860243.121 [sci2_noyo_optim:DiveCmd:InitialDive:dive] Running Loop=1
2025-03-13T10:04:03.121Z,1741860243.121 [sci2_noyo_optim:DiveCmd:InitialDive:dive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:InitialDive:dive
2025-03-13T10:04:03.122Z,1741860243.122 [sci2_noyo_optim:DiveCmd:InitialDive:dive:A] Running Loop=1
2025-03-13T10:04:03.122Z,1741860243.122 [sci2_noyo_optim:DiveCmd:InitialDive:dive:B] Running Loop=1
2025-03-13T10:04:03.122Z,1741860243.122 [sci2_noyo_optim:DiveCmd:InitialDive:dive:C.Mass] Running Loop=1
2025-03-13T10:04:03.122Z,1741860243.122 [sci2_noyo_optim:DiveCmd:InitialDive:dive:C.Mass](DEBUG): Initialize.
2025-03-13T10:04:03.122Z,1741860243.122 [sci2_noyo_optim:DiveCmd:InitialDive:dive:D] Running Loop=1
2025-03-13T10:04:03.122Z,1741860243.122 [sci2_noyo_optim:DiveCmd:SettleAtDepth] Running Loop=1
2025-03-13T10:04:03.122Z,1741860243.122 [sci2_noyo_optim:DiveCmd:SettleAtDepth](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:SettleAtDepth
2025-03-13T10:04:03.122Z,1741860243.122 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive] Running Loop=1
2025-03-13T10:04:03.122Z,1741860243.122 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:SettleAtDepth:dive
2025-03-13T10:04:03.122Z,1741860243.122 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:B.Pitch] Running Loop=1
2025-03-13T10:04:03.122Z,1741860243.122 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:B.Pitch](DEBUG): Initialize.
2025-03-13T10:04:03.123Z,1741860243.123 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:A] Running Loop=1
2025-03-13T10:04:03.123Z,1741860243.123 [sci2_noyo_optim:DiveCmd:MaintainDepth] Running Loop=1
2025-03-13T10:04:03.123Z,1741860243.123 [sci2_noyo_optim:DiveCmd:MaintainDepth](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepth
2025-03-13T10:04:03.127Z,1741860243.127 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive] Running Loop=1
2025-03-13T10:04:03.127Z,1741860243.127 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive
2025-03-13T10:04:03.127Z,1741860243.127 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive] Running Loop=1
2025-03-13T10:04:03.128Z,1741860243.128 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive
2025-03-13T10:04:03.128Z,1741860243.128 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass] Running Loop=1
2025-03-13T10:04:03.128Z,1741860243.128 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass](DEBUG): Initialize.
2025-03-13T10:04:03.128Z,1741860243.128 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed] Running Loop=1
2025-03-13T10:04:03.128Z,1741860243.128 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed](DEBUG): Initialize.
2025-03-13T10:04:03.128Z,1741860243.128 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:B.Pitch] Running Loop=1
2025-03-13T10:04:03.128Z,1741860243.128 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:B.Pitch](DEBUG): Initialize.
2025-03-13T10:04:03.128Z,1741860243.128 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow] Running Loop=1
2025-03-13T10:04:03.128Z,1741860243.128 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepthSlow
2025-03-13T10:04:03.129Z,1741860243.129 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:A.SetSpeed] Running Loop=1
2025-03-13T10:04:03.129Z,1741860243.129 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:A.SetSpeed](DEBUG): Initialize.
2025-03-13T10:04:03.129Z,1741860243.129 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:B] Running Loop=1
2025-03-13T10:04:03.129Z,1741860243.129 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:C.Buoyancy] Running Loop=1
2025-03-13T10:04:03.129Z,1741860243.129 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:C.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-03-13T10:04:03.129Z,1741860243.129 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:D.Pitch] Running Loop=1
2025-03-13T10:04:03.129Z,1741860243.129 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:D.Pitch](DEBUG): Initialize.
2025-03-13T10:04:03.130Z,1741860243.130 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow] Stopped
2025-03-13T10:04:03.131Z,1741860243.131 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepthSlow
2025-03-13T10:04:03.131Z,1741860243.131 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:A.SetSpeed] Stopped
2025-03-13T10:04:03.131Z,1741860243.131 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:A.SetSpeed](DEBUG): Uninitialize.
2025-03-13T10:04:03.131Z,1741860243.131 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:B] Stopped
2025-03-13T10:04:03.131Z,1741860243.131 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:C.Buoyancy] Stopped
2025-03-13T10:04:03.131Z,1741860243.131 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-03-13T10:04:03.131Z,1741860243.131 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:D.Pitch] Stopped
2025-03-13T10:04:03.131Z,1741860243.131 [sci2_noyo_optim:DiveCmd:MaintainDepth] Running Loop=1
2025-03-13T10:04:03.131Z,1741860243.131 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive] Running Loop=1
2025-03-13T10:04:03.131Z,1741860243.131 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:B.Pitch] Running Loop=1
2025-03-13T10:04:03.132Z,1741860243.132 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive] Running Loop=1
2025-03-13T10:04:03.132Z,1741860243.132 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed] Running Loop=1
2025-03-13T10:04:03.132Z,1741860243.132 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass] Running Loop=1
2025-03-13T10:04:03.132Z,1741860243.132 [sci2_noyo_optim:DiveCmd:SettleAtDepth] Stopped
2025-03-13T10:04:03.132Z,1741860243.132 [sci2_noyo_optim:DiveCmd:SettleAtDepth](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:SettleAtDepth
2025-03-13T10:04:03.133Z,1741860243.133 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive] Stopped
2025-03-13T10:04:03.133Z,1741860243.133 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:SettleAtDepth:dive
2025-03-13T10:04:03.133Z,1741860243.133 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:A] Stopped
2025-03-13T10:04:03.133Z,1741860243.133 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:B.Pitch] Stopped
2025-03-13T10:04:03.133Z,1741860243.133 [sci2_noyo_optim:DiveCmd:InitialDive] Stopped
2025-03-13T10:04:03.133Z,1741860243.133 [sci2_noyo_optim:DiveCmd:InitialDive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:InitialDive
2025-03-13T10:04:03.133Z,1741860243.133 [sci2_noyo_optim:DiveCmd:InitialDive:dive] Stopped
2025-03-13T10:04:03.133Z,1741860243.133 [sci2_noyo_optim:DiveCmd:InitialDive:dive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:InitialDive:dive
2025-03-13T10:04:03.133Z,1741860243.133 [sci2_noyo_optim:DiveCmd:InitialDive:dive:A] Stopped
2025-03-13T10:04:03.133Z,1741860243.133 [sci2_noyo_optim:DiveCmd:InitialDive:dive:B] Stopped
2025-03-13T10:04:03.133Z,1741860243.133 [sci2_noyo_optim:DiveCmd:InitialDive:dive:C.Mass] Stopped
2025-03-13T10:04:03.133Z,1741860243.133 [sci2_noyo_optim:DiveCmd:InitialDive:dive:C.Mass](DEBUG): Uninitialize.
2025-03-13T10:04:03.133Z,1741860243.133 [sci2_noyo_optim:DiveCmd:InitialDive:dive:D] Stopped
2025-03-13T10:04:03.133Z,1741860243.133 [sci2_noyo_optim:O.Buoyancy] Running Loop=1
2025-03-13T10:04:03.134Z,1741860243.134 [sci2_noyo_optim:N] Running Loop=1
2025-03-13T10:04:03.134Z,1741860243.134 [sci2_noyo_optim:N](DEBUG): Initialize ReadDataComponent to sense MultiRay.lightModeLog
2025-03-13T10:04:03.134Z,1741860243.134 [sci2_noyo_optim:L] Running Loop=1
2025-03-13T10:04:03.135Z,1741860243.135 [sci2_noyo_optim:PowerOnly] Running Loop=1
2025-03-13T10:04:03.135Z,1741860243.135 [sci2_noyo_optim:PowerOnly:D] Stopped
2025-03-13T10:04:03.135Z,1741860243.135 [sci2_noyo_optim:PowerOnly:C] Stopped
2025-03-13T10:04:03.135Z,1741860243.135 [sci2_noyo_optim:PowerOnly:B] Running Loop=1
2025-03-13T10:04:03.136Z,1741860243.136 [sci2_noyo_optim:PowerOnly:B](DEBUG): Initialize ReadDataComponent to sense PowerOnly.sampleLoad1
2025-03-13T10:04:03.136Z,1741860243.136 [sci2_noyo_optim:PowerOnly:A] Stopped
2025-03-13T10:04:03.136Z,1741860243.136 [sci2_noyo_optim:J] Running Loop=1
2025-03-13T10:04:03.136Z,1741860243.136 [sci2_noyo_optim:BackseatDriver] Running Loop=1
2025-03-13T10:04:03.136Z,1741860243.136 [sci2_noyo_optim:BackseatDriver:A.BackseatDriver](INFO): Initializing backseat
2025-03-13T10:04:03.201Z,1741860243.201 [sci2_noyo_optim:StandardEnvelopes] Running Loop=1
2025-03-13T10:04:03.201Z,1741860243.201 [sci2_noyo_optim:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-03-13T10:04:03.202Z,1741860243.202 [sci2_noyo_optim:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-03-13T10:04:03.202Z,1741860243.202 [sci2_noyo_optim:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-03-13T10:04:03.202Z,1741860243.202 [sci2_noyo_optim:Science] Running Loop=1
2025-03-13T10:04:03.204Z,1741860243.204 [sci2_noyo_optim:Science:ChlThreshTrigger] Stopped
2025-03-13T10:04:03.204Z,1741860243.204 [sci2_noyo_optim:Science:ChlThreshTrigger](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:ChlThreshTrigger
2025-03-13T10:04:03.204Z,1741860243.204 [sci2_noyo_optim:Science:ChlThreshTrigger:A.ValueDetect] Stopped
2025-03-13T10:04:03.204Z,1741860243.204 [sci2_noyo_optim:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Uninitialize.
2025-03-13T10:04:03.204Z,1741860243.204 [sci2_noyo_optim:Science:PeakDetectPlanktivoreDinoflagellates] Stopped
2025-03-13T10:04:03.204Z,1741860243.204 [sci2_noyo_optim:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:PeakDetectPlanktivoreDinoflagellates
2025-03-13T10:04:03.204Z,1741860243.204 [sci2_noyo_optim:Science:PeakDetectPlanktivoreDinoflagellates:A] Stopped
2025-03-13T10:04:03.204Z,1741860243.204 [sci2_noyo_optim:Science:PeakDetectPlanktivoreDiatoms] Stopped
2025-03-13T10:04:03.205Z,1741860243.205 [sci2_noyo_optim:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:PeakDetectPlanktivoreDiatoms
2025-03-13T10:04:03.205Z,1741860243.205 [sci2_noyo_optim:Science:PeakDetectPlanktivoreDiatoms:A] Stopped
2025-03-13T10:04:03.205Z,1741860243.205 [sci2_noyo_optim:Science:PeakDetectPlanktivoreHMavgROI] Stopped
2025-03-13T10:04:03.205Z,1741860243.205 [sci2_noyo_optim:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:PeakDetectPlanktivoreHMavgROI
2025-03-13T10:04:03.205Z,1741860243.205 [sci2_noyo_optim:Science:PeakDetectPlanktivoreHMavgROI:A] Stopped
2025-03-13T10:04:03.205Z,1741860243.205 [sci2_noyo_optim:Science:EdgeDetectPlanktivoreLMavgROI] Stopped
2025-03-13T10:04:03.205Z,1741860243.205 [sci2_noyo_optim:Science:EdgeDetectPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:EdgeDetectPlanktivoreLMavgROI
2025-03-13T10:04:03.205Z,1741860243.205 [sci2_noyo_optim:Science:EdgeDetectPlanktivoreLMavgROI:A] Stopped
2025-03-13T10:04:03.205Z,1741860243.205 [sci2_noyo_optim:Science:PeakDetectPlanktivoreLMavgROI] Stopped
2025-03-13T10:04:03.205Z,1741860243.205 [sci2_noyo_optim:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:PeakDetectPlanktivoreLMavgROI
2025-03-13T10:04:03.205Z,1741860243.205 [sci2_noyo_optim:Science:PeakDetectPlanktivoreLMavgROI:A] Stopped
2025-03-13T10:04:03.205Z,1741860243.205 [sci2_noyo_optim:Science:HighestSaltPeakReport] Stopped
2025-03-13T10:04:03.206Z,1741860243.206 [sci2_noyo_optim:Science:HighestSaltPeakReport](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:HighestSaltPeakReport
2025-03-13T10:04:03.206Z,1741860243.206 [sci2_noyo_optim:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Stopped
2025-03-13T10:04:03.206Z,1741860243.206 [sci2_noyo_optim:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-03-13T10:04:03.206Z,1741860243.206 [sci2_noyo_optim:Science:PeakDetectSalinity] Stopped
2025-03-13T10:04:03.206Z,1741860243.206 [sci2_noyo_optim:Science:PeakDetectSalinity](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:PeakDetectSalinity
2025-03-13T10:04:03.206Z,1741860243.206 [sci2_noyo_optim:Science:PeakDetectSalinity:A] Stopped
2025-03-13T10:04:03.206Z,1741860243.206 [sci2_noyo_optim:Science:PeakDetectFDOM] Stopped
2025-03-13T10:04:03.206Z,1741860243.206 [sci2_noyo_optim:Science:PeakDetectFDOM](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:PeakDetectFDOM
2025-03-13T10:04:03.206Z,1741860243.206 [sci2_noyo_optim:Science:PeakDetectFDOM:A] Stopped
2025-03-13T10:04:03.206Z,1741860243.206 [sci2_noyo_optim:Science:HighestOilPeakReport] Stopped
2025-03-13T10:04:03.206Z,1741860243.206 [sci2_noyo_optim:Science:HighestOilPeakReport](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:HighestOilPeakReport
2025-03-13T10:04:03.206Z,1741860243.206 [sci2_noyo_optim:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Stopped
2025-03-13T10:04:03.206Z,1741860243.207 [sci2_noyo_optim:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-03-13T10:04:03.207Z,1741860243.207 [sci2_noyo_optim:Science:PeakDetectOil] Stopped
2025-03-13T10:04:03.207Z,1741860243.207 [sci2_noyo_optim:Science:PeakDetectOil](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:PeakDetectOil
2025-03-13T10:04:03.207Z,1741860243.207 [sci2_noyo_optim:Science:PeakDetectOil:A] Stopped
2025-03-13T10:04:03.207Z,1741860243.207 [sci2_noyo_optim:Science:PeakDetectNO3] Stopped
2025-03-13T10:04:03.219Z,1741860243.219 [sci2_noyo_optim:Science:PeakDetectNO3](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:PeakDetectNO3
2025-03-13T10:04:03.219Z,1741860243.219 [sci2_noyo_optim:Science:PeakDetectNO3:A] Stopped
2025-03-13T10:04:03.219Z,1741860243.219 [sci2_noyo_optim:Science:HighestChlPeakReport] Stopped
2025-03-13T10:04:03.219Z,1741860243.219 [sci2_noyo_optim:Science:HighestChlPeakReport](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:HighestChlPeakReport
2025-03-13T10:04:03.219Z,1741860243.219 [sci2_noyo_optim:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Stopped
2025-03-13T10:04:03.219Z,1741860243.219 [sci2_noyo_optim:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-03-13T10:04:03.220Z,1741860243.220 [sci2_noyo_optim:Science:EdgeDetectChl] Stopped
2025-03-13T10:04:03.220Z,1741860243.220 [sci2_noyo_optim:Science:EdgeDetectChl](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:EdgeDetectChl
2025-03-13T10:04:03.220Z,1741860243.220 [sci2_noyo_optim:Science:EdgeDetectChl:A] Stopped
2025-03-13T10:04:03.220Z,1741860243.220 [sci2_noyo_optim:Science:PeakDetectChl] Stopped
2025-03-13T10:04:03.220Z,1741860243.220 [sci2_noyo_optim:Science:PeakDetectChl](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:PeakDetectChl
2025-03-13T10:04:03.220Z,1741860243.220 [sci2_noyo_optim:Science:PeakDetectChl:A] Stopped
2025-03-13T10:04:03.220Z,1741860243.220 [sci2_noyo_optim:Science:OceanCurrent:A.] Running Loop=1
2025-03-13T10:04:03.220Z,1741860243.220 [sci2_noyo_optim:Science:Read_Oil] Stopped
2025-03-13T10:04:03.220Z,1741860243.220 [sci2_noyo_optim:Science:F] Stopped
2025-03-13T10:04:03.220Z,1741860243.220 [sci2_noyo_optim:Science:E] Running Loop=1
2025-03-13T10:04:03.221Z,1741860243.221 [sci2_noyo_optim:Science:E](DEBUG): Initialize ReadDataComponent to sense mass_concentration_of_chlorophyll_in_sea_water
2025-03-13T10:04:03.221Z,1741860243.221 [sci2_noyo_optim:Science:D] Stopped
2025-03-13T10:04:03.221Z,1741860243.221 [sci2_noyo_optim:Science:C] Running Loop=1
2025-03-13T10:04:03.221Z,1741860243.221 [sci2_noyo_optim:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_temperature
2025-03-13T10:04:03.222Z,1741860243.222 [sci2_noyo_optim:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_salinity
2025-03-13T10:04:03.222Z,1741860243.222 [sci2_noyo_optim:Science:B] Running Loop=1
2025-03-13T10:04:03.222Z,1741860243.222 [sci2_noyo_optim:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_temperature
2025-03-13T10:04:03.223Z,1741860243.223 [sci2_noyo_optim:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_salinity
2025-03-13T10:04:03.223Z,1741860243.223 [sci2_noyo_optim:Science:A] Stopped
2025-03-13T10:04:03.231Z,1741860243.231 [BackseatComponent](INFO): Powering up
2025-03-13T10:04:03.232Z,1741860243.232 [BackseatComponent](INFO): Subscribing to LCM channels.
2025-03-13T10:04:03.481Z,1741860243.481 [PowerOnly](INFO): Powering up loadControl
2025-03-13T10:04:03.517Z,1741860243.517 [WetLabsBB2FL](INFO): Powering up
2025-03-13T10:04:05.602Z,1741860245.602 [CTD_Seabird](ERROR): Pressure reading out of range: -10.110000 decibar
2025-03-13T10:04:05.603Z,1741860245.603 [CTD_Seabird](INFO): some bad data, not updating bins
2025-03-13T10:04:49.572Z,1741860289.572 [ElevatorOffsetCalculator](INFO): New estimator for commanded vars: speed 1.00 m/s, pitch 30.00 deg, mass-position 6.85 mm (2 active estimators).
2025-03-13T10:05:22.212Z,1741860322.212 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T10:05:25.225Z,1741860325.225 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.240124
2025-03-13T10:05:52.715Z,1741860352.715 [Radio_Surface](INFO): Powering down
2025-03-13T10:05:53.119Z,1741860353.119 [Radio_Surface](FAULT): LCB fault:  Current Limiter Activated.
2025-03-13T10:05:53.120Z,1741860353.120 [Radio_Surface] Hardware Fault, FailCount= 1
2025-03-13T10:05:53.120Z,1741860353.120 [Radio_Surface](ERROR): Hardware Fault
2025-03-13T10:05:53.263Z,1741860353.263 [CBIT](ERROR): Hardware Fault in component: Radio_Surface
2025-03-13T10:05:53.670Z,1741860353.670 [CBIT](INFO): Clearing failed state for component Radio_Surface
2025-03-13T10:05:53.670Z,1741860353.670 [Radio_Surface] No Fault, FailCount= 1
2025-03-13T10:05:53.928Z,1741860353.928 [Radio_Surface](INFO): Powering up
2025-03-13T10:05:57.368Z,1741860357.368 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T10:05:58.371Z,1741860358.371 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-03-13T10:05:59.376Z,1741860359.376 [DataOverHttps](INFO): Radio surface powered ON.
2025-03-13T10:05:59.988Z,1741860359.988 [Radio_Surface](INFO): Powering down
2025-03-13T10:06:00.380Z,1741860360.380 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-03-13T10:09:21.628Z,1741860561.628 [BackseatComponent](FAULT): Failed to receive device response within the specified timeout.
2025-03-13T10:09:21.628Z,1741860561.628 [BackseatComponent] Communications Fault, FailCount= 1
2025-03-13T10:09:21.628Z,1741860561.628 [BackseatComponent](ERROR): Communications Fault
2025-03-13T10:09:21.629Z,1741860561.629 [Power24vConverter] Hardware Fault, FailCount= 1
2025-03-13T10:09:21.629Z,1741860561.629 [Power24vConverter](ERROR): Hardware Fault
2025-03-13T10:09:21.726Z,1741860561.726 [Power24vConverter](INFO): Powering down.
2025-03-13T10:09:21.839Z,1741860561.839 [CBIT](ERROR): Communications Fault in component: BackseatComponent
2025-03-13T10:09:21.840Z,1741860561.840 [CBIT](ERROR): Hardware Fault in component: Power24vConverter
2025-03-13T10:09:22.033Z,1741860562.033 [BackseatComponent](INFO): Sent LCM shutdown request.
2025-03-13T10:09:22.033Z,1741860562.033 [BackseatComponent](INFO): Shutdown requested. Waiting (18.00 sec to power down.).
2025-03-13T10:09:22.395Z,1741860562.395 [Power24vConverter](INFO): Powering up.
2025-03-13T10:09:22.467Z,1741860562.467 [CBIT](INFO): Clearing failed state for component Power24vConverter
2025-03-13T10:09:22.467Z,1741860562.467 [Power24vConverter] No Fault, FailCount= 1
2025-03-13T10:09:30.292Z,1741860570.292 [DAT](INFO): DAT read: 

2025-03-13T10:09:30.293Z,1741860570.293 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series

2025-03-13T10:09:32.064Z,1741860572.064 [DAT](INFO): DAT read: MF Frequency Band

2025-03-13T10:09:32.066Z,1741860572.066 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.15.0

2025-03-13T10:09:32.066Z,1741860572.066 [DAT](INFO): DAT read: Mar 13 2025 10:09:26 

2025-03-13T10:09:33.325Z,1741860573.325 [DAT](INFO): DAT read: Features enabled [Bearing]

2025-03-13T10:09:33.326Z,1741860573.326 [DAT](INFO): DAT read: CONNECT 00800 bits/sec 1 of 4, Rate 1/2 CC 12.50ms MGP

2025-03-13T10:09:33.326Z,1741860573.326 [DAT](INFO): commRate: 800
2025-03-13T10:09:40.224Z,1741860580.224 [BackseatComponent](INFO): Powering down and starting shutdown timer (18.00 sec).
2025-03-13T10:09:40.225Z,1741860580.225 [BackseatComponent](INFO): Unsubscribing from LCM channels.
2025-03-13T10:09:40.225Z,1741860580.225 [LcmUniversalReporter](INFO): Deactivating messaging.
2025-03-13T10:09:58.835Z,1741860598.835 [BackseatComponent](INFO): Powering up
2025-03-13T10:09:58.836Z,1741860598.836 [BackseatComponent](INFO): Subscribing to LCM channels.
2025-03-13T10:09:59.195Z,1741860599.195 [CBIT](INFO): Clearing failed state for component BackseatComponent
2025-03-13T10:09:59.195Z,1741860599.195 [BackseatComponent] No Fault, FailCount= 1
2025-03-13T10:10:14.875Z,1741860614.875 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow] Running Loop=1
2025-03-13T10:10:14.875Z,1741860614.875 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow](DEBUG): Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepthSlow
2025-03-13T10:10:14.875Z,1741860614.875 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:A.SetSpeed] Running Loop=1
2025-03-13T10:10:14.875Z,1741860614.875 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:A.SetSpeed](DEBUG): Initialize.
2025-03-13T10:10:14.875Z,1741860614.875 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:B] Running Loop=1
2025-03-13T10:10:14.876Z,1741860614.876 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:C.Buoyancy] Running Loop=1
2025-03-13T10:10:14.876Z,1741860614.876 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:C.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-03-13T10:10:14.876Z,1741860614.876 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:D.Pitch] Running Loop=1
2025-03-13T10:10:14.876Z,1741860614.876 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:D.Pitch](DEBUG): Initialize.
2025-03-13T10:10:14.876Z,1741860614.876 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow] Running Loop=1
2025-03-13T10:10:14.876Z,1741860614.876 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:D.Pitch] Running Loop=1
2025-03-13T10:10:14.876Z,1741860614.876 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:C.Buoyancy] Running Loop=1
2025-03-13T10:10:14.877Z,1741860614.877 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:B] Running Loop=1
2025-03-13T10:10:14.877Z,1741860614.877 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:A.SetSpeed] Running Loop=1
2025-03-13T10:10:14.877Z,1741860614.877 [sci2_noyo_optim:DiveCmd:MaintainDepth] Stopped
2025-03-13T10:10:14.877Z,1741860614.877 [sci2_noyo_optim:DiveCmd:MaintainDepth](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepth
2025-03-13T10:10:14.877Z,1741860614.877 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive] Stopped
2025-03-13T10:10:14.877Z,1741860614.877 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive
2025-03-13T10:10:14.878Z,1741860614.878 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive] Stopped
2025-03-13T10:10:14.878Z,1741860614.878 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive
2025-03-13T10:10:14.878Z,1741860614.878 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass] Stopped
2025-03-13T10:10:14.878Z,1741860614.878 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass](DEBUG): Uninitialize.
2025-03-13T10:10:14.878Z,1741860614.878 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed] Stopped
2025-03-13T10:10:14.878Z,1741860614.878 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed](DEBUG): Uninitialize.
2025-03-13T10:10:14.878Z,1741860614.878 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:B.Pitch] Stopped
2025-03-13T10:12:35.545Z,1741860755.545 [Waterlinked](ERROR): only read 0 of 1 data item for altitude. Device response::BD,       +0.00,       +0.00,       +0.0
2025-03-13T10:15:17.223Z,1741860917.223 [BackseatComponent](FAULT): Failed to receive device response within the specified timeout.
2025-03-13T10:15:17.223Z,1741860917.223 [BackseatComponent] Communications Fault, FailCount= 2
2025-03-13T10:15:17.223Z,1741860917.223 [BackseatComponent](ERROR): Communications Fault
2025-03-13T10:15:17.223Z,1741860917.223 [Power24vConverter] Hardware Fault, FailCount= 1
2025-03-13T10:15:17.224Z,1741860917.224 [Power24vConverter](ERROR): Hardware Fault
2025-03-13T10:15:17.423Z,1741860917.423 [Power24vConverter](INFO): Powering down.
2025-03-13T10:15:17.629Z,1741860917.629 [BackseatComponent](INFO): Sent LCM shutdown request.
2025-03-13T10:15:17.629Z,1741860917.629 [BackseatComponent](INFO): Shutdown requested. Waiting (18.00 sec to power down.).
2025-03-13T10:15:17.642Z,1741860917.642 [CBIT](ERROR): Communications Fault in component: BackseatComponent
2025-03-13T10:15:17.643Z,1741860917.643 [CBIT](ERROR): Hardware Fault in component: Power24vConverter
2025-03-13T10:15:18.270Z,1741860918.270 [Power24vConverter](INFO): Powering up.
2025-03-13T10:15:18.724Z,1741860918.724 [CBIT](INFO): Clearing failed state for component Power24vConverter
2025-03-13T10:15:18.724Z,1741860918.724 [Power24vConverter] No Fault, FailCount= 1
2025-03-13T10:15:26.138Z,1741860926.138 [DAT](INFO): DAT read: 

2025-03-13T10:15:26.141Z,1741860926.141 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series

2025-03-13T10:15:27.902Z,1741860927.902 [DAT](INFO): DAT read: MF Frequency Band

2025-03-13T10:15:28.159Z,1741860928.159 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.15.0

2025-03-13T10:15:28.161Z,1741860928.161 [DAT](INFO): DAT read: Mar 13 2025 10:15:22 

2025-03-13T10:15:29.161Z,1741860929.161 [DAT](INFO): DAT read: Features enabled [Bearing]

2025-03-13T10:15:29.163Z,1741860929.163 [DAT](INFO): DAT read: CONNECT 00800 bits/sec 1 of 4, Rate 1/2 CC 12.50ms MGP

2025-03-13T10:15:29.163Z,1741860929.163 [DAT](INFO): commRate: 800
2025-03-13T10:15:35.816Z,1741860935.816 [BackseatComponent](INFO): Powering down and starting shutdown timer (18.00 sec).
2025-03-13T10:15:35.816Z,1741860935.816 [BackseatComponent](INFO): Unsubscribing from LCM channels.
2025-03-13T10:15:35.817Z,1741860935.817 [LcmUniversalReporter](INFO): Deactivating messaging.
2025-03-13T10:15:54.411Z,1741860954.411 [BackseatComponent](INFO): Powering up
2025-03-13T10:15:54.412Z,1741860954.412 [BackseatComponent](INFO): Subscribing to LCM channels.
2025-03-13T10:15:54.486Z,1741860954.486 [CBIT](INFO): Clearing failed state for component BackseatComponent
2025-03-13T10:15:54.486Z,1741860954.486 [BackseatComponent] No Fault, FailCount= 2
2025-03-13T10:21:12.803Z,1741861272.803 [BackseatComponent](FAULT): Failed to receive device response within the specified timeout.
2025-03-13T10:21:12.803Z,1741861272.803 [BackseatComponent] Communications Fault, FailCount= 3
2025-03-13T10:21:12.803Z,1741861272.803 [BackseatComponent](ERROR): Communications Fault
2025-03-13T10:21:12.803Z,1741861272.803 [Power24vConverter] Hardware Fault, FailCount= 1
2025-03-13T10:21:12.804Z,1741861272.804 [Power24vConverter](ERROR): Hardware Fault
2025-03-13T10:21:13.026Z,1741861273.026 [Power24vConverter](INFO): Powering down.
2025-03-13T10:21:13.211Z,1741861273.211 [BackseatComponent](INFO): Sent LCM shutdown request.
2025-03-13T10:21:13.212Z,1741861273.212 [BackseatComponent](INFO): Shutdown requested. Waiting (18.00 sec to power down.).
2025-03-13T10:21:13.423Z,1741861273.423 [CBIT](ERROR): Communications Fault in component: BackseatComponent
2025-03-13T10:21:13.424Z,1741861273.424 [CBIT](ERROR): Hardware Fault in component: Power24vConverter
2025-03-13T10:21:13.854Z,1741861273.854 [Power24vConverter](INFO): Powering up.
2025-03-13T10:21:14.127Z,1741861274.127 [CBIT](INFO): Clearing failed state for component Power24vConverter
2025-03-13T10:21:14.127Z,1741861274.127 [Power24vConverter] No Fault, FailCount= 1
2025-03-13T10:21:15.590Z,1741861275.590 [DAT](INFO): DAT read: 

2025-03-13T10:21:15.593Z,1741861275.593 [DAT](INFO): DAT read: >>> Watchdog: 0x0010 [ PM ]

2025-03-13T10:21:15.596Z,1741861275.596 [DAT](INFO): unknown deviceResponse_: >>> Watchdog: 0x0010 [ PM ]

2025-03-13T10:21:21.890Z,1741861281.890 [DAT](INFO): DAT read: 

2025-03-13T10:21:21.892Z,1741861281.892 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series

2025-03-13T10:21:23.654Z,1741861283.654 [DAT](INFO): DAT read: MF Frequency Band

2025-03-13T10:21:23.658Z,1741861283.658 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.15.0

2025-03-13T10:21:23.659Z,1741861283.659 [DAT](INFO): DAT read: Mar 13 2025 10:21:17 

2025-03-13T10:21:24.661Z,1741861284.661 [DAT](INFO): DAT read: Features enabled [Bearing]

2025-03-13T10:21:24.662Z,1741861284.662 [DAT](INFO): DAT read: CONNECT 00800 bits/sec 1 of 4, Rate 1/2 CC 12.50ms MGP

2025-03-13T10:21:24.662Z,1741861284.662 [DAT](INFO): commRate: 800
2025-03-13T10:21:31.405Z,1741861291.405 [BackseatComponent](INFO): Powering down and starting shutdown timer (18.00 sec).
2025-03-13T10:21:31.407Z,1741861291.407 [BackseatComponent](INFO): Unsubscribing from LCM channels.
2025-03-13T10:21:31.408Z,1741861291.408 [LcmUniversalReporter](INFO): Deactivating messaging.
2025-03-13T10:21:49.000Z,1741861310.000 [BackseatComponent](INFO): Powering up
2025-03-13T10:21:50.001Z,1741861310.001 [BackseatComponent](INFO): Subscribing to LCM channels.
2025-03-13T10:21:50.670Z,1741861310.670 [CBIT](INFO): Clearing failed state for component BackseatComponent
2025-03-13T10:21:50.671Z,1741861310.671 [BackseatComponent] No Fault, FailCount= 3
2025-03-13T10:23:24.369Z,1741861404.369 [CTD_Seabird](ERROR): Failed to parse device response: ,10.3466,3.70574,2402.25
2025-03-13T10:27:08.380Z,1741861628.380 [BackseatComponent](FAULT): Failed to receive device response within the specified timeout.
2025-03-13T10:27:08.380Z,1741861628.380 [BackseatComponent] Communications Fault, FailCount= 4
2025-03-13T10:27:08.380Z,1741861628.380 [BackseatComponent](ERROR): Communications Fault
2025-03-13T10:27:08.381Z,1741861628.381 [Power24vConverter] Hardware Fault, FailCount= 1
2025-03-13T10:27:08.381Z,1741861628.381 [Power24vConverter](ERROR): Hardware Fault
2025-03-13T10:27:08.785Z,1741861628.785 [BackseatComponent](INFO): Sent LCM shutdown request.
2025-03-13T10:27:08.785Z,1741861628.785 [BackseatComponent](INFO): Shutdown requested. Waiting (18.00 sec to power down.).
2025-03-13T10:27:08.886Z,1741861628.886 [CBIT](ERROR): Communications Fault in component: BackseatComponent
2025-03-13T10:27:08.887Z,1741861628.887 [CBIT](ERROR): Hardware Fault in component: Power24vConverter
2025-03-13T10:27:08.954Z,1741861628.954 [Power24vConverter](INFO): Powering down.
2025-03-13T10:27:09.746Z,1741861629.746 [Power24vConverter](INFO): Powering up.
2025-03-13T10:27:10.002Z,1741861630.002 [CBIT](INFO): Clearing failed state for component Power24vConverter
2025-03-13T10:27:10.003Z,1741861630.003 [Power24vConverter] No Fault, FailCount= 1
2025-03-13T10:27:17.884Z,1741861637.884 [DAT](INFO): DAT read: 

2025-03-13T10:27:17.885Z,1741861637.885 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series

2025-03-13T10:27:19.649Z,1741861639.649 [DAT](INFO): DAT read: MF Frequency Band

2025-03-13T10:27:19.650Z,1741861639.650 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.15.0

2025-03-13T10:27:19.652Z,1741861639.652 [DAT](INFO): DAT read: Mar 13 2025 10:27:13 

2025-03-13T10:27:20.656Z,1741861640.656 [DAT](INFO): DAT read: Features enabled [Bearing]

2025-03-13T10:27:20.658Z,1741861640.658 [DAT](INFO): DAT read: CONNECT 00800 bits/sec 1 of 4, Rate 1/2 CC 12.50ms MGP

2025-03-13T10:27:20.658Z,1741861640.658 [DAT](INFO): commRate: 800
2025-03-13T10:27:26.973Z,1741861646.973 [BackseatComponent](INFO): Powering down and starting shutdown timer (18.00 sec).
2025-03-13T10:27:26.974Z,1741861646.974 [BackseatComponent](INFO): Unsubscribing from LCM channels.
2025-03-13T10:27:26.975Z,1741861646.975 [LcmUniversalReporter](INFO): Deactivating messaging.
2025-03-13T10:27:40.066Z,1741861660.066 [DAT](INFO): DAT read: Rx Time:10:27:36.1626

2025-03-13T10:27:40.068Z,1741861660.068 [DAT](INFO): Rx dataTimestamp_ set to:1741861660.066562
2025-03-13T10:27:40.068Z,1741861660.068 [DAT](INFO): DAT read: 

2025-03-13T10:27:40.070Z,1741861660.070 [DAT](INFO): DAT read: $Packet for address 0

2025-03-13T10:27:40.070Z,1741861660.070 [DAT](INFO): received a packet notification
2025-03-13T10:27:45.588Z,1741861665.588 [BackseatComponent](INFO): Powering up
2025-03-13T10:27:45.590Z,1741861665.590 [BackseatComponent](INFO): Subscribing to LCM channels.
2025-03-13T10:27:45.831Z,1741861665.831 [CBIT](INFO): Clearing failed state for component BackseatComponent
2025-03-13T10:27:45.831Z,1741861665.831 [BackseatComponent] No Fault, FailCount= 4
2025-03-13T10:30:08.321Z,1741861808.321 [BPC1](INFO): Calculating totals. Valid battery stick count: 50. Valid reserve battery stick count: 5.
2025-03-13T10:30:08.324Z,1741861808.324 [BPC1](FAULT): Failed to receive data from 4 sticks prior to timeout. Will not retry this scan cycle. Missing stick IDs are: 17, 21, 22, 24.
2025-03-13T10:33:03.951Z,1741861983.951 [BackseatComponent](FAULT): Failed to receive device response within the specified timeout.
2025-03-13T10:33:03.951Z,1741861983.951 [BackseatComponent] Communications Fault, FailCount= 5
2025-03-13T10:33:03.951Z,1741861983.951 [BackseatComponent](ERROR): Communications Fault
2025-03-13T10:33:03.952Z,1741861983.952 [Power24vConverter] Hardware Fault, FailCount= 1
2025-03-13T10:33:03.952Z,1741861983.952 [Power24vConverter](ERROR): Hardware Fault
2025-03-13T10:33:04.055Z,1741861984.055 [CBIT](ERROR): Communications Fault in component: BackseatComponent
2025-03-13T10:33:04.056Z,1741861984.056 [CBIT](CRITICAL): Communications Fault in component: BackseatComponent
2025-03-13T10:33:04.056Z,1741861984.056 [CBIT](ERROR): Hardware Fault in component: Power24vConverter
2025-03-13T10:33:04.125Z,1741861984.125 [Power24vConverter](INFO): Powering down.
2025-03-13T10:33:04.350Z,1741861984.350 [CommandExec](FAULT): Scheduling is paused
2025-03-13T10:33:04.352Z,1741861984.352 [CBIT](INFO): Critical error at 20250313T103304
2025-03-13T10:33:04.353Z,1741861984.353 [Supervisor](INFO): Stop Mission called by CBIT::checkCriticals
2025-03-13T10:33:04.359Z,1741861984.359 [BackseatComponent](INFO): Sent LCM shutdown request.
2025-03-13T10:33:04.360Z,1741861984.360 [BackseatComponent](INFO): Shutdown requested. Waiting (18.00 sec to power down.).
2025-03-13T10:33:04.526Z,1741861984.526 [MissionManager](INFO): MissionManager is completed.
2025-03-13T10:33:04.526Z,1741861984.526 [MissionManager](INFO): Uninitializing Mission sci2_noyo_optim
2025-03-13T10:33:04.526Z,1741861984.526 [sci2_noyo_optim] Stopped
2025-03-13T10:33:04.526Z,1741861984.526 [sci2_noyo_optim](DEBUG): Aggregate::uninitialize sci2_noyo_optim
2025-03-13T10:33:04.526Z,1741861984.526 [sci2_noyo_optim:Science] Stopped
2025-03-13T10:33:04.526Z,1741861984.526 [sci2_noyo_optim:Science](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science
2025-03-13T10:33:04.526Z,1741861984.526 [sci2_noyo_optim:Science:B] Stopped
2025-03-13T10:33:04.526Z,1741861984.526 [sci2_noyo_optim:Science:C] Stopped
2025-03-13T10:33:04.526Z,1741861984.526 [sci2_noyo_optim:Science:E] Stopped
2025-03-13T10:33:04.526Z,1741861984.526 [sci2_noyo_optim:Science:OceanCurrent] Stopped
2025-03-13T10:33:04.526Z,1741861984.526 [sci2_noyo_optim:Science:OceanCurrent](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:OceanCurrent
2025-03-13T10:33:04.527Z,1741861984.527 [sci2_noyo_optim:Science:OceanCurrent:A.] Stopped
2025-03-13T10:33:04.527Z,1741861984.527 [sci2_noyo_optim:StandardEnvelopes] Stopped
2025-03-13T10:33:04.527Z,1741861984.527 [sci2_noyo_optim:StandardEnvelopes](DEBUG): Aggregate::uninitialize sci2_noyo_optim:StandardEnvelopes
2025-03-13T10:33:04.527Z,1741861984.527 [sci2_noyo_optim:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-03-13T10:33:04.527Z,1741861984.527 [sci2_noyo_optim:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-03-13T10:33:04.527Z,1741861984.527 [sci2_noyo_optim:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-03-13T10:33:04.527Z,1741861984.527 [sci2_noyo_optim:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-03-13T10:33:04.527Z,1741861984.527 [sci2_noyo_optim:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-03-13T10:33:04.527Z,1741861984.527 [sci2_noyo_optim:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-03-13T10:33:04.527Z,1741861984.527 [sci2_noyo_optim:BackseatDriver] Stopped
2025-03-13T10:33:04.527Z,1741861984.527 [sci2_noyo_optim:BackseatDriver](DEBUG): Aggregate::uninitialize sci2_noyo_optim:BackseatDriver
2025-03-13T10:33:04.528Z,1741861984.528 [sci2_noyo_optim:BackseatDriver:A.BackseatDriver] Stopped
2025-03-13T10:33:04.528Z,1741861984.528 [sci2_noyo_optim:J] Stopped
2025-03-13T10:33:04.528Z,1741861984.528 [sci2_noyo_optim:PowerOnly] Stopped
2025-03-13T10:33:04.528Z,1741861984.528 [sci2_noyo_optim:PowerOnly](DEBUG): Aggregate::uninitialize sci2_noyo_optim:PowerOnly
2025-03-13T10:33:04.528Z,1741861984.528 [sci2_noyo_optim:PowerOnly:B] Stopped
2025-03-13T10:33:04.528Z,1741861984.528 [sci2_noyo_optim:PowerOnly:E.Wait] Stopped
2025-03-13T10:33:04.528Z,1741861984.528 [sci2_noyo_optim:PowerOnly:E.Wait](DEBUG): Uninitialize Wait Component.
2025-03-13T10:33:04.528Z,1741861984.528 [sci2_noyo_optim:L] Stopped
2025-03-13T10:33:04.528Z,1741861984.528 [sci2_noyo_optim:N] Stopped
2025-03-13T10:33:04.528Z,1741861984.528 [sci2_noyo_optim:O.Buoyancy] Stopped
2025-03-13T10:33:04.528Z,1741861984.528 [sci2_noyo_optim:O.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-03-13T10:33:04.528Z,1741861984.528 [sci2_noyo_optim:DiveCmd] Stopped
2025-03-13T10:33:04.528Z,1741861984.528 [sci2_noyo_optim:DiveCmd](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd
2025-03-13T10:33:04.528Z,1741861984.528 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow] Stopped
2025-03-13T10:33:04.529Z,1741861984.529 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow](DEBUG): Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepthSlow
2025-03-13T10:33:04.529Z,1741861984.529 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:A.SetSpeed] Stopped
2025-03-13T10:33:04.529Z,1741861984.529 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:A.SetSpeed](DEBUG): Uninitialize.
2025-03-13T10:33:04.529Z,1741861984.529 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:B] Stopped
2025-03-13T10:33:04.529Z,1741861984.529 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:C.Buoyancy] Stopped
2025-03-13T10:33:04.529Z,1741861984.529 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-03-13T10:33:04.529Z,1741861984.529 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:D.Pitch] Stopped
2025-03-13T10:33:04.529Z,1741861984.529 [sci2_noyo_optim:Lap] Stopped
2025-03-13T10:33:04.529Z,1741861984.529 [sci2_noyo_optim:Lap](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Lap
2025-03-13T10:33:04.529Z,1741861984.529 [sci2_noyo_optim:Lap:Dive] Stopped
2025-03-13T10:33:04.529Z,1741861984.529 [sci2_noyo_optim:Lap:Dive](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Lap:Dive
2025-03-13T10:33:04.529Z,1741861984.529 [sci2_noyo_optim:Lap:Dive:A] Stopped
2025-03-13T10:33:04.529Z,1741861984.529 [sci2_noyo_optim:Lap:Dive:A](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Lap:Dive:A
2025-03-13T10:33:04.530Z,1741861984.530 [sci2_noyo_optim:Lap:DepthByLap] Stopped
2025-03-13T10:33:04.530Z,1741861984.530 [sci2_noyo_optim:Lap:DepthByLap](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Lap:DepthByLap
2025-03-13T10:33:04.530Z,1741861984.530 [sci2_noyo_optim:Lap:DepthByLap:Leg2] Stopped
2025-03-13T10:33:04.530Z,1741861984.530 [sci2_noyo_optim:Lap:DepthByLap:Leg2](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Lap:DepthByLap:Leg2
2025-03-13T10:33:04.530Z,1741861984.530 [sci2_noyo_optim:Lap:DepthByLap:Leg2:Wpt2] Stopped
2025-03-13T10:33:04.530Z,1741861984.530 [sci2_noyo_optim:Lap:DepthByLap:Leg2:Wpt2](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Lap:DepthByLap:Leg2:Wpt2
2025-03-13T10:33:04.530Z,1741861984.530 [sci2_noyo_optim:Lap:DepthByLap:Leg2:Wpt2:A.Waypoint] Stopped
2025-03-13T10:33:04.530Z,1741861984.530 [sci2_noyo_optim:Lap:DepthByLap:Leg2:Wpt2:A.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-03-13T10:33:04.871Z,1741861984.871 [WetLabsBB2FL](INFO): Powering down
2025-03-13T10:33:05.301Z,1741861985.301 [Power24vConverter](INFO): Powering up.
2025-03-13T10:33:05.409Z,1741861985.409 [MissionManager](IMPORTANT): Started mission Default
2025-03-13T10:33:05.409Z,1741861985.409 [Default] Running Loop=1
2025-03-13T10:33:05.409Z,1741861985.409 [Default](DEBUG): Aggregate::initialize Default
2025-03-13T10:33:05.409Z,1741861985.409 [Default:B.GoToSurface] Running Loop=1
2025-03-13T10:33:05.409Z,1741861985.409 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-03-13T10:33:05.409Z,1741861985.409 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-03-13T10:33:05.410Z,1741861985.410 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-03-13T10:33:05.410Z,1741861985.410 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-03-13T10:33:05.410Z,1741861985.410 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-03-13T10:33:05.410Z,1741861985.410 [Default:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-03-13T10:33:05.411Z,1741861985.411 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-03-13T10:33:05.412Z,1741861985.412 [Default:A.Wait] Running Loop=1
2025-03-13T10:33:05.412Z,1741861985.412 [Default:A.Wait](DEBUG): Initialize Wait Component.
2025-03-13T10:33:05.739Z,1741861985.739 [CBIT](INFO): Clearing failed state for component Power24vConverter
2025-03-13T10:33:05.739Z,1741861985.739 [Power24vConverter] No Fault, FailCount= 1
2025-03-13T10:33:06.032Z,1741861986.032 [Radio_Surface](INFO): Powering up
2025-03-13T10:33:06.090Z,1741861986.090 [DAT](FAULT): LCB fault:  Current Limiter Activated.
2025-03-13T10:33:06.090Z,1741861986.090 [DAT] Hardware Fault, FailCount= 2
2025-03-13T10:33:06.090Z,1741861986.090 [DAT](ERROR): Hardware Fault
2025-03-13T10:33:06.092Z,1741861986.092 [DAT](INFO): Powering down
2025-03-13T10:33:06.570Z,1741861986.570 [CBIT](ERROR): Hardware Fault in component: DAT
2025-03-13T10:33:06.573Z,1741861986.573 [DAT](INFO): Powering down
2025-03-13T10:33:06.976Z,1741861986.976 [DAT](FAULT): LCB fault:  Current Limiter Activated.
2025-03-13T10:33:07.499Z,1741861987.499 [CBIT](INFO): Clearing failed state for component DAT
2025-03-13T10:33:07.499Z,1741861987.499 [DAT] No Fault, FailCount= 2
2025-03-13T10:33:09.799Z,1741861989.799 [DAT](INFO): Powering up
2025-03-13T10:33:09.800Z,1741861989.800 [DAT](DEBUG): Initializing DAT.
2025-03-13T10:33:11.249Z,1741861991.249 [PowerOnly](FAULT): loadControlLCB fault:  Current Limiter Activated.
2025-03-13T10:33:11.249Z,1741861991.249 [PowerOnly] Hardware Fault, FailCount= 1
2025-03-13T10:33:11.249Z,1741861991.249 [PowerOnly](ERROR): Hardware Fault
2025-03-13T10:33:11.597Z,1741861991.597 [CBIT](ERROR): Hardware Fault in component: PowerOnly
2025-03-13T10:33:11.733Z,1741861991.733 [PowerOnly](INFO): Powering down loadControl
2025-03-13T10:33:12.093Z,1741861992.093 [DataOverHttps](INFO): Radio surface powered ON.
2025-03-13T10:33:12.112Z,1741861992.112 [PowerOnly](FAULT): loadControl LCB fault:  Current Limiter Activated.
2025-03-13T10:33:12.474Z,1741861992.474 [PowerOnly](INFO): Powering down loadControl
2025-03-13T10:33:12.877Z,1741861992.877 [PowerOnly](FAULT): loadControl LCB fault:  Current Limiter Activated.
2025-03-13T10:33:13.322Z,1741861993.322 [PowerOnly](INFO): Powering down loadControl
2025-03-13T10:33:13.682Z,1741861993.682 [PowerOnly](FAULT): loadControl LCB fault:  Current Limiter Activated.
2025-03-13T10:33:14.161Z,1741861994.161 [PowerOnly](INFO): Powering down loadControl
2025-03-13T10:33:14.589Z,1741861994.589 [PowerOnly](FAULT): loadControl LCB fault:  Current Limiter Activated.
2025-03-13T10:33:15.048Z,1741861995.048 [PowerOnly](INFO): Powering down loadControl
2025-03-13T10:33:15.906Z,1741861995.906 [CBIT](INFO): Clearing failed state for component PowerOnly
2025-03-13T10:33:15.906Z,1741861995.906 [PowerOnly] No Fault, FailCount= 1
2025-03-13T10:33:17.558Z,1741861997.558 [PowerOnly](INFO): Powering down loadControl
2025-03-13T10:33:18.794Z,1741861998.794 [Default:A.Wait](INFO): Done Waiting.
2025-03-13T10:33:18.794Z,1741861998.794 [Default:A.Wait] Stopped
2025-03-13T10:33:18.794Z,1741861998.794 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2025-03-13T10:33:22.166Z,1741862002.166 [DAT](INFO): DAT read: 

2025-03-13T10:33:22.169Z,1741862002.169 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series

2025-03-13T10:33:22.540Z,1741862002.540 [BackseatComponent](INFO): Powering down and starting shutdown timer (18.00 sec).
2025-03-13T10:33:22.540Z,1741862002.540 [BackseatComponent](INFO): Unsubscribing from LCM channels.
2025-03-13T10:33:22.541Z,1741862002.541 [LcmUniversalReporter](INFO): Deactivating messaging.
2025-03-13T10:33:23.932Z,1741862003.932 [DAT](INFO): DAT read: MF Frequency Band

2025-03-13T10:33:23.936Z,1741862003.936 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.15.0

2025-03-13T10:33:23.939Z,1741862003.939 [DAT](INFO): DAT read: Mar 13 2025 10:33:18 

2025-03-13T10:33:24.942Z,1741862004.942 [DAT](INFO): DAT read: Features enabled [Bearing]

2025-03-13T10:33:24.948Z,1741862004.948 [DAT](INFO): DAT read: CONNECT 00800 bits/sec 1 of 4, Rate 1/2 CC 12.50ms MGP

2025-03-13T10:33:24.950Z,1741862004.950 [DAT](INFO): commRate: 800
2025-03-13T10:33:27.012Z,1741862007.012 [DAT](INFO): entering command mode
2025-03-13T10:33:27.213Z,1741862007.213 [DAT](INFO): DAT read: 

2025-03-13T10:33:27.215Z,1741862007.215 [DAT](INFO): DAT read: sr:1>

2025-03-13T10:33:27.217Z,1741862007.217 [DAT](INFO): unknown deviceResponse_: sr:1>

2025-03-13T10:33:27.217Z,1741862007.217 [DAT](DEBUG): checking for command mode acknowledgment
2025-03-13T10:33:27.465Z,1741862007.465 [DAT](DEBUG): checking for command mode acknowledgment
2025-03-13T10:33:27.716Z,1741862007.716 [DAT](DEBUG): checking for command mode acknowledgment
2025-03-13T10:33:27.970Z,1741862007.970 [DAT](DEBUG): checking for command mode acknowledgment
2025-03-13T10:33:28.222Z,1741862008.222 [DAT](DEBUG): checking for command mode acknowledgment
2025-03-13T10:33:28.475Z,1741862008.475 [DAT](DEBUG): checking for command mode acknowledgment
2025-03-13T10:33:28.724Z,1741862008.724 [DAT](DEBUG): checking for command mode acknowledgment
2025-03-13T10:33:28.976Z,1741862008.976 [DAT](DEBUG): checking for command mode acknowledgment
2025-03-13T10:33:29.229Z,1741862009.229 [DAT](DEBUG): checking for command mode acknowledgment
2025-03-13T10:33:29.480Z,1741862009.480 [DAT](DEBUG): checking for command mode acknowledgment
2025-03-13T10:33:29.732Z,1741862009.732 [DAT](DEBUG): checking for command mode acknowledgment
2025-03-13T10:33:29.986Z,1741862009.986 [DAT](DEBUG): checking for command mode acknowledgment
2025-03-13T10:33:30.237Z,1741862010.237 [DAT](DEBUG): checking for command mode acknowledgment
2025-03-13T10:33:30.489Z,1741862010.489 [DAT](DEBUG): checking for command mode acknowledgment
2025-03-13T10:33:30.740Z,1741862010.740 [DAT](DEBUG): checking for command mode acknowledgment
2025-03-13T10:33:30.992Z,1741862010.992 [DAT](DEBUG): checking for command mode acknowledgment
2025-03-13T10:33:31.244Z,1741862011.244 [DAT](DEBUG): checking for command mode acknowledgment
2025-03-13T10:33:31.496Z,1741862011.496 [DAT](DEBUG): checking for command mode acknowledgment
2025-03-13T10:33:31.748Z,1741862011.748 [DAT](DEBUG): checking for command mode acknowledgment
2025-03-13T10:33:31.000Z,1741862012.000 [DAT](DEBUG): checking for command mode acknowledgment
2025-03-13T10:33:32.252Z,1741862012.252 [DAT](DEBUG): checking for command mode acknowledgment
2025-03-13T10:33:32.505Z,1741862012.505 [DAT](DEBUG): checking for command mode acknowledgment
2025-03-13T10:33:32.757Z,1741862012.757 [DAT](DEBUG): checking for command mode acknowledgment
2025-03-13T10:33:33.009Z,1741862013.009 [DAT](DEBUG): checking for command mode acknowledgment
2025-03-13T10:33:33.261Z,1741862013.261 [DAT](DEBUG): checking for command mode acknowledgment
2025-03-13T10:33:33.512Z,1741862013.512 [DAT](DEBUG): checking for command mode acknowledgment
2025-03-13T10:33:33.769Z,1741862013.769 [DAT](DEBUG): checking for command mode acknowledgment
2025-03-13T10:33:34.020Z,1741862014.020 [DAT](DEBUG): checking for command mode acknowledgment
2025-03-13T10:33:34.272Z,1741862014.272 [DAT](DEBUG): checking for command mode acknowledgment
2025-03-13T10:33:34.524Z,1741862014.524 [DAT](DEBUG): checking for command mode acknowledgment
2025-03-13T10:33:34.776Z,1741862014.776 [DAT](DEBUG): checking for command mode acknowledgment
2025-03-13T10:33:35.028Z,1741862015.028 [DAT](DEBUG): checking for command mode acknowledgment
2025-03-13T10:33:35.281Z,1741862015.281 [DAT](DEBUG): checking for command mode acknowledgment
2025-03-13T10:33:35.533Z,1741862015.533 [DAT](DEBUG): checking for command mode acknowledgment
2025-03-13T10:33:35.785Z,1741862015.785 [DAT](DEBUG): checking for command mode acknowledgment
2025-03-13T10:33:36.039Z,1741862016.039 [DAT](DEBUG): checking for command mode acknowledgment
2025-03-13T10:33:36.289Z,1741862016.289 [DAT](DEBUG): checking for command mode acknowledgment
2025-03-13T10:33:36.543Z,1741862016.543 [DAT](DEBUG): checking for command mode acknowledgment
2025-03-13T10:33:36.792Z,1741862016.792 [DAT](DEBUG): checking for command mode acknowledgment
2025-03-13T10:33:37.044Z,1741862017.044 [DAT](DEBUG): checking for command mode acknowledgment
2025-03-13T10:33:37.300Z,1741862017.300 [DAT](DEBUG): checking for command mode acknowledgment
2025-03-13T10:33:37.548Z,1741862017.548 [DAT](DEBUG): checking for command mode acknowledgment
2025-03-13T10:33:37.800Z,1741862017.800 [DAT](DEBUG): checking for command mode acknowledgment
2025-03-13T10:33:38.053Z,1741862018.053 [DAT](DEBUG): checking for command mode acknowledgment
2025-03-13T10:33:38.304Z,1741862018.304 [DAT](DEBUG): checking for command mode acknowledgment
2025-03-13T10:33:38.556Z,1741862018.556 [DAT](DEBUG): checking for command mode acknowledgment
2025-03-13T10:33:38.808Z,1741862018.808 [DAT](DEBUG): checking for command mode acknowledgment
2025-03-13T10:33:39.060Z,1741862019.060 [DAT](DEBUG): checking for command mode acknowledgment
2025-03-13T10:33:39.312Z,1741862019.312 [DAT](DEBUG): checking for command mode acknowledgment
2025-03-13T10:33:39.564Z,1741862019.564 [DAT](DEBUG): checking for command mode acknowledgment
2025-03-13T10:33:39.818Z,1741862019.818 [DAT](DEBUG): checking for command mode acknowledgment
2025-03-13T10:33:40.068Z,1741862020.068 [DAT](DEBUG): checking for command mode acknowledgment
2025-03-13T10:33:40.320Z,1741862020.320 [DAT](DEBUG): checking for command mode acknowledgment
2025-03-13T10:33:40.574Z,1741862020.574 [DAT](DEBUG): checking for command mode acknowledgment
2025-03-13T10:33:40.826Z,1741862020.826 [DAT](DEBUG): checking for command mode acknowledgment
2025-03-13T10:33:41.078Z,1741862021.078 [DAT](DEBUG): checking for command mode acknowledgment
2025-03-13T10:33:41.328Z,1741862021.328 [DAT](DEBUG): checking for command mode acknowledgment
2025-03-13T10:33:41.581Z,1741862021.581 [DAT](DEBUG): checking for command mode acknowledgment
2025-03-13T10:33:41.834Z,1741862021.834 [DAT](DEBUG): checking for command mode acknowledgment
2025-03-13T10:33:42.084Z,1741862022.084 [DAT](DEBUG): checking for command mode acknowledgment
2025-03-13T10:33:42.084Z,1741862022.084 [DAT](FAULT): failed to enter command mode
2025-03-13T10:33:42.220Z,1741862022.220 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T10:33:42.387Z,1741862022.387 [DAT](INFO): entering command mode
2025-03-13T10:33:42.589Z,1741862022.589 [DAT](INFO): DAT read: user:1>

2025-03-13T10:33:42.593Z,1741862022.593 [DAT](INFO): DAT read: Command '+++' not found

2025-03-13T10:33:42.595Z,1741862022.595 [DAT](INFO): DAT read: Error

2025-03-13T10:33:42.596Z,1741862022.596 [DAT](INFO): setting verbose to 3
2025-03-13T10:33:42.840Z,1741862022.840 [DAT](INFO): DAT read: user:2>

2025-03-13T10:33:42.841Z,1741862022.841 [DAT](INFO): DAT read: Verbose         | 3           

2025-03-13T10:33:42.841Z,1741862022.841 [DAT](INFO): set verbose to 3
2025-03-13T10:33:42.841Z,1741862022.841 [DAT](INFO): setting DatVerbose to 27440
2025-03-13T10:33:43.092Z,1741862023.092 [DAT](INFO): DAT read: user:3>

2025-03-13T10:33:43.094Z,1741862023.094 [DAT](INFO): DAT read: DatVerbose      | 27440       

2025-03-13T10:33:43.094Z,1741862023.094 [DAT](INFO): set DatVerbose to 27440
2025-03-13T10:33:43.094Z,1741862023.094 [DAT](INFO): setting transmit power to 8
2025-03-13T10:33:43.346Z,1741862023.346 [DAT](INFO): DAT read: user:4>

2025-03-13T10:33:43.349Z,1741862023.349 [DAT](INFO): DAT read: TxPower         | 8 (Max)     

2025-03-13T10:33:43.351Z,1741862023.351 [DAT](INFO): set transmit power to 8
2025-03-13T10:33:43.364Z,1741862023.364 [DAT](INFO): setting local address to 9
2025-03-13T10:33:43.596Z,1741862023.596 [DAT](INFO): DAT read: user:5>

2025-03-13T10:33:43.597Z,1741862023.597 [DAT](INFO): DAT read: LocalAddr       | 9           

2025-03-13T10:33:43.597Z,1741862023.597 [DAT](INFO): set local address to 9
2025-03-13T10:33:43.598Z,1741862023.598 [DAT](INFO): Setting time to: 10:33:43 And date to:3/13/2025
2025-03-13T10:33:43.848Z,1741862023.848 [DAT](INFO): DAT read: user:6>

2025-03-13T10:33:43.849Z,1741862023.849 [DAT](INFO): DAT read: Thu Mar 13, 2025  10:33:43  

2025-03-13T10:33:43.849Z,1741862023.849 [DAT](INFO): Local DAT time set to Thu Mar 13, 2025  10:33:43  

2025-03-13T10:34:17.361Z,1741862057.361 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T10:34:52.505Z,1741862092.505 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T10:35:04.537Z,1741862104.537 [Default:CheckIn] Running Loop=1
2025-03-13T10:35:04.537Z,1741862104.537 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-03-13T10:35:04.537Z,1741862104.537 [Default:CheckIn:Read_GPS] Running Loop=1
2025-03-13T10:35:04.986Z,1741862104.986 [Waterlinked](INFO): Powering down
2025-03-13T10:35:27.644Z,1741862127.644 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T10:35:34.076Z,1741862134.076 [CBIT](INFO): Clearing failed state for component BackseatComponent
2025-03-13T10:35:34.076Z,1741862134.076 [BackseatComponent] No Fault, FailCount= 5
2025-03-13T10:35:34.309Z,1741862134.309 [BackseatComponent](INFO): Powering up
2025-03-13T10:35:34.309Z,1741862134.309 [BackseatComponent](INFO): Subscribing to LCM channels.
2025-03-13T10:35:55.192Z,1741862155.192 [BackseatComponent](INFO): Sent LCM shutdown request.
2025-03-13T10:35:55.193Z,1741862155.193 [BackseatComponent](INFO): Shutdown requested. Waiting (18.00 sec to power down.).
2025-03-13T10:36:02.784Z,1741862162.784 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T10:36:13.213Z,1741862173.213 [BackseatComponent](INFO): Powering down and starting shutdown timer (18.00 sec).
2025-03-13T10:36:13.214Z,1741862173.214 [BackseatComponent](INFO): Unsubscribing from LCM channels.
2025-03-13T10:36:13.214Z,1741862173.214 [LcmUniversalReporter](INFO): Deactivating messaging.
2025-03-13T10:36:36.349Z,1741862196.349 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003871
2025-03-13T10:37:31.146Z,1741862251.146 [NAL9602](INFO): SBD MO Status=0, MOMSN=18544, MT Status=0, MTMSN=0
2025-03-13T10:37:31.146Z,1741862251.146 [NAL9602](INFO): No messages in MT queue
2025-03-13T10:37:32.358Z,1741862252.358 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,103731.00,A,3647.44194,N,12154.41188,W,0.330,107.13,130325,,,A*74
2025-03-13T10:37:32.361Z,1741862252.361 [NAL9602](INFO): GPS fix at 20250313T103731: (36.790699, -121.906865)
2025-03-13T10:37:32.373Z,1741862252.373 [UniversalFixResidualReporter](INFO): Fix residual: 61.5 %DT, over the last 990.5 m. Residual distance 609.7 m at bearing -142.1 degrees. Fix at (36.7907, -121.9069) with 367.4 m made good.
2025-03-13T10:37:32.374Z,1741862252.374 [Default:CheckIn:Read_GPS] Stopped
2025-03-13T10:37:32.374Z,1741862252.374 [Default:CheckIn:Read_Iridium] Running Loop=1
2025-03-13T10:37:39.680Z,1741862259.680 [DataOverHttps](INFO): Sending 148 bytes from file Logs/20250311T232940/Courier0263.lzma
2025-03-13T10:37:40.681Z,1741862260.681 [DataOverHttps](INFO): Moved sent file to Logs/20250311T232940/Courier0263.lzma.bak
2025-03-13T10:37:40.682Z,1741862260.682 [DataOverHttps](INFO): SBD MOMSN=24222192
2025-03-13T10:37:59.781Z,1741862279.781 [DataOverHttps](INFO): Sending 833 bytes from file Logs/20250311T232940/Express0264.lzma
2025-03-13T10:38:00.782Z,1741862280.782 [DataOverHttps](INFO): Moved sent file to Logs/20250311T232940/Express0264.lzma.bak
2025-03-13T10:38:00.782Z,1741862280.782 [DataOverHttps](INFO): SBD MOMSN=24222197
2025-03-13T10:38:04.716Z,1741862284.716 [NAL9602](INFO): Not Powering down - fast GPS
2025-03-13T10:38:16.711Z,1741862296.711 [DataOverHttps](INFO): Sending 62 bytes from file Logs/20250311T232940/Express0267.lzma
2025-03-13T10:38:17.714Z,1741862297.714 [DataOverHttps](INFO): Moved sent file to Logs/20250311T232940/Express0267.lzma.bak
2025-03-13T10:38:17.714Z,1741862297.714 [DataOverHttps](INFO): SBD MOMSN=24222223
2025-03-13T10:38:18.864Z,1741862298.864 [Default:CheckIn:Read_Iridium] Stopped
2025-03-13T10:38:18.864Z,1741862298.864 [Default:CheckIn:C.Wait] Running Loop=1
2025-03-13T10:38:18.865Z,1741862298.865 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2025-03-13T10:43:19.442Z,1741862599.442 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2025-03-13T10:43:19.442Z,1741862599.442 [Default:CheckIn:C.Wait] Stopped
2025-03-13T10:43:19.442Z,1741862599.442 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2025-03-13T10:43:19.443Z,1741862599.443 [Default:CheckIn:D] Running Loop=1
2025-03-13T10:43:19.854Z,1741862599.854 [Default:CheckIn:D] Stopped
2025-03-13T10:43:19.854Z,1741862599.854 [Default:CheckIn:E] Running Loop=1
2025-03-13T10:43:20.250Z,1741862600.250 [Default:CheckIn:E](IMPORTANT): Default mission has been running for  10.240750 min 
2025-03-13T10:43:20.250Z,1741862600.250 [Default:CheckIn:E] Stopped
2025-03-13T10:43:20.251Z,1741862600.251 [Default:CheckIn](INFO): Completed Default:CheckIn
2025-03-13T10:43:20.251Z,1741862600.251 [Default:CheckIn] Stopped
2025-03-13T10:43:20.251Z,1741862600.251 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-03-13T10:43:20.267Z,1741862600.267 [Default:CheckIn](INFO): Running loop #2
2025-03-13T10:43:20.267Z,1741862600.267 [Default:CheckIn] Running Loop=2
2025-03-13T10:43:20.267Z,1741862600.267 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-03-13T10:43:20.267Z,1741862600.267 [Default:CheckIn:Read_GPS] Running Loop=1
2025-03-13T10:43:22.266Z,1741862602.266 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,104321.00,A,3647.46522,N,12154.39444,W,0.408,52.55,130325,,,A*48
2025-03-13T10:43:22.269Z,1741862602.269 [NAL9602](INFO): GPS fix at 20250313T104321: (36.791087, -121.906574)
2025-03-13T10:43:22.279Z,1741862602.279 [Default:CheckIn:Read_GPS] Stopped
2025-03-13T10:43:22.279Z,1741862602.279 [Default:CheckIn:Read_Iridium] Running Loop=1
2025-03-13T10:43:29.283Z,1741862609.283 [DataOverHttps](INFO): Sending 73 bytes from file Logs/20250311T232940/Courier0269.lzma
2025-03-13T10:43:30.286Z,1741862610.286 [DataOverHttps](INFO): Moved sent file to Logs/20250311T232940/Courier0269.lzma.bak
2025-03-13T10:43:30.286Z,1741862610.286 [DataOverHttps](INFO): SBD MOMSN=24222237
2025-03-13T10:43:38.697Z,1741862618.697 [DataOverHttps](IMPORTANT): SBD MTMSN=20250313T104337
2025-03-13T10:43:49.316Z,1741862629.316 [DataOverHttps](INFO): Sending 162 bytes from file Logs/20250311T232940/Express0270.lzma
2025-03-13T10:43:49.318Z,1741862629.318 [DataOverHttps](INFO): Received command: load Transport/keepstation.tl;set keepstation.MissionTimeout 6 h;set keepstation.Latitude 36.79183 degree;set keepstation.Longitude -121.90078 degree;run
2025-03-13T10:43:49.385Z,1741862629.385 [CommandExec](IMPORTANT): got command load ./Missions/Transport/keepstation.tl
2025-03-13T10:43:49.386Z,1741862629.386 [MissionManager](INFO): Loading Mission from file: ./Missions/Transport/keepstation.tl
2025-03-13T10:43:49.386Z,1741862629.386 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Transport/keepstation.tl
2025-03-13T10:43:49.390Z,1741862629.390 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Transport/keepstation.tl
2025-03-13T10:43:51.022Z,1741862631.022 [DataOverHttps](INFO): Moved sent file to Logs/20250311T232940/Express0270.lzma.bak
2025-03-13T10:43:51.022Z,1741862631.022 [DataOverHttps](INFO): SBD MOMSN=24222241
2025-03-13T10:43:51.284Z,1741862631.284 [MissionManager](DEBUG): TethyslAPI: ./Missions/Transport/keepstation.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Mission Id="keepstation">
    <DefineArg Name="MissionTimeout">
        <Units:hour />
        <Value>4</Value>
    </DefineArg>
    <DefineArg Name="NeedCommsTime">
        <Units:minute />
        <Value>45</Value>
    </DefineArg>
    <DefineArg Name="Latitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Longitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Depth">
        <Units:meter />
        <Value>30</Value>
    </DefineArg>
    <DefineArg Name="ApproachDepth">
        <Units:meter />
        <Value>15</Value>
    </DefineArg>
    <DefineArg Name="DepthDeadband">
        <Units:meter />
        <Value>4</Value>
    </DefineArg>
    <DefineArg Name="Speed">
        <Units:meter_per_second />
        <Value>0.75</Value>
    </DefineArg>
    <DefineArg Name="Radius">
        <Units:meter />
        <Value>200</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>45</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:kilometer />
        <Value>2</Value>
    </DefineArg>
    <Timeout Duration="MissionTimeout" />
    <Insert Id="NeedComms" Filename="Insert/NeedComms.tl" />
    <Assign>
        <Sequence />
        <Arg Name="NeedComms:DiveInterval" />
        <Arg Name="NeedCommsTime" />
    </Assign>
    <Insert Filename="Insert/StandardEnvelopes.tl" />
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MaxDepth" />
        <Arg Name="MaxDepth" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MinOffshore" />
        <Arg Name="MinOffshore" />
    </Assign>
    <Insert Filename="Insert/BackseatDriver.tl" />
    <Insert Filename="Insert/PowerOnly.tl" />
    <Guidance:Pitch>
        <Parallel />
        <Setting>
            <Guidance:Pitch.massPosition />
            <Control:VerticalControl.massDefault />
        </Setting>
    </Guidance:Pitch>
    <Call RefId="NeedComms" Id="StartingMission" />
    <Aggregate Id="TransitToStation">
        <Sequence />
        <Guidance:Buoyancy>
            <Parallel />
            <Setting>
                <Guidance:Buoyancy.position />
                <Control:VerticalControl.buoyancyNeutral />
            </Setting>
        </Guidance:Buoyancy>
        <Guidance:Pitch>
            <Parallel />
            <Setting>
                <Guidance:Pitch.depth />
                <Arg Name="ApproachDepth" />
            </Setting>
        </Guidance:Pitch>
        <Guidance:SetSpeed>
            <Parallel />
            <Setting>
                <Guidance:SetSpeed.speed />
                <Arg Name="Speed" />
            </Setting>
        </Guidance:SetSpeed>
        <Guidance:Waypoint Id="Wpt1">
            <Sequence />
            <Setting>
                <Guidance:Waypoint.latitude />
                <Arg Name="Latitude" />
            </Setting>
            <Setting>
                <Guidance:Waypoint.longitude />
                <Arg Name="Longitude" />
            </Setting>
        </Guidance:Waypoint>
    </Aggregate>
    <Call RefId="NeedComms" Id="OnStation" />
    <Aggregate Id="KeepStation">
        <Sequence />
        <Assign>
            <Parallel />
            <Control:VerticalControl.depthDeadband />
            <Arg Name="DepthDeadband" />
        </Assign>
        <Guidance:Pitch>
            <Parallel />
            <Setting>
                <Guidance:Pitch.depth />
                <Arg Name="Depth" />
            </Setting>
        </Guidance:Pitch>
        <Guidance:KeepStation>
            <Parallel />
            <Setting>
                <Guidance:KeepStation.latitude />
                <Arg Name="Latitude" />
            </Setting>
            <Setting>
                <Guidance:KeepStation.longitude />
                <Arg Name="Longitude" />
            </Setting>
            <Setting>
                <Guidance:KeepStation.radius />
                <Arg Name="Radius" />
            </Setting>
            <Setting>
                <Guidance:KeepStation.speed />
                <Arg Name="Speed" />
            </Setting>
        </Guidance:KeepStation>
        <Guidance:Wait>
            <Sequence />
            <Setting>
                <Guidance:Wait.duration />
                <Arg Name="MissionTimeout" />
            </Setting>
        </Guidance:Wait>
    </Aggregate>
</Mission>

2025-03-13T10:43:51.291Z,1741862631.291 [MissionManager](INFO): DefineArg keepstation.MissionTimeout = 4.000000 h
2025-03-13T10:43:51.302Z,1741862631.302 [MissionManager](INFO): DefineArg keepstation.NeedCommsTime = 45.000000 min
2025-03-13T10:43:51.306Z,1741862631.306 [MissionManager](INFO): DefineArg keepstation.Latitude = nan arcdeg
2025-03-13T10:43:51.309Z,1741862631.309 [MissionManager](INFO): DefineArg keepstation.Longitude = nan arcdeg
2025-03-13T10:43:51.313Z,1741862631.313 [MissionManager](INFO): DefineArg keepstation.Depth = 30.000000 m
2025-03-13T10:43:51.434Z,1741862631.434 [MissionManager](INFO): DefineArg keepstation.ApproachDepth = 15.000000 m
2025-03-13T10:43:51.450Z,1741862631.450 [MissionManager](INFO): DefineArg keepstation.DepthDeadband = 4.000000 m
2025-03-13T10:43:51.481Z,1741862631.481 [MissionManager](INFO): DefineArg keepstation.Speed = 0.750000 m/s
2025-03-13T10:43:51.497Z,1741862631.497 [MissionManager](INFO): DefineArg keepstation.Radius = 200.000000 m
2025-03-13T10:43:51.521Z,1741862631.521 [MissionManager](INFO): DefineArg keepstation.MaxDepth = 45.000000 m
2025-03-13T10:43:51.529Z,1741862631.529 [MissionManager](INFO): DefineArg keepstation.MinOffshore = 2.000000 km
2025-03-13T10:43:51.529Z,1741862631.529 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl
2025-03-13T10:43:51.530Z,1741862631.530 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl
2025-03-13T10:43:51.531Z,1741862631.531 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl
2025-03-13T10:43:52.122Z,1741862632.122 [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>

2025-03-13T10:43:52.143Z,1741862632.143 [MissionManager](INFO): DefineArg keepstation:NeedComms.DiveInterval = 1.000000 h
2025-03-13T10:43:52.146Z,1741862632.146 [MissionManager](INFO): DefineArg keepstation:NeedComms.WaitForPitchUp = 10.000000 min
2025-03-13T10:43:52.150Z,1741862632.150 [MissionManager](INFO): DefineArg keepstation:NeedComms.SurfacePitch = 20.000000 arcdeg
2025-03-13T10:43:52.154Z,1741862632.154 [MissionManager](INFO): DefineArg keepstation:NeedComms.SurfaceDepthRate = nan m/s
2025-03-13T10:43:52.165Z,1741862632.165 [MissionManager](INFO): DefineArg keepstation:NeedComms.SurfaceSpeed = 1.000000 m/s
2025-03-13T10:43:52.169Z,1741862632.169 [MissionManager](INFO): DefineArg keepstation:NeedComms.SurfacingTimeout = 1000.000000 s
2025-03-13T10:43:52.173Z,1741862632.173 [MissionManager](INFO): DefineArg keepstation:NeedComms.GPSTimeout = 7.000000 min
2025-03-13T10:43:52.176Z,1741862632.176 [MissionManager](INFO): DefineArg keepstation:NeedComms.CommsTimeout = 30.000000 min
2025-03-13T10:43:52.270Z,1741862632.270 [keepstation:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2025-03-13T10:43:52.388Z,1741862632.388 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-03-13T10:43:52.389Z,1741862632.389 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-03-13T10:43:52.390Z,1741862632.390 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-03-13T10:43:52.609Z,1741862632.609 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/StandardEnvelopes.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="StandardEnvelopes">
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="MaxDepthIgnore">
        <Units:meter />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>200</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:meter />
        <Value>2000</Value>
    </DefineArg>
    <Parallel />
    <Guidance:AltitudeEnvelope>
        <Parallel />
        <Setting>
            <Guidance:AltitudeEnvelope.minAltitude />
            <Arg Name="MinAltitude" />
        </Setting>
        <Setting>
            <Guidance:AltitudeEnvelope.maxDepthIgnore />
            <Arg Name="MaxDepthIgnore" />
        </Setting>
    </Guidance:AltitudeEnvelope>
    <Guidance:DepthEnvelope>
        <Parallel />
        <Setting>
            <Guidance:DepthEnvelope.maxDepth />
            <Arg Name="MaxDepth" />
        </Setting>
    </Guidance:DepthEnvelope>
    <Guidance:OffshoreEnvelope>
        <Parallel />
        <Setting>
            <Guidance:OffshoreEnvelope.minOffshore />
            <Arg Name="MinOffshore" />
        </Setting>
    </Guidance:OffshoreEnvelope>
</Aggregate>

2025-03-13T10:43:52.673Z,1741862632.673 [MissionManager](INFO): DefineArg keepstation:StandardEnvelopes.MinAltitude = 5.000000 m
2025-03-13T10:43:52.677Z,1741862632.677 [MissionManager](INFO): DefineArg keepstation:StandardEnvelopes.MaxDepthIgnore = 0.000000 m
2025-03-13T10:43:52.694Z,1741862632.694 [MissionManager](INFO): DefineArg keepstation:StandardEnvelopes.MaxDepth = 200.000000 m
2025-03-13T10:43:52.725Z,1741862632.725 [MissionManager](INFO): DefineArg keepstation:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-03-13T10:43:52.727Z,1741862632.727 [keepstation:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-03-13T10:43:52.769Z,1741862632.769 [keepstation:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-03-13T10:43:52.799Z,1741862632.799 [keepstation:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-03-13T10:43:52.837Z,1741862632.837 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2025-03-13T10:43:52.837Z,1741862632.837 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2025-03-13T10:43:52.838Z,1741862632.838 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2025-03-13T10:43:52.913Z,1741862632.913 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/BackseatDriver.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="BackseatDriver">
    <DefineArg Name="EnableBackseat">
        <False />
    </DefineArg>
    <Parallel />
    <Guidance:BackseatDriver>
        <Sequence />
        <Setting>
            <Guidance:BackseatDriver.powerBackseat />
            <Arg Name="EnableBackseat" />
        </Setting>
    </Guidance:BackseatDriver>
</Aggregate>

2025-03-13T10:43:52.922Z,1741862632.922 [MissionManager](INFO): DefineArg keepstation:BackseatDriver.EnableBackseat = 0 bool
2025-03-13T10:43:52.937Z,1741862632.937 [keepstation:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2025-03-13T10:43:52.940Z,1741862632.940 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2025-03-13T10:43:52.941Z,1741862632.941 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2025-03-13T10:43:52.942Z,1741862632.942 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2025-03-13T10:43:53.470Z,1741862633.470 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/PowerOnly.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="PowerOnly">
    <DefineArg Name="SampleAll">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad1">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad2">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad3">
        <False />
    </DefineArg>
    <DefineArg Name="EnabledPowerOnly">
        <Sensor:PowerOnly.loadAtStartup />
    </DefineArg>
    <Parallel />
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleAll" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.samplePowerOnly />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad1" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad1 />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad2" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad2 />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad3" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad3 />
    </ReadData>
    <Guidance:Wait>
        <Sequence />
        <Setting>
            <Guidance:Wait.duration />
            <Units:hour />
            <Value>99999</Value>
        </Setting>
    </Guidance:Wait>
</Aggregate>

2025-03-13T10:43:53.516Z,1741862633.516 [MissionManager](INFO): DefineArg keepstation:PowerOnly.SampleAll = 0 bool
2025-03-13T10:43:53.519Z,1741862633.519 [MissionManager](INFO): DefineArg keepstation:PowerOnly.SampleLoad1 = 0 bool
2025-03-13T10:43:53.567Z,1741862633.567 [MissionManager](INFO): DefineArg keepstation:PowerOnly.SampleLoad2 = 0 bool
2025-03-13T10:43:53.571Z,1741862633.571 [MissionManager](INFO): DefineArg keepstation:PowerOnly.SampleLoad3 = 0 bool
2025-03-13T10:43:53.591Z,1741862633.591 [MissionManager](INFO): DefineArg keepstation:PowerOnly.EnabledPowerOnly = 1 bool
2025-03-13T10:43:53.640Z,1741862633.640 [keepstation:PowerOnly:E.Wait](DEBUG): Construct Wait.
2025-03-13T10:43:53.660Z,1741862633.660 [keepstation:H.Pitch](DEBUG): Construct.
2025-03-13T10:43:53.712Z,1741862633.712 [keepstation:TransitToStation:A.Buoyancy](DEBUG): Construct Buoyancy.
2025-03-13T10:43:53.732Z,1741862633.732 [keepstation:TransitToStation:B.Pitch](DEBUG): Construct.
2025-03-13T10:43:53.773Z,1741862633.773 [keepstation:TransitToStation:C.SetSpeed](DEBUG): Construct.
2025-03-13T10:43:53.785Z,1741862633.785 [keepstation:TransitToStation:Wpt1.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T10:43:53.924Z,1741862633.924 [keepstation:KeepStation:B.Pitch](DEBUG): Construct.
2025-03-13T10:43:53.972Z,1741862633.972 [keepstation:KeepStation:C.KeepStation](DEBUG): Construct KeepStation.
2025-03-13T10:43:53.987Z,1741862633.987 [keepstation:KeepStation:D.Wait](DEBUG): Construct Wait.
2025-03-13T10:43:54.062Z,1741862634.062 [MissionManager](DEBUG): 
#   Copyright (c) 2024 MBARI
#   MBARI Proprietary Information. Confidential. All Rights Reserved
#   Unauthorized copying or distribution of this file via any medium is strictly
#   prohibited.
#
#   WARNING - This file contains information whose export is restricted by the
#   Export Administration Act of 1979 (Title 50, U.S.C., App. 2401 et seq.), as
#   amended. Violations of these export laws are subject to severe civil and/or
#   criminal penalties.

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

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

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

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

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

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

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

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

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

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

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

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

  timeout duration=MissionTimeout

  insert id="NeedComms" Insert/NeedComms.tl

  assign in sequence NeedComms:DiveInterval = NeedCommsTime

  insert Insert/StandardEnvelopes.tl

  assign in sequence StandardEnvelopes:MaxDepth = MaxDepth

  assign in sequence StandardEnvelopes:MinOffshore = MinOffshore

  insert Insert/BackseatDriver.tl

  insert Insert/PowerOnly.tl

  behavior Guidance:Pitch {
    run in parallel

    set massPosition = Control:VerticalControl.massDefault
  }

  call id="StartingMission" refId="NeedComms"

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

    run in sequence

    behavior Guidance:Buoyancy {
      run in parallel

      set position = Control:VerticalControl.buoyancyNeutral
    }

    behavior Guidance:Pitch {
      run in parallel

      set depth = ApproachDepth
    }

    behavior Guidance:SetSpeed {
      run in parallel

      set speed = Speed
    }

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

      set latitude = Latitude
      set longitude = Longitude
    }
  }

  call id="OnStation" refId="NeedComms"

  aggregate KeepStation {
    run in sequence

    assign in parallel Control:VerticalControl.depthDeadband = DepthDeadband

    behavior Guidance:Pitch {
      run in parallel

      set depth = Depth
    }

    behavior Guidance:KeepStation {
      run in parallel

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

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

      run in sequence

      set duration = MissionTimeout
    }
  }
}


2025-03-13T10:43:54.063Z,1741862634.063 [CommandExec](IMPORTANT): Loaded ./Missions/Transport/keepstation.tl id=keepstation
2025-03-13T10:44:14.903Z,1741862654.903 [DataOverHttps](INFO): Sending 39 bytes from file Logs/20250311T232940/Courier0272.lzma
2025-03-13T10:44:15.905Z,1741862655.905 [DataOverHttps](INFO): Moved sent file to Logs/20250311T232940/Courier0272.lzma.bak
2025-03-13T10:44:15.906Z,1741862655.906 [DataOverHttps](INFO): SBD MOMSN=24222245
2025-03-13T10:44:17.921Z,1741862657.921 [CommandExec](IMPORTANT): got command set keepstation.MissionTimeout 6 hour
2025-03-13T10:44:17.922Z,1741862657.922 [CommandExec](IMPORTANT): got command set keepstation.Latitude 36.79183 degree
2025-03-13T10:44:17.923Z,1741862657.923 [CommandExec](IMPORTANT): got command set keepstation.Longitude -121.90078 degree
2025-03-13T10:44:17.924Z,1741862657.924 [CommandExec](IMPORTANT): got command run
2025-03-13T10:44:17.926Z,1741862657.926 [CommandExec](IMPORTANT): Running 
2025-03-13T10:44:18.126Z,1741862658.126 [Default] Stopped
2025-03-13T10:44:18.126Z,1741862658.126 [Default](DEBUG): Aggregate::uninitialize Default
2025-03-13T10:44:18.126Z,1741862658.126 [Default:B.GoToSurface] Stopped
2025-03-13T10:44:18.126Z,1741862658.126 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-03-13T10:44:18.127Z,1741862658.127 [Default:CheckIn] Stopped
2025-03-13T10:44:18.127Z,1741862658.127 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-03-13T10:44:18.127Z,1741862658.127 [Default:CheckIn:Read_Iridium] Stopped
2025-03-13T10:44:18.127Z,1741862658.127 [MissionManager](IMPORTANT): Started mission keepstation
2025-03-13T10:44:18.127Z,1741862658.127 [keepstation] Running Loop=1
2025-03-13T10:44:18.128Z,1741862658.128 [keepstation](DEBUG): Aggregate::initialize keepstation
2025-03-13T10:44:18.128Z,1741862658.128 [keepstation:StandardEnvelopes] Running Loop=1
2025-03-13T10:44:18.128Z,1741862658.128 [keepstation:StandardEnvelopes](DEBUG): Aggregate::initialize keepstation:StandardEnvelopes
2025-03-13T10:44:18.128Z,1741862658.128 [keepstation:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-03-13T10:44:18.128Z,1741862658.128 [keepstation:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-03-13T10:44:18.128Z,1741862658.128 [keepstation:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-03-13T10:44:18.128Z,1741862658.128 [keepstation:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-03-13T10:44:18.128Z,1741862658.128 [keepstation:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-03-13T10:44:18.128Z,1741862658.128 [keepstation:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-03-13T10:44:18.128Z,1741862658.128 [keepstation:BackseatDriver] Running Loop=1
2025-03-13T10:44:18.129Z,1741862658.129 [keepstation:BackseatDriver](DEBUG): Aggregate::initialize keepstation:BackseatDriver
2025-03-13T10:44:18.129Z,1741862658.129 [keepstation:BackseatDriver:A.BackseatDriver] Running Loop=1
2025-03-13T10:44:18.129Z,1741862658.129 [keepstation:PowerOnly] Running Loop=1
2025-03-13T10:44:18.129Z,1741862658.129 [keepstation:PowerOnly](DEBUG): Aggregate::initialize keepstation:PowerOnly
2025-03-13T10:44:18.129Z,1741862658.129 [keepstation:PowerOnly:A] Running Loop=1
2025-03-13T10:44:18.129Z,1741862658.129 [keepstation:PowerOnly:B] Running Loop=1
2025-03-13T10:44:18.129Z,1741862658.129 [keepstation:PowerOnly:C] Running Loop=1
2025-03-13T10:44:18.129Z,1741862658.129 [keepstation:PowerOnly:D] Running Loop=1
2025-03-13T10:44:18.129Z,1741862658.129 [keepstation:PowerOnly:E.Wait] Running Loop=1
2025-03-13T10:44:18.129Z,1741862658.129 [keepstation:PowerOnly:E.Wait](DEBUG): Initialize Wait Component.
2025-03-13T10:44:18.129Z,1741862658.129 [keepstation:H.Pitch] Running Loop=1
2025-03-13T10:44:18.130Z,1741862658.130 [keepstation:H.Pitch](DEBUG): Initialize.
2025-03-13T10:44:18.130Z,1741862658.130 [keepstation:B] Running Loop=1
2025-03-13T10:44:18.130Z,1741862658.130 [keepstation:H.Pitch] Running Loop=1
2025-03-13T10:44:18.131Z,1741862658.131 [keepstation:PowerOnly] Running Loop=1
2025-03-13T10:44:18.132Z,1741862658.132 [keepstation:PowerOnly:D] Stopped
2025-03-13T10:44:18.132Z,1741862658.132 [keepstation:PowerOnly:C] Stopped
2025-03-13T10:44:18.132Z,1741862658.132 [keepstation:PowerOnly:B] Stopped
2025-03-13T10:44:18.132Z,1741862658.132 [keepstation:PowerOnly:A] Stopped
2025-03-13T10:44:18.132Z,1741862658.132 [keepstation:BackseatDriver] Running Loop=1
2025-03-13T10:44:18.132Z,1741862658.132 [keepstation:StandardEnvelopes] Running Loop=1
2025-03-13T10:44:18.132Z,1741862658.132 [keepstation:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-03-13T10:44:18.132Z,1741862658.132 [keepstation:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-03-13T10:44:18.133Z,1741862658.133 [keepstation:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-03-13T10:44:18.133Z,1741862658.133 [keepstation:B] Stopped
2025-03-13T10:44:18.133Z,1741862658.133 [keepstation:D] Running Loop=1
2025-03-13T10:44:18.594Z,1741862658.594 [keepstation:D] Stopped
2025-03-13T10:44:18.594Z,1741862658.594 [keepstation:E] Running Loop=1
2025-03-13T10:44:18.977Z,1741862658.977 [keepstation:E] Stopped
2025-03-13T10:44:18.977Z,1741862658.977 [keepstation:StartingMission] Running Loop=1
2025-03-13T10:44:18.977Z,1741862658.977 [keepstation:StartingMission](DEBUG): Aggregate::initialize keepstation:StartingMission
2025-03-13T10:44:19.356Z,1741862659.356 [keepstation:NeedComms] Running Loop=1
2025-03-13T10:44:19.357Z,1741862659.357 [keepstation:NeedComms](DEBUG): Aggregate::initialize keepstation:NeedComms
2025-03-13T10:44:19.357Z,1741862659.357 [keepstation:NeedComms:B.GoToSurface] Running Loop=1
2025-03-13T10:44:19.357Z,1741862659.357 [keepstation:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-03-13T10:44:19.357Z,1741862659.357 [keepstation:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-03-13T10:44:19.358Z,1741862659.358 [keepstation:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-03-13T10:44:19.358Z,1741862659.358 [keepstation:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-03-13T10:44:19.358Z,1741862659.358 [keepstation:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-03-13T10:44:19.358Z,1741862659.358 [keepstation:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-03-13T10:44:19.359Z,1741862659.359 [keepstation:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-03-13T10:44:19.363Z,1741862659.363 [keepstation:NeedComms:A] Running Loop=1
2025-03-13T10:44:19.365Z,1741862659.365 [keepstation:NeedComms:A](INFO): last time_fix was:  1741862601.000000 second since 1970/01/01T00:00:00Z 
2025-03-13T10:44:19.365Z,1741862659.365 [keepstation:NeedComms:A] Stopped
2025-03-13T10:44:19.738Z,1741862659.738 [keepstation:NeedComms:C] Running Loop=1
2025-03-13T10:44:20.142Z,1741862660.142 [keepstation:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-03-13T10:44:31.923Z,1741862671.923 [DataOverHttps](INFO): Sending 163 bytes from file Logs/20250311T232940/Express0273.lzma
2025-03-13T10:44:32.925Z,1741862672.925 [DataOverHttps](INFO): Moved sent file to Logs/20250311T232940/Express0273.lzma.bak
2025-03-13T10:44:32.926Z,1741862672.926 [DataOverHttps](INFO): SBD MOMSN=24222248
2025-03-13T10:46:11.246Z,1741862771.246 [BPC1](ERROR): BPC1B: No match for serial number 1717 in BPC1B's battery stick inventory (sticks 32-62 in onboard configuration file).
2025-03-13T10:47:01.356Z,1741862821.356 [NAL9602](INFO): SBD MO Status=2, MOMSN=18545, MT Status=2, MTMSN=0
2025-03-13T10:47:01.356Z,1741862821.356 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-03-13T10:48:07.602Z,1741862887.602 [NAL9602](INFO): SBD MO Status=0, MOMSN=18545, MT Status=0, MTMSN=0
2025-03-13T10:48:07.602Z,1741862887.602 [NAL9602](INFO): No messages in MT queue
2025-03-13T10:48:08.811Z,1741862888.811 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,104807.00,A,3647.48720,N,12154.38028,W,0.797,17.08,130325,,,A*4A
2025-03-13T10:48:08.813Z,1741862888.813 [NAL9602](INFO): GPS fix at 20250313T104807: (36.791453, -121.906338)
2025-03-13T10:48:08.842Z,1741862888.842 [keepstation:NeedComms:C] Stopped
2025-03-13T10:48:08.842Z,1741862888.842 [keepstation:NeedComms:D] Running Loop=1
2025-03-13T10:48:09.252Z,1741862889.252 [keepstation:NeedComms:D](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-03-13T10:48:16.208Z,1741862896.208 [DataOverHttps](INFO): Sending 73 bytes from file Logs/20250311T232940/Courier0275.lzma
2025-03-13T10:48:17.210Z,1741862897.210 [DataOverHttps](INFO): Moved sent file to Logs/20250311T232940/Courier0275.lzma.bak
2025-03-13T10:48:17.210Z,1741862897.210 [DataOverHttps](INFO): SBD MOMSN=24222278
2025-03-13T10:48:33.080Z,1741862913.080 [DataOverHttps](INFO): Sending 273 bytes from file Logs/20250311T232940/Express0276.lzma
2025-03-13T10:48:34.082Z,1741862914.082 [DataOverHttps](INFO): Moved sent file to Logs/20250311T232940/Express0276.lzma.bak
2025-03-13T10:48:34.082Z,1741862914.082 [DataOverHttps](INFO): SBD MOMSN=24222281
2025-03-13T10:48:35.504Z,1741862915.504 [keepstation:NeedComms:D] Stopped
2025-03-13T10:48:35.504Z,1741862915.504 [keepstation:NeedComms:E] Running Loop=1
2025-03-13T10:48:35.910Z,1741862915.910 [keepstation:NeedComms:E](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-03-13T10:48:37.517Z,1741862917.517 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,104836.00,A,3647.48968,N,12154.37867,W,1.108,53.74,130325,,,A*4C
2025-03-13T10:48:37.519Z,1741862917.519 [NAL9602](INFO): GPS fix at 20250313T104836: (36.791495, -121.906311)
2025-03-13T10:48:37.549Z,1741862917.549 [keepstation:NeedComms:E] Stopped
2025-03-13T10:48:37.550Z,1741862917.550 [keepstation:NeedComms](INFO): Completed keepstation:NeedComms
2025-03-13T10:48:37.550Z,1741862917.550 [keepstation:NeedComms] Stopped
2025-03-13T10:48:37.550Z,1741862917.550 [keepstation:NeedComms](DEBUG): Aggregate::uninitialize keepstation:NeedComms
2025-03-13T10:48:37.550Z,1741862917.550 [keepstation:NeedComms:B.GoToSurface] Stopped
2025-03-13T10:48:37.550Z,1741862917.550 [keepstation:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-03-13T10:48:37.960Z,1741862917.960 [keepstation:StartingMission](INFO): Completed keepstation:StartingMission
2025-03-13T10:48:37.960Z,1741862917.960 [keepstation:StartingMission] Stopped
2025-03-13T10:48:37.960Z,1741862917.960 [keepstation:StartingMission](DEBUG): Aggregate::uninitialize keepstation:StartingMission
2025-03-13T10:48:37.960Z,1741862917.960 [keepstation:TransitToStation] Running Loop=1
2025-03-13T10:48:37.960Z,1741862917.960 [keepstation:TransitToStation](DEBUG): Aggregate::initialize keepstation:TransitToStation
2025-03-13T10:48:37.960Z,1741862917.960 [keepstation:TransitToStation:A.Buoyancy] Running Loop=1
2025-03-13T10:48:37.960Z,1741862917.960 [keepstation:TransitToStation:A.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-03-13T10:48:37.960Z,1741862917.960 [keepstation:TransitToStation:B.Pitch] Running Loop=1
2025-03-13T10:48:37.960Z,1741862917.960 [keepstation:TransitToStation:B.Pitch](DEBUG): Initialize.
2025-03-13T10:48:37.961Z,1741862917.961 [keepstation:TransitToStation:C.SetSpeed] Running Loop=1
2025-03-13T10:48:37.961Z,1741862917.961 [keepstation:TransitToStation:C.SetSpeed](DEBUG): Initialize.
2025-03-13T10:48:37.961Z,1741862917.961 [keepstation:TransitToStation:Wpt1.Waypoint] Running Loop=1
2025-03-13T10:48:37.961Z,1741862917.961 [keepstation:TransitToStation:Wpt1.Waypoint](DEBUG): Initialize WaypointComponent.
2025-03-13T10:48:37.962Z,1741862917.962 [keepstation:TransitToStation:Wpt1.Waypoint](IMPORTANT): Navigating to waypoint: 36.791828,-121.900780
2025-03-13T10:48:38.324Z,1741862918.324 [keepstation:TransitToStation:Wpt1.Waypoint](INFO): Navigating to waypoint: 36.791828,-121.900780
2025-03-13T10:48:38.325Z,1741862918.325 [keepstation:TransitToStation:C.SetSpeed] Running Loop=1
2025-03-13T10:48:38.325Z,1741862918.325 [keepstation:TransitToStation:B.Pitch] Running Loop=1
2025-03-13T10:48:38.326Z,1741862918.326 [keepstation:TransitToStation:A.Buoyancy] Running Loop=1
2025-03-13T10:49:09.441Z,1741862949.441 [NAL9602](INFO): Not Powering down - fast GPS
2025-03-13T10:49:23.986Z,1741862963.986 [BPC1](ERROR): BPC1A: No match for serial number 1717 in BPC1A's battery stick inventory (sticks 1-31 in onboard configuration file).
2025-03-13T10:49:43.664Z,1741862983.664 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.238800
2025-03-13T10:50:15.792Z,1741863015.792 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T10:50:39.364Z,1741863039.364 [Waterlinked](ERROR): only read 0 of 1 data item for BIT error. Device response::TS,2405271302   0.0,1475.0,  0
2025-03-13T10:50:43.771Z,1741863043.771 [Radio_Surface](INFO): Powering down
2025-03-13T10:50:50.937Z,1741863050.937 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T10:50:51.940Z,1741863051.940 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-03-13T10:52:43.779Z,1741863163.779 [Waterlinked](ERROR): DVL uart error: serial timeout
2025-03-13T10:52:43.779Z,1741863163.779 [Waterlinked] Communications Fault, FailCount= 1
2025-03-13T10:52:43.779Z,1741863163.779 [Waterlinked](ERROR): Communications Fault
2025-03-13T10:52:44.011Z,1741863164.011 [CBIT](ERROR): Communications Fault in component: Waterlinked
2025-03-13T10:52:44.271Z,1741863164.271 [Waterlinked](INFO): Powering down
2025-03-13T10:52:44.998Z,1741863164.998 [CBIT](INFO): Clearing failed state for component Waterlinked
2025-03-13T10:52:44.999Z,1741863164.999 [Waterlinked] No Fault, FailCount= 1
2025-03-13T10:59:11.580Z,1741863551.580 [Waterlinked](ERROR): only read 3 of 5 data items. Device response::BI,   +0,    +0,    +0,V
2025-03-13T11:00:08.396Z,1741863608.396 [Waterlinked](ERROR): only read 0 of 1 data item for altitude. Device response::BD,       +0.00,       +0.00,       0.00
2025-03-13T11:00:59.103Z,1741863659.103 [keepstation:TransitToStation:Wpt1.Waypoint](IMPORTANT): Reached waypoint: 36.791828,-121.900780
2025-03-13T11:00:59.103Z,1741863659.103 [keepstation:TransitToStation:Wpt1.Waypoint] Stopped
2025-03-13T11:00:59.103Z,1741863659.103 [keepstation:TransitToStation:Wpt1.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-03-13T11:00:59.105Z,1741863659.105 [keepstation:TransitToStation](INFO): Completed keepstation:TransitToStation
2025-03-13T11:00:59.105Z,1741863659.105 [keepstation:TransitToStation] Stopped
2025-03-13T11:00:59.105Z,1741863659.105 [keepstation:TransitToStation](DEBUG): Aggregate::uninitialize keepstation:TransitToStation
2025-03-13T11:00:59.105Z,1741863659.105 [keepstation:TransitToStation:A.Buoyancy] Stopped
2025-03-13T11:00:59.105Z,1741863659.105 [keepstation:TransitToStation:A.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-03-13T11:00:59.105Z,1741863659.105 [keepstation:TransitToStation:B.Pitch] Stopped
2025-03-13T11:00:59.105Z,1741863659.105 [keepstation:TransitToStation:C.SetSpeed] Stopped
2025-03-13T11:00:59.105Z,1741863659.105 [keepstation:TransitToStation:C.SetSpeed](DEBUG): Uninitialize.
2025-03-13T11:00:59.105Z,1741863659.105 [keepstation:OnStation] Running Loop=1
2025-03-13T11:00:59.105Z,1741863659.105 [keepstation:OnStation](DEBUG): Aggregate::initialize keepstation:OnStation
2025-03-13T11:00:59.557Z,1741863659.557 [keepstation:NeedComms] Running Loop=1
2025-03-13T11:00:59.557Z,1741863659.557 [keepstation:NeedComms](DEBUG): Aggregate::initialize keepstation:NeedComms
2025-03-13T11:00:59.557Z,1741863659.557 [keepstation:NeedComms:B.GoToSurface] Running Loop=1
2025-03-13T11:00:59.558Z,1741863659.558 [keepstation:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-03-13T11:00:59.558Z,1741863659.558 [keepstation:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-03-13T11:00:59.558Z,1741863659.558 [keepstation:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-03-13T11:00:59.559Z,1741863659.559 [keepstation:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-03-13T11:00:59.563Z,1741863659.563 [keepstation:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-03-13T11:00:59.564Z,1741863659.564 [keepstation:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-03-13T11:00:59.564Z,1741863659.564 [keepstation:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-03-13T11:00:59.564Z,1741863659.564 [keepstation:NeedComms:A] Running Loop=1
2025-03-13T11:00:59.566Z,1741863659.566 [keepstation:NeedComms:A](INFO): last time_fix was:  1741862916.000000 second since 1970/01/01T00:00:00Z 
2025-03-13T11:00:59.566Z,1741863659.566 [keepstation:NeedComms:A] Stopped
2025-03-13T11:02:10.803Z,1741863730.803 [keepstation:NeedComms:C] Running Loop=1
2025-03-13T11:02:11.179Z,1741863731.179 [Waterlinked](INFO): Powering down
2025-03-13T11:02:11.187Z,1741863731.187 [Radio_Surface](INFO): Powering up
2025-03-13T11:02:16.703Z,1741863736.703 [DataOverHttps](INFO): Radio surface powered ON.
2025-03-13T11:02:46.840Z,1741863766.840 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T11:03:20.956Z,1741863800.956 [NAL9602](INFO): SBD MO Status=2, MOMSN=18546, MT Status=2, MTMSN=0
2025-03-13T11:03:20.956Z,1741863800.956 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-03-13T11:03:21.980Z,1741863801.980 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T11:03:55.286Z,1741863835.286 [NAL9602](INFO): SBD MO Status=2, MOMSN=18546, MT Status=2, MTMSN=0
2025-03-13T11:03:55.287Z,1741863835.287 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-03-13T11:03:57.124Z,1741863837.124 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T11:04:32.263Z,1741863872.263 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T11:05:07.416Z,1741863907.416 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T11:05:42.556Z,1741863942.556 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T11:05:55.060Z,1741863955.060 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003253
2025-03-13T11:06:05.778Z,1741863965.778 [NAL9602](INFO): SBD MO Status=0, MOMSN=18546, MT Status=0, MTMSN=0
2025-03-13T11:06:05.778Z,1741863965.778 [NAL9602](INFO): No messages in MT queue
2025-03-13T11:06:06.998Z,1741863966.998 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,110606.00,A,3647.60224,N,12154.03600,W,0.855,220.36,130325,,,A*75
2025-03-13T11:06:07.001Z,1741863967.001 [NAL9602](INFO): GPS fix at 20250313T110606: (36.793371, -121.900600)
2025-03-13T11:06:07.012Z,1741863967.012 [UniversalFixResidualReporter](INFO): Fix residual: 28.0 %DT, over the last 604.8 m. Residual distance 169.3 m at bearing 163.7 degrees. Fix at (36.7934, -121.9006) with 549.7 m made good.
2025-03-13T11:06:07.015Z,1741863967.015 [keepstation:NeedComms:C] Stopped
2025-03-13T11:06:07.015Z,1741863967.015 [keepstation:NeedComms:D] Running Loop=1
2025-03-13T11:06:14.755Z,1741863974.755 [DataOverHttps](INFO): Sending 83 bytes from file Logs/20250311T232940/Courier0278.lzma
2025-03-13T11:06:15.757Z,1741863975.757 [DataOverHttps](INFO): Moved sent file to Logs/20250311T232940/Courier0278.lzma.bak
2025-03-13T11:06:15.758Z,1741863975.758 [DataOverHttps](INFO): SBD MOMSN=24222479
2025-03-13T11:06:31.672Z,1741863991.672 [DataOverHttps](INFO): Sending 318 bytes from file Logs/20250311T232940/Express0279.lzma
2025-03-13T11:06:32.673Z,1741863992.673 [DataOverHttps](INFO): Moved sent file to Logs/20250311T232940/Express0279.lzma.bak
2025-03-13T11:06:32.674Z,1741863992.674 [DataOverHttps](INFO): SBD MOMSN=24222483
2025-03-13T11:06:34.089Z,1741863994.089 [keepstation:NeedComms:D] Stopped
2025-03-13T11:06:34.089Z,1741863994.089 [keepstation:NeedComms:E] Running Loop=1
2025-03-13T11:06:36.082Z,1741863996.082 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,110635.00,A,3647.60516,N,12154.03260,W,0.816,16.38,130325,,,A*4F
2025-03-13T11:06:36.085Z,1741863996.085 [NAL9602](INFO): GPS fix at 20250313T110635: (36.793419, -121.900543)
2025-03-13T11:06:36.106Z,1741863996.106 [keepstation:NeedComms:E] Stopped
2025-03-13T11:06:36.131Z,1741863996.131 [keepstation:NeedComms](INFO): Completed keepstation:NeedComms
2025-03-13T11:06:36.131Z,1741863996.131 [keepstation:NeedComms] Stopped
2025-03-13T11:06:36.131Z,1741863996.131 [keepstation:NeedComms](DEBUG): Aggregate::uninitialize keepstation:NeedComms
2025-03-13T11:06:36.132Z,1741863996.132 [keepstation:NeedComms:B.GoToSurface] Stopped
2025-03-13T11:06:36.132Z,1741863996.132 [keepstation:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-03-13T11:06:36.542Z,1741863996.542 [keepstation:OnStation](INFO): Completed keepstation:OnStation
2025-03-13T11:06:36.542Z,1741863996.542 [keepstation:OnStation] Stopped
2025-03-13T11:06:36.542Z,1741863996.542 [keepstation:OnStation](DEBUG): Aggregate::uninitialize keepstation:OnStation
2025-03-13T11:06:36.542Z,1741863996.542 [keepstation:KeepStation] Running Loop=1
2025-03-13T11:06:36.543Z,1741863996.543 [keepstation:KeepStation](DEBUG): Aggregate::initialize keepstation:KeepStation
2025-03-13T11:06:36.543Z,1741863996.543 [keepstation:KeepStation:A] Running Loop=1
2025-03-13T11:06:36.543Z,1741863996.543 [keepstation:KeepStation:B.Pitch] Running Loop=1
2025-03-13T11:06:36.543Z,1741863996.543 [keepstation:KeepStation:B.Pitch](DEBUG): Initialize.
2025-03-13T11:06:36.543Z,1741863996.543 [keepstation:KeepStation:C.KeepStation] Running Loop=1
2025-03-13T11:06:36.543Z,1741863996.543 [keepstation:KeepStation:C.KeepStation](DEBUG): Initialize KeepStationComponent.
2025-03-13T11:06:36.544Z,1741863996.544 [keepstation:KeepStation:D.Wait] Running Loop=1
2025-03-13T11:06:36.544Z,1741863996.544 [keepstation:KeepStation:D.Wait](DEBUG): Initialize Wait Component.
2025-03-13T11:06:36.927Z,1741863996.927 [keepstation:KeepStation:C.KeepStation] Running Loop=1
2025-03-13T11:06:36.928Z,1741863996.928 [keepstation:KeepStation:B.Pitch] Running Loop=1
2025-03-13T11:06:36.928Z,1741863996.928 [keepstation:KeepStation:A] Running Loop=1
2025-03-13T11:07:08.805Z,1741864028.805 [NAL9602](INFO): Not Powering down - fast GPS
2025-03-13T11:07:39.776Z,1741864059.776 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T11:07:41.784Z,1741864061.784 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.250912
2025-03-13T11:08:14.916Z,1741864094.916 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T11:08:50.056Z,1741864130.056 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T11:09:10.552Z,1741864150.552 [Radio_Surface](INFO): Powering down
2025-03-13T11:09:25.196Z,1741864165.196 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T11:09:26.200Z,1741864166.200 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-03-13T11:11:10.396Z,1741864270.396 [BPC1](INFO): Calculating totals. Valid battery stick count: 51. Valid reserve battery stick count: 5.
2025-03-13T11:11:10.400Z,1741864270.400 [BPC1](FAULT): Failed to receive data from 4 sticks prior to timeout. Will not retry this scan cycle. Missing stick IDs are: 17, 21, 22, 24.
2025-03-13T11:11:58.083Z,1741864318.083 [Waterlinked](ERROR): only read 2 of 5 data items. Device response::BI,    +0,    +0,   ,    +0,    +0,V
2025-03-13T11:33:32.942Z,1741865612.942 [DAT](INFO): DAT read: user:7>Rx Time:11:33:31.7700

2025-03-13T11:33:32.943Z,1741865612.943 [DAT](INFO): Rx dataTimestamp_ set to:1741865612.942333
2025-03-13T11:33:32.944Z,1741865612.944 [DAT](INFO): DAT read: 

2025-03-13T11:33:32.945Z,1741865612.945 [DAT](INFO): DAT read: $Packet for address 0

2025-03-13T11:33:32.946Z,1741865612.946 [DAT](INFO): received a packet notification
2025-03-13T11:52:12.426Z,1741866732.426 [BPC1](INFO): Calculating totals. Valid battery stick count: 51. Valid reserve battery stick count: 5.
2025-03-13T11:52:12.429Z,1741866732.429 [BPC1](FAULT): Failed to receive data from 3 sticks prior to timeout. Will not retry this scan cycle. Missing stick IDs are: 21, 23, 24.
2025-03-13T11:56:45.148Z,1741867005.148 [keepstation:NeedComms] Running Loop=1
2025-03-13T11:56:45.148Z,1741867005.148 [keepstation:NeedComms](DEBUG): Aggregate::initialize keepstation:NeedComms
2025-03-13T11:56:45.148Z,1741867005.148 [keepstation:NeedComms:B.GoToSurface] Running Loop=1
2025-03-13T11:56:45.148Z,1741867005.148 [keepstation:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-03-13T11:56:45.149Z,1741867005.149 [keepstation:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-03-13T11:56:45.149Z,1741867005.149 [keepstation:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-03-13T11:56:45.149Z,1741867005.149 [keepstation:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-03-13T11:56:45.150Z,1741867005.150 [keepstation:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-03-13T11:56:45.150Z,1741867005.150 [keepstation:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-03-13T11:56:45.150Z,1741867005.150 [keepstation:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-03-13T11:56:45.151Z,1741867005.151 [keepstation:NeedComms:A] Running Loop=1
2025-03-13T11:56:45.152Z,1741867005.152 [keepstation:NeedComms:A](INFO): last time_fix was:  1741863995.000000 second since 1970/01/01T00:00:00Z 
2025-03-13T11:56:45.153Z,1741867005.153 [keepstation:NeedComms:A] Stopped
2025-03-13T11:58:34.570Z,1741867114.570 [keepstation:NeedComms:C] Running Loop=1
2025-03-13T11:58:35.083Z,1741867115.083 [Waterlinked](INFO): Powering down
2025-03-13T11:58:35.227Z,1741867115.227 [Radio_Surface](INFO): Powering up
2025-03-13T11:58:41.347Z,1741867121.347 [DataOverHttps](INFO): Radio surface powered ON.
2025-03-13T11:59:11.476Z,1741867151.476 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T11:59:46.616Z,1741867186.616 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T12:00:21.756Z,1741867221.756 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T12:00:56.896Z,1741867256.896 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T12:01:32.036Z,1741867292.036 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T12:01:33.196Z,1741867293.196 [NAL9602](INFO): SBD MO Status=0, MOMSN=18547, MT Status=0, MTMSN=0
2025-03-13T12:01:33.196Z,1741867293.196 [NAL9602](INFO): No messages in MT queue
2025-03-13T12:01:34.425Z,1741867294.425 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,120133.00,A,3647.92260,N,12153.81552,W,1.380,353.58,130325,,,A*7C
2025-03-13T12:01:34.428Z,1741867294.428 [NAL9602](INFO): GPS fix at 20250313T120133: (36.798710, -121.896925)
2025-03-13T12:01:34.470Z,1741867294.470 [keepstation:KeepStation:C.KeepStation](INFO): Rest->Waypoint
2025-03-13T12:01:34.477Z,1741867294.477 [keepstation:NeedComms:C] Stopped
2025-03-13T12:01:34.477Z,1741867294.477 [keepstation:NeedComms:D] Running Loop=1
2025-03-13T12:01:57.090Z,1741867317.090 [NAL9602](INFO): SBD MO Status=2, MOMSN=18548, MT Status=2, MTMSN=0
2025-03-13T12:01:57.090Z,1741867317.090 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-03-13T12:02:07.176Z,1741867327.176 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T12:02:16.950Z,1741867336.950 [NAL9602](INFO): SBD MO Status=1, MOMSN=18548, MT Status=0, MTMSN=0
2025-03-13T12:02:16.999Z,1741867336.999 [NAL9602](INFO): Sent 83 bytes from file Logs/20250311T232940/Courier0281.lzma
2025-03-13T12:02:16.000Z,1741867337.000 [NAL9602](INFO): Packets left to send: 0
2025-03-13T12:02:30.734Z,1741867350.734 [NAL9602](INFO): SBD MO Status=1, MOMSN=18549, MT Status=0, MTMSN=0
2025-03-13T12:02:30.787Z,1741867350.787 [NAL9602](INFO): Sent 332 bytes from file Logs/20250311T232940/Express0282.lzma
2025-03-13T12:02:30.788Z,1741867350.788 [NAL9602](INFO): Packets left to send: 1
2025-03-13T12:02:42.352Z,1741867362.352 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T12:02:48.158Z,1741867368.158 [NAL9602](INFO): SBD MO Status=2, MOMSN=18550, MT Status=2, MTMSN=0
2025-03-13T12:02:48.158Z,1741867368.158 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-03-13T12:03:16.905Z,1741867396.905 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.008325
2025-03-13T12:03:25.512Z,1741867405.512 [DataOverHttps](INFO): Sending 386 bytes from file Logs/20250311T232940/Express0282.lzma
2025-03-13T12:03:25.774Z,1741867405.774 [NAL9602](INFO): SBD MO Status=2, MOMSN=18550, MT Status=2, MTMSN=0
2025-03-13T12:03:25.775Z,1741867405.775 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-03-13T12:03:26.514Z,1741867406.514 [DataOverHttps](INFO): Moved sent file to Logs/20250311T232940/Express0282.lzma.bak
2025-03-13T12:03:26.514Z,1741867406.514 [DataOverHttps](INFO): SBD MOMSN=24222597
2025-03-13T12:03:27.814Z,1741867407.814 [keepstation:NeedComms:D] Stopped
2025-03-13T12:03:27.815Z,1741867407.815 [keepstation:NeedComms:E] Running Loop=1
2025-03-13T12:03:29.815Z,1741867409.815 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,120328.00,A,3647.93509,N,12153.80729,W,0.622,39.94,130325,,,A*41
2025-03-13T12:03:29.821Z,1741867409.821 [NAL9602](INFO): GPS fix at 20250313T120328: (36.798918, -121.896788)
2025-03-13T12:03:29.875Z,1741867409.875 [keepstation:NeedComms:E] Stopped
2025-03-13T12:03:29.884Z,1741867409.884 [keepstation:NeedComms](INFO): Completed keepstation:NeedComms
2025-03-13T12:03:29.884Z,1741867409.884 [keepstation:NeedComms] Stopped
2025-03-13T12:03:29.884Z,1741867409.884 [keepstation:NeedComms](DEBUG): Aggregate::uninitialize keepstation:NeedComms
2025-03-13T12:03:29.884Z,1741867409.884 [keepstation:NeedComms:B.GoToSurface] Stopped
2025-03-13T12:03:29.884Z,1741867409.884 [keepstation:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-03-13T12:04:02.476Z,1741867442.476 [NAL9602](INFO): Not Powering down - fast GPS
2025-03-13T12:04:06.503Z,1741867446.503 [ElevatorOffsetCalculator](INFO): New estimator for commanded vars: speed 0.75 m/s, pitch 20.00 deg, mass-position 6.85 mm (3 active estimators).
2025-03-13T12:04:33.483Z,1741867473.483 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T12:04:35.492Z,1741867475.492 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.247307
2025-03-13T12:05:06.772Z,1741867506.772 [Radio_Surface](INFO): Powering down
2025-03-13T12:05:08.640Z,1741867508.640 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T12:05:09.644Z,1741867509.644 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-03-13T12:06:05.204Z,1741867565.204 [Waterlinked](ERROR): only read 4 of 5 data items. Device response::BI,    +0,    +0,    +0,    +0    +0,    +0,    +0,V
2025-03-13T12:07:10.973Z,1741867630.973 [Waterlinked](ERROR): only read 0 of 1 data item for BIT error. Device response::TS,24052713050133 +0,    +0,V
2025-03-13T12:22:03.373Z,1741868523.373 [Waterlinked](ERROR): only read 0 of 1 data item for BIT error. Device response::TS,24052713195332, 0.0, +0    +0,    +0,V
2025-03-13T12:23:14.172Z,1741868594.172 [keepstation:KeepStation:C.KeepStation](INFO): Waypoint->Rest
2025-03-13T12:33:14.171Z,1741869194.171 [BPC1](INFO): Calculating totals. Valid battery stick count: 50. Valid reserve battery stick count: 5.
2025-03-13T12:33:14.174Z,1741869194.174 [BPC1](FAULT): Failed to receive data from 3 sticks prior to timeout. Will not retry this scan cycle. Missing stick IDs are: 21, 23, 24.
2025-03-13T12:34:09.027Z,1741869249.027 [Waterlinked](ERROR): only read 0 of 1 data item for BIT error. Device response::TS,24052713315932, 0.0, +0.0,   0.0,1475.0  +0.00,       +0.00,       +0.00,   0.00,  0.00
2025-03-13T12:40:30.669Z,1741869630.669 [DAT](INFO): DAT read: Rx Time:12:40:29.5031

2025-03-13T12:40:30.670Z,1741869630.670 [DAT](INFO): Rx dataTimestamp_ set to:1741869630.669575
2025-03-13T12:40:30.671Z,1741869630.671 [DAT](INFO): DAT read: 

2025-03-13T12:40:30.672Z,1741869630.672 [DAT](INFO): DAT read: $Packet for address 0

2025-03-13T12:40:30.673Z,1741869630.673 [DAT](INFO): received a packet notification
2025-03-13T12:48:29.988Z,1741870109.988 [keepstation:NeedComms] Running Loop=1
2025-03-13T12:48:29.988Z,1741870109.988 [keepstation:NeedComms](DEBUG): Aggregate::initialize keepstation:NeedComms
2025-03-13T12:48:29.988Z,1741870109.988 [keepstation:NeedComms:B.GoToSurface] Running Loop=1
2025-03-13T12:48:29.988Z,1741870109.988 [keepstation:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-03-13T12:48:29.989Z,1741870109.989 [keepstation:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-03-13T12:48:29.989Z,1741870109.989 [keepstation:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-03-13T12:48:29.989Z,1741870109.989 [keepstation:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-03-13T12:48:29.990Z,1741870109.990 [keepstation:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-03-13T12:48:29.990Z,1741870109.990 [keepstation:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-03-13T12:48:29.990Z,1741870109.990 [keepstation:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-03-13T12:48:29.991Z,1741870109.991 [keepstation:NeedComms:A] Running Loop=1
2025-03-13T12:48:30.014Z,1741870110.014 [keepstation:NeedComms:A](INFO): last time_fix was:  1741867408.000000 second since 1970/01/01T00:00:00Z 
2025-03-13T12:48:30.014Z,1741870110.014 [keepstation:NeedComms:A] Stopped
2025-03-13T12:48:38.155Z,1741870118.155 [Waterlinked](ERROR): DVL uart error: serial timeout
2025-03-13T12:48:38.155Z,1741870118.155 [Waterlinked] Communications Fault, FailCount= 1
2025-03-13T12:48:38.155Z,1741870118.155 [Waterlinked](ERROR): Communications Fault
2025-03-13T12:48:38.323Z,1741870118.323 [CBIT](ERROR): Communications Fault in component: Waterlinked
2025-03-13T12:48:38.607Z,1741870118.607 [Waterlinked](INFO): Powering down
2025-03-13T12:48:39.467Z,1741870119.467 [CBIT](INFO): Clearing failed state for component Waterlinked
2025-03-13T12:48:39.467Z,1741870119.467 [Waterlinked] No Fault, FailCount= 1
2025-03-13T12:50:19.430Z,1741870219.430 [Waterlinked](ERROR): only read 0 of 1 data item for BIT error. Device response::TS,24   +0,    +0,    +0,    +0,V
2025-03-13T12:50:51.961Z,1741870251.961 [keepstation:NeedComms:C] Running Loop=1
2025-03-13T12:50:52.464Z,1741870252.464 [Radio_Surface](INFO): Powering up
2025-03-13T12:50:52.548Z,1741870252.548 [Waterlinked](INFO): Powering down
2025-03-13T12:50:58.112Z,1741870258.112 [DataOverHttps](INFO): Radio surface powered ON.
2025-03-13T12:51:28.232Z,1741870288.232 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T12:52:03.396Z,1741870323.396 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T12:52:38.535Z,1741870358.535 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T12:53:13.677Z,1741870393.677 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T12:53:31.689Z,1741870411.689 [BPC1](ERROR): BPC1B: No match for serial number 1717 in BPC1B's battery stick inventory (sticks 32-62 in onboard configuration file).
2025-03-13T12:53:48.831Z,1741870428.831 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T12:54:23.980Z,1741870463.980 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T12:54:59.119Z,1741870499.119 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T12:55:34.264Z,1741870534.264 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T12:55:56.380Z,1741870556.380 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2025-03-13T12:56:00.371Z,1741870560.371 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,125559.00,A,3647.98534,N,12153.86160,W,0.350,65.06,130325,,,A*4E
2025-03-13T12:56:00.373Z,1741870560.373 [NAL9602](INFO): GPS fix at 20250313T125559: (36.799756, -121.897693)
2025-03-13T12:56:00.405Z,1741870560.405 [UniversalFixResidualReporter](INFO): Fix residual: 91.8 %DT, over the last 992.8 m. Residual distance 911.6 m at bearing -154.8 degrees. Fix at (36.7998, -121.8977) with 123.2 m made good.
2025-03-13T12:56:00.406Z,1741870560.406 [keepstation:KeepStation:C.KeepStation](INFO): Rest->Waypoint
2025-03-13T12:56:00.414Z,1741870560.414 [keepstation:NeedComms:C] Stopped
2025-03-13T12:56:00.414Z,1741870560.414 [keepstation:NeedComms:D] Running Loop=1
2025-03-13T12:56:09.404Z,1741870569.404 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T12:56:31.065Z,1741870591.065 [NAL9602](ERROR): Queried for signal strength and failed to receive proper response. 
2025-03-13T12:56:31.139Z,1741870591.139 [NAL9602](ERROR): received: 
+CSQ:0

OK550, 2, 0, 0, 0

OK
2025-03-13T12:56:44.544Z,1741870604.544 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T12:57:02.218Z,1741870622.218 [NAL9602](INFO): SBD MO Status=1, MOMSN=18550, MT Status=0, MTMSN=0
2025-03-13T12:57:02.276Z,1741870622.276 [NAL9602](INFO): Sent 94 bytes from file Logs/20250311T232940/Courier0284.lzma
2025-03-13T12:57:02.276Z,1741870622.276 [NAL9602](INFO): Packets left to send: 0
2025-03-13T12:57:19.351Z,1741870639.351 [NAL9602](INFO): SBD MO Status=2, MOMSN=18551, MT Status=2, MTMSN=0
2025-03-13T12:57:19.351Z,1741870639.351 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-03-13T12:57:19.684Z,1741870639.684 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T12:57:54.836Z,1741870674.836 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T12:58:00.140Z,1741870680.140 [NAL9602](INFO): SBD MO Status=1, MOMSN=18551, MT Status=0, MTMSN=0
2025-03-13T12:58:00.187Z,1741870680.187 [NAL9602](INFO): Sent 332 bytes from file Logs/20250311T232940/Express0285.lzma
2025-03-13T12:58:00.188Z,1741870680.188 [NAL9602](INFO): Packets left to send: 1
2025-03-13T12:58:14.334Z,1741870694.334 [NAL9602](INFO): SBD MO Status=1, MOMSN=18552, MT Status=0, MTMSN=0
2025-03-13T12:58:14.383Z,1741870694.383 [NAL9602](INFO): Sent 104 bytes from file Logs/20250311T232940/Express0285.lzma
2025-03-13T12:58:14.384Z,1741870694.384 [NAL9602](INFO): Packets left to send: 0
2025-03-13T12:58:25.236Z,1741870705.236 [NAL9602](INFO): SBD MO Status=0, MOMSN=18553, MT Status=0, MTMSN=0
2025-03-13T12:58:25.323Z,1741870705.323 [keepstation:NeedComms:D] Stopped
2025-03-13T12:58:25.324Z,1741870705.324 [keepstation:NeedComms:E] Running Loop=1
2025-03-13T12:58:27.660Z,1741870707.660 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,125826.00,A,3647.99611,N,12153.84212,W,0.816,39.05,130325,,,A*49
2025-03-13T12:58:27.663Z,1741870707.663 [NAL9602](INFO): GPS fix at 20250313T125826: (36.799935, -121.897369)
2025-03-13T12:58:27.706Z,1741870707.706 [keepstation:NeedComms:E] Stopped
2025-03-13T12:58:27.715Z,1741870707.715 [keepstation:NeedComms](INFO): Completed keepstation:NeedComms
2025-03-13T12:58:27.715Z,1741870707.715 [keepstation:NeedComms] Stopped
2025-03-13T12:58:27.716Z,1741870707.716 [keepstation:NeedComms](DEBUG): Aggregate::uninitialize keepstation:NeedComms
2025-03-13T12:58:27.716Z,1741870707.716 [keepstation:NeedComms:B.GoToSurface] Stopped
2025-03-13T12:58:27.716Z,1741870707.716 [keepstation:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-03-13T12:58:29.976Z,1741870709.976 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T12:58:59.574Z,1741870739.574 [NAL9602](INFO): Not Powering down - fast GPS
2025-03-13T12:59:05.128Z,1741870745.128 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T12:59:40.268Z,1741870780.268 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T13:00:15.424Z,1741870815.424 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T13:00:50.564Z,1741870850.564 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T13:00:53.271Z,1741870853.271 [Radio_Surface](INFO): Powering down
2025-03-13T13:00:53.576Z,1741870853.576 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-03-13T13:03:45.224Z,1741871025.224 [Waterlinked](ERROR): only read 0 of 1 data item for altitude. Device response::BD,       +0.00,       +0.000.00
2025-03-13T13:14:15.985Z,1741871655.985 [BPC1](INFO): Calculating totals. Valid battery stick count: 51. Valid reserve battery stick count: 5.
2025-03-13T13:14:15.988Z,1741871655.988 [BPC1](FAULT): Failed to receive data from 3 sticks prior to timeout. Will not retry this scan cycle. Missing stick IDs are: 21, 23, 24.
2025-03-13T13:20:40.825Z,1741872040.825 [keepstation:KeepStation:C.KeepStation](INFO): Waypoint->Rest
2025-03-13T13:35:56.362Z,1741872956.362 [DAT](INFO): DAT read: Rx Time:13:35:55.2139

2025-03-13T13:35:56.363Z,1741872956.363 [DAT](INFO): Rx dataTimestamp_ set to:1741872956.362303
2025-03-13T13:35:56.364Z,1741872956.364 [DAT](INFO): DAT read: 

2025-03-13T13:35:56.365Z,1741872956.365 [DAT](INFO): DAT read: $Packet for address 0

2025-03-13T13:35:56.365Z,1741872956.365 [DAT](INFO): received a packet notification
2025-03-13T13:40:48.857Z,1741873248.857 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size.
2025-03-13T13:43:49.044Z,1741873429.044 [GFScanner](IMPORTANT): Beginning ground fault scan
2025-03-13T13:43:53.543Z,1741873433.543 [GFScanner](IMPORTANT): No ground fault detected
mA:
CHAN A0 (Batt): -0.005815
CHAN A1 (24V): 0.001684
CHAN A2 (12V): -0.004849
CHAN A3 (5V): -0.002389
CHAN B0 (3.3V): -0.001373
CHAN B1 (3.15aV): -0.006626
CHAN B2 (3.15bV): 0.001210
CHAN B3 (GND): -0.000890
OPEN: 0.006082
Full Scale: +/- 1 mA
2025-03-13T13:52:42.325Z,1741873962.325 [keepstation:NeedComms] Running Loop=1
2025-03-13T13:52:42.325Z,1741873962.325 [keepstation:NeedComms](DEBUG): Aggregate::initialize keepstation:NeedComms
2025-03-13T13:52:42.325Z,1741873962.325 [keepstation:NeedComms:B.GoToSurface] Running Loop=1
2025-03-13T13:52:42.325Z,1741873962.325 [keepstation:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-03-13T13:52:42.326Z,1741873962.326 [keepstation:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-03-13T13:52:42.326Z,1741873962.326 [keepstation:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-03-13T13:52:42.326Z,1741873962.326 [keepstation:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-03-13T13:52:42.327Z,1741873962.327 [keepstation:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-03-13T13:52:42.327Z,1741873962.327 [keepstation:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-03-13T13:52:42.327Z,1741873962.327 [keepstation:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-03-13T13:52:42.328Z,1741873962.328 [keepstation:NeedComms:A] Running Loop=1
2025-03-13T13:52:42.329Z,1741873962.329 [keepstation:NeedComms:A](INFO): last time_fix was:  1741870706.000000 second since 1970/01/01T00:00:00Z 
2025-03-13T13:52:42.330Z,1741873962.330 [keepstation:NeedComms:A] Stopped
2025-03-13T13:52:45.017Z,1741873965.017 [Waterlinked](ERROR): only read 0 of 1 data item for BIT error. Device response::TS,24052713544910, 0.0, +0.,1475.0,  0
2025-03-13T13:54:00.033Z,1741874040.033 [Waterlinked](ERROR): DVL uart error: serial timeout
2025-03-13T13:54:00.033Z,1741874040.033 [Waterlinked] Communications Fault, FailCount= 1
2025-03-13T13:54:00.033Z,1741874040.033 [Waterlinked](ERROR): Communications Fault
2025-03-13T13:54:00.151Z,1741874040.151 [CBIT](ERROR): Communications Fault in component: Waterlinked
2025-03-13T13:54:00.464Z,1741874040.464 [Waterlinked](INFO): Powering down
2025-03-13T13:54:01.487Z,1741874041.487 [CBIT](INFO): Clearing failed state for component Waterlinked
2025-03-13T13:54:01.487Z,1741874041.487 [Waterlinked] No Fault, FailCount= 1
2025-03-13T13:54:31.982Z,1741874071.982 [keepstation:NeedComms:C] Running Loop=1
2025-03-13T13:54:32.459Z,1741874072.459 [Radio_Surface](INFO): Powering up
2025-03-13T13:54:37.988Z,1741874077.988 [DataOverHttps](INFO): Radio surface powered ON.
2025-03-13T13:54:38.931Z,1741874078.931 [Waterlinked](INFO): Powering down
2025-03-13T13:55:08.108Z,1741874108.108 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T13:55:17.596Z,1741874117.596 [BPC1](INFO): Calculating totals. Valid battery stick count: 49. Valid reserve battery stick count: 5.
2025-03-13T13:55:17.599Z,1741874117.599 [BPC1](FAULT): Failed to receive data from 3 sticks prior to timeout. Will not retry this scan cycle. Missing stick IDs are: 21, 23, 24.
2025-03-13T13:55:43.052Z,1741874143.052 [NAL9602](INFO): SBD MO Status=2, MOMSN=18554, MT Status=2, MTMSN=0
2025-03-13T13:55:43.053Z,1741874143.053 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-03-13T13:55:43.248Z,1741874143.248 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T13:56:18.403Z,1741874178.403 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T13:56:53.544Z,1741874213.544 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T13:57:28.092Z,1741874248.092 [NAL9602](INFO): SBD MO Status=0, MOMSN=18554, MT Status=0, MTMSN=0
2025-03-13T13:57:28.092Z,1741874248.092 [NAL9602](INFO): No messages in MT queue
2025-03-13T13:57:28.684Z,1741874248.684 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T13:57:29.302Z,1741874249.302 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,135728.00,A,3647.92230,N,12153.73578,W,0.253,31.63,130325,,,A*45
2025-03-13T13:57:29.305Z,1741874249.305 [NAL9602](INFO): GPS fix at 20250313T135728: (36.798705, -121.895596)
2025-03-13T13:57:29.317Z,1741874249.317 [UniversalFixResidualReporter](INFO): Fix residual: 86.8 %DT, over the last 1071.0 m. Residual distance 930.0 m at bearing -154.5 degrees. Fix at (36.7987, -121.8956) with 208.8 m made good.
2025-03-13T13:57:29.318Z,1741874249.318 [keepstation:KeepStation:C.KeepStation](INFO): Rest->Waypoint
2025-03-13T13:57:29.321Z,1741874249.321 [keepstation:NeedComms:C] Stopped
2025-03-13T13:57:29.321Z,1741874249.321 [keepstation:NeedComms:D] Running Loop=1
2025-03-13T13:57:38.646Z,1741874258.646 [NAL9602](INFO): SBD MO Status=1, MOMSN=18555, MT Status=0, MTMSN=0
2025-03-13T13:57:38.696Z,1741874258.696 [NAL9602](INFO): Sent 94 bytes from file Logs/20250311T232940/Courier0287.lzma
2025-03-13T13:57:38.696Z,1741874258.696 [NAL9602](INFO): Packets left to send: 0
2025-03-13T13:57:50.014Z,1741874270.014 [NAL9602](INFO): SBD MO Status=1, MOMSN=18556, MT Status=0, MTMSN=0
2025-03-13T13:57:50.067Z,1741874270.067 [NAL9602](INFO): Sent 332 bytes from file Logs/20250311T232940/Express0288.lzma
2025-03-13T13:57:50.068Z,1741874270.068 [NAL9602](INFO): Packets left to send: 1
2025-03-13T13:58:00.964Z,1741874280.964 [NAL9602](INFO): SBD MO Status=1, MOMSN=18557, MT Status=0, MTMSN=0
2025-03-13T13:58:01.015Z,1741874281.015 [NAL9602](INFO): Sent 195 bytes from file Logs/20250311T232940/Express0288.lzma
2025-03-13T13:58:01.016Z,1741874281.016 [NAL9602](INFO): Packets left to send: 0
2025-03-13T13:58:03.851Z,1741874283.851 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T13:58:18.739Z,1741874298.739 [NAL9602](INFO): SBD MO Status=0, MOMSN=18558, MT Status=0, MTMSN=0
2025-03-13T13:58:18.820Z,1741874298.820 [keepstation:NeedComms:D] Stopped
2025-03-13T13:58:18.820Z,1741874298.820 [keepstation:NeedComms:E] Running Loop=1
2025-03-13T13:58:21.166Z,1741874301.166 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,135820.00,A,3647.92703,N,12153.73277,W,0.875,11.81,130325,,,A*4F
2025-03-13T13:58:21.169Z,1741874301.169 [NAL9602](INFO): GPS fix at 20250313T135820: (36.798784, -121.895546)
2025-03-13T13:58:21.182Z,1741874301.182 [keepstation:NeedComms:E] Stopped
2025-03-13T13:58:21.183Z,1741874301.183 [keepstation:NeedComms](INFO): Completed keepstation:NeedComms
2025-03-13T13:58:21.183Z,1741874301.183 [keepstation:NeedComms] Stopped
2025-03-13T13:58:21.184Z,1741874301.184 [keepstation:NeedComms](DEBUG): Aggregate::uninitialize keepstation:NeedComms
2025-03-13T13:58:21.184Z,1741874301.184 [keepstation:NeedComms:B.GoToSurface] Stopped
2025-03-13T13:58:21.184Z,1741874301.184 [keepstation:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-03-13T13:58:38.992Z,1741874318.992 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T13:58:53.400Z,1741874333.400 [NAL9602](INFO): Not Powering down - fast GPS
2025-03-13T13:59:14.137Z,1741874354.137 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T13:59:49.284Z,1741874389.284 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T14:00:24.428Z,1741874424.428 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T14:00:49.423Z,1741874449.423 [Radio_Surface](INFO): Powering down
2025-03-13T14:00:59.567Z,1741874459.567 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T14:01:00.574Z,1741874460.574 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-03-13T14:02:00.688Z,1741874520.688 [Waterlinked](ERROR): only read 0 of 1 data item for BIT error. Device response::TS,24052713040849, 0.0, +0.0,   0.0,1475 +0,V
2025-03-13T14:14:37.748Z,1741875277.748 [Waterlinked](ERROR): only read 0 of 1 data item for BIT error. Device response::TS,24052713  +0,    +0,    +0,V
2025-03-13T14:18:59.326Z,1741875539.326 [keepstation:KeepStation:C.KeepStation](INFO): Waypoint->Rest
2025-03-13T14:18:59.698Z,1741875539.698 [ElevatorOffsetCalculator](INFO): Removing expired estimator for commanded vars: speed 1.00 m/s, pitch 30.00 deg, mass-position -26.00 mm.
2025-03-13T14:18:59.698Z,1741875539.698 [ElevatorOffsetCalculator](INFO): Removing expired estimator for commanded vars: speed 1.00 m/s, pitch 30.00 deg, mass-position 6.85 mm.
2025-03-13T14:23:30.952Z,1741875810.952 [BPC1](ERROR): BPC1A: No match for serial number 1717 in BPC1A's battery stick inventory (sticks 1-31 in onboard configuration file).
2025-03-13T14:27:12.760Z,1741876032.760 [BPC1](ERROR): BPC1A: No match for serial number 1717 in BPC1A's battery stick inventory (sticks 1-31 in onboard configuration file).
2025-03-13T14:31:34.136Z,1741876294.136 [BPC1](ERROR): BPC1B: No match for serial number 1717 in BPC1B's battery stick inventory (sticks 32-62 in onboard configuration file).
2025-03-13T14:36:19.564Z,1741876579.564 [BPC1](INFO): Calculating totals. Valid battery stick count: 50. Valid reserve battery stick count: 6.
2025-03-13T14:36:19.568Z,1741876579.568 [BPC1](FAULT): Failed to receive data from 2 sticks prior to timeout. Will not retry this scan cycle. Missing stick IDs are: 21, 23.
2025-03-13T14:43:21.442Z,1741877001.442 [keepstation:NeedComms] Running Loop=1
2025-03-13T14:43:21.442Z,1741877001.442 [keepstation:NeedComms](DEBUG): Aggregate::initialize keepstation:NeedComms
2025-03-13T14:43:21.443Z,1741877001.443 [keepstation:NeedComms:B.GoToSurface] Running Loop=1
2025-03-13T14:43:21.443Z,1741877001.443 [keepstation:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-03-13T14:43:21.447Z,1741877001.447 [keepstation:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-03-13T14:43:21.448Z,1741877001.448 [keepstation:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-03-13T14:43:21.448Z,1741877001.448 [keepstation:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-03-13T14:43:21.449Z,1741877001.449 [keepstation:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-03-13T14:43:21.449Z,1741877001.449 [keepstation:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-03-13T14:43:21.449Z,1741877001.449 [keepstation:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-03-13T14:43:21.450Z,1741877001.450 [keepstation:NeedComms:A] Running Loop=1
2025-03-13T14:43:21.455Z,1741877001.455 [keepstation:NeedComms:A](INFO): last time_fix was:  1741874300.000000 second since 1970/01/01T00:00:00Z 
2025-03-13T14:43:21.456Z,1741877001.456 [keepstation:NeedComms:A] Stopped
2025-03-13T14:45:47.509Z,1741877147.509 [keepstation:NeedComms:C] Running Loop=1
2025-03-13T14:45:47.819Z,1741877147.819 [Radio_Surface](INFO): Powering up
2025-03-13T14:45:47.895Z,1741877147.895 [Waterlinked](INFO): Powering down
2025-03-13T14:45:53.696Z,1741877153.696 [DataOverHttps](INFO): Radio surface powered ON.
2025-03-13T14:46:23.824Z,1741877183.824 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T14:46:58.963Z,1741877218.963 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T14:47:27.676Z,1741877247.676 [NAL9602](INFO): SBD MO Status=2, MOMSN=18559, MT Status=2, MTMSN=0
2025-03-13T14:47:27.676Z,1741877247.676 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-03-13T14:47:34.132Z,1741877254.132 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T14:48:09.271Z,1741877289.271 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T14:48:44.420Z,1741877324.420 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T14:49:19.572Z,1741877359.572 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T14:50:30.456Z,1741877430.456 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T14:50:51.721Z,1741877451.721 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2025-03-13T14:50:52.934Z,1741877452.934 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,145052.00,A,3647.86329,N,12153.90174,W,0.661,23.17,130325,,,A*44
2025-03-13T14:50:52.937Z,1741877452.937 [NAL9602](INFO): GPS fix at 20250313T145052: (36.797722, -121.898362)
2025-03-13T14:50:52.948Z,1741877452.948 [UniversalFixResidualReporter](INFO): Fix residual: 70.3 %DT, over the last 1032.8 m. Residual distance 726.5 m at bearing -151.8 degrees. Fix at (36.7977, -121.8984) with 277.2 m made good.
2025-03-13T14:50:52.950Z,1741877452.950 [keepstation:KeepStation:C.KeepStation](INFO): Rest->Waypoint
2025-03-13T14:50:52.973Z,1741877452.973 [keepstation:NeedComms:C] Stopped
2025-03-13T14:50:52.973Z,1741877452.973 [keepstation:NeedComms:D] Running Loop=1
2025-03-13T14:51:05.608Z,1741877465.608 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T14:51:23.633Z,1741877483.633 [NAL9602](ERROR): Queried for signal strength and failed to receive proper response. 
2025-03-13T14:51:23.715Z,1741877483.715 [NAL9602](ERROR): received: 
+CSQ:0

OK559, 2, 0, 0, 0

OK
2025-03-13T14:51:40.748Z,1741877500.748 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T14:52:08.122Z,1741877528.122 [NAL9602](INFO): SBD MO Status=1, MOMSN=18559, MT Status=0, MTMSN=0
2025-03-13T14:52:08.183Z,1741877528.183 [NAL9602](INFO): Sent 93 bytes from file Logs/20250311T232940/Courier0290.lzma
2025-03-13T14:52:08.184Z,1741877528.184 [NAL9602](INFO): Packets left to send: 0
2025-03-13T14:52:16.460Z,1741877536.460 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003294
2025-03-13T14:52:26.818Z,1741877546.818 [NAL9602](INFO): SBD MO Status=2, MOMSN=18560, MT Status=2, MTMSN=0
2025-03-13T14:52:26.818Z,1741877546.818 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-03-13T14:52:57.508Z,1741877577.508 [NAL9602](INFO): Not Powering down - fast GPS
2025-03-13T14:53:17.376Z,1741877597.376 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.919495
2025-03-13T14:53:48.508Z,1741877628.508 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T14:54:23.647Z,1741877663.647 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T14:54:58.792Z,1741877698.792 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T14:55:33.935Z,1741877733.935 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T14:56:07.450Z,1741877767.450 [NAL9602](INFO): SBD MO Status=2, MOMSN=18560, MT Status=2, MTMSN=0
2025-03-13T14:56:07.450Z,1741877767.450 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-03-13T14:56:09.096Z,1741877769.096 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T14:56:44.244Z,1741877804.244 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T14:57:19.383Z,1741877839.383 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T14:57:54.524Z,1741877874.524 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T14:58:29.664Z,1741877909.664 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T14:59:04.804Z,1741877944.804 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T14:59:39.952Z,1741877979.952 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T15:00:01.850Z,1741878001.850 [NAL9602](INFO): SBD MO Status=1, MOMSN=18560, MT Status=0, MTMSN=0
2025-03-13T15:00:01.899Z,1741878001.899 [NAL9602](INFO): Sent 332 bytes from file Logs/20250311T232940/Express0291.lzma
2025-03-13T15:00:01.900Z,1741878001.900 [NAL9602](INFO): Packets left to send: 1
2025-03-13T15:00:15.092Z,1741878015.092 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T15:00:25.732Z,1741878025.732 [NAL9602](INFO): SBD MO Status=1, MOMSN=18561, MT Status=0, MTMSN=0
2025-03-13T15:00:25.782Z,1741878025.782 [NAL9602](INFO): Sent 109 bytes from file Logs/20250311T232940/Express0291.lzma
2025-03-13T15:00:25.782Z,1741878025.782 [NAL9602](INFO): Packets left to send: 0
2025-03-13T15:00:35.426Z,1741878035.426 [NAL9602](INFO): SBD MO Status=0, MOMSN=18562, MT Status=0, MTMSN=0
2025-03-13T15:00:35.512Z,1741878035.512 [keepstation:NeedComms:D] Stopped
2025-03-13T15:00:35.513Z,1741878035.513 [keepstation:NeedComms:E] Running Loop=1
2025-03-13T15:00:37.862Z,1741878037.862 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,150036.00,A,3647.93181,N,12153.92830,W,1.283,304.25,130325,,,A*73
2025-03-13T15:00:37.865Z,1741878037.865 [NAL9602](INFO): GPS fix at 20250313T150036: (36.798864, -121.898805)
2025-03-13T15:00:37.878Z,1741878037.878 [keepstation:NeedComms:E] Stopped
2025-03-13T15:00:37.879Z,1741878037.879 [keepstation:NeedComms](INFO): Completed keepstation:NeedComms
2025-03-13T15:00:37.879Z,1741878037.879 [keepstation:NeedComms] Stopped
2025-03-13T15:00:37.880Z,1741878037.880 [keepstation:NeedComms](DEBUG): Aggregate::uninitialize keepstation:NeedComms
2025-03-13T15:00:37.880Z,1741878037.880 [keepstation:NeedComms:B.GoToSurface] Stopped
2025-03-13T15:00:37.880Z,1741878037.880 [keepstation:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-03-13T15:00:50.232Z,1741878050.232 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T15:01:10.593Z,1741878070.593 [NAL9602](INFO): Not Powering down - fast GPS
2025-03-13T15:01:25.379Z,1741878085.379 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T15:02:00.520Z,1741878120.520 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T15:02:35.660Z,1741878155.660 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T15:03:05.107Z,1741878185.107 [Radio_Surface](INFO): Powering down
2025-03-13T15:03:10.800Z,1741878190.800 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T15:03:11.804Z,1741878191.804 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-03-13T15:04:39.106Z,1741878279.106 [BPC1](ERROR): BPC1B: No match for serial number FFFF in BPC1B's battery stick inventory (sticks 32-62 in onboard configuration file).
2025-03-13T15:06:44.577Z,1741878404.577 [BPC1](ERROR): BPC1B: No match for serial number 1717 in BPC1B's battery stick inventory (sticks 32-62 in onboard configuration file).
2025-03-13T15:08:39.662Z,1741878519.662 [Waterlinked](ERROR): only read 0 of 1 data item for BIT error. Device response::TS,2405271308316  +0,    +0,V
2025-03-13T15:12:19.669Z,1741878739.669 [Waterlinked](ERROR): only read 3 of 5 data items. Device response::BI,    +0.00,   0.00,  0.00
2025-03-13T15:17:21.541Z,1741879041.541 [BPC1](INFO): Calculating totals. Valid battery stick count: 49. Valid reserve battery stick count: 6.
2025-03-13T15:17:21.573Z,1741879041.573 [BPC1](FAULT): Failed to receive data from 2 sticks prior to timeout. Will not retry this scan cycle. Missing stick IDs are: 21, 23.
2025-03-13T15:19:20.147Z,1741879160.147 [keepstation:KeepStation:C.KeepStation](INFO): Waypoint->Rest
2025-03-13T15:48:19.901Z,1741880899.901 [keepstation:NeedComms] Running Loop=1
2025-03-13T15:48:19.901Z,1741880899.901 [keepstation:NeedComms](DEBUG): Aggregate::initialize keepstation:NeedComms
2025-03-13T15:48:19.901Z,1741880899.901 [keepstation:NeedComms:B.GoToSurface] Running Loop=1
2025-03-13T15:48:19.901Z,1741880899.901 [keepstation:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-03-13T15:48:19.901Z,1741880899.901 [keepstation:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-03-13T15:48:19.902Z,1741880899.902 [keepstation:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-03-13T15:48:19.902Z,1741880899.902 [keepstation:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-03-13T15:48:19.902Z,1741880899.902 [keepstation:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-03-13T15:48:19.903Z,1741880899.903 [keepstation:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-03-13T15:48:19.903Z,1741880899.903 [keepstation:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-03-13T15:48:19.904Z,1741880899.904 [keepstation:NeedComms:A] Running Loop=1
2025-03-13T15:48:19.905Z,1741880899.905 [keepstation:NeedComms:A](INFO): last time_fix was:  1741878036.000000 second since 1970/01/01T00:00:00Z 
2025-03-13T15:48:19.905Z,1741880899.905 [keepstation:NeedComms:A] Stopped
2025-03-13T15:50:10.883Z,1741881010.883 [keepstation:NeedComms:C] Running Loop=1
2025-03-13T15:50:11.212Z,1741881011.212 [Radio_Surface](INFO): Powering up
2025-03-13T15:50:11.391Z,1741881011.391 [Waterlinked](INFO): Powering down
2025-03-13T15:50:16.564Z,1741881016.564 [DataOverHttps](INFO): Radio surface powered ON.
2025-03-13T15:50:46.684Z,1741881046.684 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T15:51:21.651Z,1741881081.651 [NAL9602](INFO): SBD MO Status=2, MOMSN=18563, MT Status=2, MTMSN=0
2025-03-13T15:51:21.652Z,1741881081.652 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-03-13T15:51:21.836Z,1741881081.836 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T15:51:33.766Z,1741881093.766 [NAL9602](INFO): SBD MO Status=0, MOMSN=18563, MT Status=0, MTMSN=0
2025-03-13T15:51:33.766Z,1741881093.766 [NAL9602](INFO): No messages in MT queue
2025-03-13T15:51:34.979Z,1741881094.979 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,155134.00,A,3647.74441,N,12153.97717,W,0.428,349.20,130325,,,A*70
2025-03-13T15:51:34.981Z,1741881094.981 [NAL9602](INFO): GPS fix at 20250313T155134: (36.795740, -121.899620)
2025-03-13T15:51:35.010Z,1741881095.010 [UniversalFixResidualReporter](INFO): Fix residual: 59.3 %DT, over the last 918.5 m. Residual distance 544.6 m at bearing -164.8 degrees. Fix at (36.7957, -121.8996) with 354.8 m made good.
2025-03-13T15:51:35.011Z,1741881095.011 [keepstation:KeepStation:C.KeepStation](INFO): Rest->Waypoint
2025-03-13T15:51:35.014Z,1741881095.014 [keepstation:NeedComms:C] Stopped
2025-03-13T15:51:35.015Z,1741881095.015 [keepstation:NeedComms:D] Running Loop=1
2025-03-13T15:51:44.833Z,1741881104.833 [NAL9602](INFO): SBD MO Status=1, MOMSN=18564, MT Status=0, MTMSN=0
2025-03-13T15:51:44.884Z,1741881104.884 [NAL9602](INFO): Sent 95 bytes from file Logs/20250311T232940/Courier0293.lzma
2025-03-13T15:51:44.884Z,1741881104.884 [NAL9602](INFO): Packets left to send: 0
2025-03-13T15:51:55.024Z,1741881115.024 [NAL9602](INFO): SBD MO Status=1, MOMSN=18565, MT Status=0, MTMSN=0
2025-03-13T15:51:55.074Z,1741881115.074 [NAL9602](INFO): Sent 332 bytes from file Logs/20250311T232940/Express0294.lzma
2025-03-13T15:51:55.074Z,1741881115.074 [NAL9602](INFO): Packets left to send: 1
2025-03-13T15:51:56.980Z,1741881116.980 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T15:52:07.182Z,1741881127.182 [NAL9602](INFO): SBD MO Status=1, MOMSN=18566, MT Status=0, MTMSN=0
2025-03-13T15:52:07.236Z,1741881127.236 [NAL9602](INFO): Sent 45 bytes from file Logs/20250311T232940/Express0294.lzma
2025-03-13T15:52:07.236Z,1741881127.236 [NAL9602](INFO): Packets left to send: 0
2025-03-13T15:52:11.626Z,1741881131.626 [BPC1](ERROR): BPC1B: No match for serial number 1717 in BPC1B's battery stick inventory (sticks 32-62 in onboard configuration file).
2025-03-13T15:52:27.384Z,1741881147.384 [NAL9602](INFO): SBD MO Status=0, MOMSN=18567, MT Status=0, MTMSN=0
2025-03-13T15:52:27.472Z,1741881147.472 [keepstation:NeedComms:D] Stopped
2025-03-13T15:52:27.472Z,1741881147.472 [keepstation:NeedComms:E] Running Loop=1
2025-03-13T15:52:29.803Z,1741881149.803 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,155228.00,A,3647.75196,N,12153.97721,W,1.225,3.39,130325,,,A*7A
2025-03-13T15:52:29.805Z,1741881149.805 [NAL9602](INFO): GPS fix at 20250313T155228: (36.795866, -121.899620)
2025-03-13T15:52:29.835Z,1741881149.835 [keepstation:NeedComms:E] Stopped
2025-03-13T15:52:29.836Z,1741881149.836 [keepstation:NeedComms](INFO): Completed keepstation:NeedComms
2025-03-13T15:52:29.836Z,1741881149.836 [keepstation:NeedComms] Stopped
2025-03-13T15:52:29.836Z,1741881149.836 [keepstation:NeedComms](DEBUG): Aggregate::uninitialize keepstation:NeedComms
2025-03-13T15:52:29.836Z,1741881149.836 [keepstation:NeedComms:B.GoToSurface] Stopped
2025-03-13T15:52:29.837Z,1741881149.837 [keepstation:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-03-13T15:52:32.136Z,1741881152.136 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T15:53:01.722Z,1741881181.722 [NAL9602](INFO): Not Powering down - fast GPS
2025-03-13T15:53:06.368Z,1741881186.368 [ThrusterHE](DEBUG): Uninitialize Thruster Servo.
2025-03-13T15:53:06.368Z,1741881186.368 [ThrusterHE](INFO): Powering down
2025-03-13T15:53:07.053Z,1741881187.053 [ThrusterHE](DEBUG): Initializing EZServoServo.
2025-03-13T15:53:07.173Z,1741881187.173 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2025-03-13T15:53:07.288Z,1741881187.288 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T15:53:41.273Z,1741881221.273 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.004043
2025-03-13T15:54:42.060Z,1741881282.060 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.791195
2025-03-13T15:54:57.800Z,1741881297.800 [Radio_Surface](INFO): Powering down
2025-03-13T15:54:58.124Z,1741881298.124 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-03-13T15:58:23.231Z,1741881503.231 [BPC1](INFO): Calculating totals. Valid battery stick count: 51. Valid reserve battery stick count: 5.
2025-03-13T15:58:23.234Z,1741881503.234 [BPC1](FAULT): Failed to receive data from 1 sticks prior to timeout. Will not retry this scan cycle. Missing stick IDs are: 21.
2025-03-13T16:03:34.745Z,1741881814.745 [keepstation:KeepStation:C.KeepStation](INFO): Waypoint->Rest
2025-03-13T16:09:57.351Z,1741882197.351 [Waterlinked](ERROR): DVL uart error: serial timeout
2025-03-13T16:09:57.351Z,1741882197.351 [Waterlinked] Communications Fault, FailCount= 1
2025-03-13T16:09:57.351Z,1741882197.351 [Waterlinked](ERROR): Communications Fault
2025-03-13T16:09:57.412Z,1741882197.412 [CBIT](ERROR): Communications Fault in component: Waterlinked
2025-03-13T16:09:57.951Z,1741882197.951 [Waterlinked](INFO): Powering down
2025-03-13T16:09:58.648Z,1741882198.648 [CBIT](INFO): Clearing failed state for component Waterlinked
2025-03-13T16:09:58.648Z,1741882198.648 [Waterlinked] No Fault, FailCount= 1
2025-03-13T16:14:54.519Z,1741882494.519 [Waterlinked](ERROR): only read 0 of 1 data item for BIT error. Device response::TS,24052713   +0,    +0,V
2025-03-13T16:27:27.566Z,1741883247.566 [keepstation:StandardEnvelopes:A.AltitudeEnvelope](IMPORTANT): Altitude envelope ACTIVE
2025-03-13T16:39:24.756Z,1741883964.756 [BPC1](INFO): Calculating totals. Valid battery stick count: 50. Valid reserve battery stick count: 5.
2025-03-13T16:39:24.762Z,1741883964.762 [BPC1](FAULT): Failed to receive data from 1 sticks prior to timeout. Will not retry this scan cycle. Missing stick IDs are: 21.
2025-03-13T16:40:47.998Z,1741884047.998 [keepstation:NeedComms] Running Loop=1
2025-03-13T16:40:47.998Z,1741884047.998 [keepstation:NeedComms](DEBUG): Aggregate::initialize keepstation:NeedComms
2025-03-13T16:40:47.998Z,1741884047.998 [keepstation:NeedComms:B.GoToSurface] Running Loop=1
2025-03-13T16:40:47.998Z,1741884047.998 [keepstation:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-03-13T16:40:47.999Z,1741884047.999 [keepstation:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-03-13T16:40:47.999Z,1741884047.999 [keepstation:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-03-13T16:40:47.000Z,1741884048.000 [keepstation:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-03-13T16:40:48.000Z,1741884048.000 [keepstation:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-03-13T16:40:48.000Z,1741884048.000 [keepstation:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-03-13T16:40:48.001Z,1741884048.001 [keepstation:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-03-13T16:40:48.001Z,1741884048.001 [keepstation:NeedComms:A] Running Loop=1
2025-03-13T16:40:48.003Z,1741884048.003 [keepstation:NeedComms:A](INFO): last time_fix was:  1741881148.000000 second since 1970/01/01T00:00:00Z 
2025-03-13T16:40:48.003Z,1741884048.003 [keepstation:NeedComms:A] Stopped
2025-03-13T16:42:37.405Z,1741884157.405 [keepstation:NeedComms:C] Running Loop=1
2025-03-13T16:42:37.979Z,1741884157.979 [Waterlinked](INFO): Powering down
2025-03-13T16:42:38.067Z,1741884158.067 [Radio_Surface](INFO): Powering up
2025-03-13T16:42:43.976Z,1741884163.976 [DataOverHttps](INFO): Radio surface powered ON.
2025-03-13T16:43:14.104Z,1741884194.104 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T16:43:49.244Z,1741884229.244 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T16:44:18.156Z,1741884258.156 [keepstation](INFO): Timed out from 2025-03-13T10:44:18.1Z
2025-03-13T16:44:18.157Z,1741884258.157 [MissionManager](INFO): keepstation is completed.
2025-03-13T16:44:18.157Z,1741884258.157 [MissionManager](INFO): Uninitializing Mission keepstation
2025-03-13T16:44:18.157Z,1741884258.157 [keepstation] Stopped
2025-03-13T16:44:18.157Z,1741884258.157 [keepstation](DEBUG): Aggregate::uninitialize keepstation
2025-03-13T16:44:18.157Z,1741884258.157 [keepstation:NeedComms] Stopped
2025-03-13T16:44:18.157Z,1741884258.157 [keepstation:NeedComms](DEBUG): Aggregate::uninitialize keepstation:NeedComms
2025-03-13T16:44:18.157Z,1741884258.157 [keepstation:NeedComms:B.GoToSurface] Stopped
2025-03-13T16:44:18.157Z,1741884258.157 [keepstation:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-03-13T16:44:18.157Z,1741884258.157 [keepstation:NeedComms:C] Stopped
2025-03-13T16:44:18.157Z,1741884258.157 [keepstation:StandardEnvelopes] Stopped
2025-03-13T16:44:18.158Z,1741884258.158 [keepstation:StandardEnvelopes](DEBUG): Aggregate::uninitialize keepstation:StandardEnvelopes
2025-03-13T16:44:18.158Z,1741884258.158 [keepstation:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-03-13T16:44:18.158Z,1741884258.158 [keepstation:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-03-13T16:44:18.158Z,1741884258.158 [keepstation:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-03-13T16:44:18.158Z,1741884258.158 [keepstation:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-03-13T16:44:18.158Z,1741884258.158 [keepstation:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-03-13T16:44:18.158Z,1741884258.158 [keepstation:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-03-13T16:44:18.158Z,1741884258.158 [keepstation:BackseatDriver] Stopped
2025-03-13T16:44:18.158Z,1741884258.158 [keepstation:BackseatDriver](DEBUG): Aggregate::uninitialize keepstation:BackseatDriver
2025-03-13T16:44:18.158Z,1741884258.158 [keepstation:BackseatDriver:A.BackseatDriver] Stopped
2025-03-13T16:44:18.158Z,1741884258.158 [keepstation:PowerOnly] Stopped
2025-03-13T16:44:18.158Z,1741884258.158 [keepstation:PowerOnly](DEBUG): Aggregate::uninitialize keepstation:PowerOnly
2025-03-13T16:44:18.158Z,1741884258.158 [keepstation:PowerOnly:E.Wait] Stopped
2025-03-13T16:44:18.158Z,1741884258.158 [keepstation:PowerOnly:E.Wait](DEBUG): Uninitialize Wait Component.
2025-03-13T16:44:18.159Z,1741884258.159 [keepstation:H.Pitch] Stopped
2025-03-13T16:44:18.159Z,1741884258.159 [keepstation:KeepStation] Stopped
2025-03-13T16:44:18.159Z,1741884258.159 [keepstation:KeepStation](DEBUG): Aggregate::uninitialize keepstation:KeepStation
2025-03-13T16:44:18.159Z,1741884258.159 [keepstation:KeepStation:A] Stopped
2025-03-13T16:44:18.159Z,1741884258.159 [keepstation:KeepStation:B.Pitch] Stopped
2025-03-13T16:44:18.159Z,1741884258.159 [keepstation:KeepStation:C.KeepStation] Stopped
2025-03-13T16:44:18.159Z,1741884258.159 [keepstation:KeepStation:C.KeepStation](DEBUG): Uninitialize KeepStationComponent.
2025-03-13T16:44:18.159Z,1741884258.159 [keepstation:KeepStation:D.Wait] Stopped
2025-03-13T16:44:18.159Z,1741884258.159 [keepstation:KeepStation:D.Wait](DEBUG): Uninitialize Wait Component.
2025-03-13T16:44:18.564Z,1741884258.564 [MissionManager](IMPORTANT): Started mission Default
2025-03-13T16:44:18.564Z,1741884258.564 [Default] Running Loop=1
2025-03-13T16:44:18.564Z,1741884258.564 [Default](DEBUG): Aggregate::initialize Default
2025-03-13T16:44:18.564Z,1741884258.564 [Default:B.GoToSurface] Running Loop=1
2025-03-13T16:44:18.564Z,1741884258.564 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-03-13T16:44:18.564Z,1741884258.564 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-03-13T16:44:18.565Z,1741884258.565 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-03-13T16:44:18.565Z,1741884258.565 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-03-13T16:44:18.565Z,1741884258.565 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-03-13T16:44:18.566Z,1741884258.566 [Default:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-03-13T16:44:18.566Z,1741884258.566 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-03-13T16:44:18.566Z,1741884258.566 [Default:A.Wait] Running Loop=1
2025-03-13T16:44:18.566Z,1741884258.566 [Default:A.Wait](DEBUG): Initialize Wait Component.
2025-03-13T16:44:24.388Z,1741884264.388 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T16:44:31.903Z,1741884271.903 [Default:A.Wait](INFO): Done Waiting.
2025-03-13T16:44:31.904Z,1741884271.904 [Default:A.Wait] Stopped
2025-03-13T16:44:31.904Z,1741884271.904 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2025-03-13T16:44:32.295Z,1741884272.295 [Default:CheckIn] Running Loop=1
2025-03-13T16:44:32.295Z,1741884272.295 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-03-13T16:44:32.296Z,1741884272.296 [Default:CheckIn:Read_GPS] Running Loop=1
2025-03-13T16:44:59.528Z,1741884299.528 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T16:45:34.696Z,1741884334.696 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T16:46:06.834Z,1741884366.834 [NAL9602](INFO): SBD MO Status=0, MOMSN=18568, MT Status=0, MTMSN=0
2025-03-13T16:46:06.834Z,1741884366.834 [NAL9602](INFO): No messages in MT queue
2025-03-13T16:46:08.039Z,1741884368.039 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,164607.00,A,3647.75553,N,12154.01834,W,1.225,19.61,130325,,,A*49
2025-03-13T16:46:08.041Z,1741884368.041 [NAL9602](INFO): GPS fix at 20250313T164607: (36.795926, -121.900306)
2025-03-13T16:46:08.057Z,1741884368.057 [UniversalFixResidualReporter](INFO): Fix residual: 90.6 %DT, over the last 589.1 m. Residual distance 533.7 m at bearing -167.9 degrees. Fix at (36.7959, -121.9003) with 61.4 m made good.
2025-03-13T16:46:08.058Z,1741884368.058 [Default:CheckIn:Read_GPS] Stopped
2025-03-13T16:46:08.058Z,1741884368.058 [Default:CheckIn:Read_Iridium] Running Loop=1
2025-03-13T16:46:09.848Z,1741884369.848 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T16:46:17.787Z,1741884377.787 [NAL9602](INFO): SBD MO Status=1, MOMSN=18569, MT Status=0, MTMSN=0
2025-03-13T16:46:17.844Z,1741884377.844 [NAL9602](INFO): Sent 94 bytes from file Logs/20250311T232940/Courier0296.lzma
2025-03-13T16:46:17.844Z,1741884377.844 [NAL9602](INFO): Packets left to send: 0
2025-03-13T16:46:37.628Z,1741884397.628 [NAL9602](INFO): SBD MO Status=2, MOMSN=18570, MT Status=2, MTMSN=0
2025-03-13T16:46:37.628Z,1741884397.628 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-03-13T16:46:44.988Z,1741884404.988 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T16:47:20.128Z,1741884440.128 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T16:47:37.866Z,1741884457.866 [NAL9602](INFO): SBD MO Status=2, MOMSN=18570, MT Status=2, MTMSN=0
2025-03-13T16:47:37.866Z,1741884457.866 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-03-13T16:47:55.584Z,1741884475.584 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003260
2025-03-13T16:48:26.716Z,1741884506.716 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T16:48:30.829Z,1741884510.829 [NAL9602](INFO): Not Powering down - fast GPS
2025-03-13T16:48:55.833Z,1741884535.833 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.252304
2025-03-13T16:49:26.956Z,1741884566.956 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T16:49:47.246Z,1741884587.246 [NAL9602](INFO): SBD MO Status=1, MOMSN=18570, MT Status=0, MTMSN=0
2025-03-13T16:49:47.307Z,1741884587.307 [NAL9602](INFO): Sent 332 bytes from file Logs/20250311T232940/Express0297.lzma
2025-03-13T16:49:47.308Z,1741884587.308 [NAL9602](INFO): Packets left to send: 1
2025-03-13T16:50:02.096Z,1741884602.096 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T16:50:04.666Z,1741884604.666 [NAL9602](INFO): SBD MO Status=2, MOMSN=18571, MT Status=2, MTMSN=0
2025-03-13T16:50:04.666Z,1741884604.666 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-03-13T16:50:37.252Z,1741884637.252 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T16:50:59.644Z,1741884659.644 [NAL9602](INFO): SBD MO Status=1, MOMSN=18571, MT Status=0, MTMSN=0
2025-03-13T16:50:59.691Z,1741884659.691 [NAL9602](INFO): Sent 197 bytes from file Logs/20250311T232940/Express0297.lzma
2025-03-13T16:50:59.692Z,1741884659.692 [NAL9602](INFO): Packets left to send: 0
2025-03-13T16:51:01.274Z,1741884661.274 [BPC1](ERROR): BPC1B: No match for serial number 1717 in BPC1B's battery stick inventory (sticks 32-62 in onboard configuration file).
2025-03-13T16:51:12.400Z,1741884672.400 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T16:51:14.195Z,1741884674.195 [NAL9602](INFO): SBD MO Status=2, MOMSN=18572, MT Status=2, MTMSN=0
2025-03-13T16:51:14.195Z,1741884674.195 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-03-13T16:51:19.124Z,1741884679.124 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2025-03-13T16:51:23.226Z,1741884683.226 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2025-03-13T16:51:31.742Z,1741884691.742 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2025-03-13T16:51:36.102Z,1741884696.102 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2025-03-13T16:51:43.056Z,1741884703.056 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003272
2025-03-13T16:51:44.510Z,1741884704.510 [Default:CheckIn:Read_Iridium] Stopped
2025-03-13T16:51:44.511Z,1741884704.511 [Default:CheckIn:C.Wait] Running Loop=1
2025-03-13T16:51:44.511Z,1741884704.511 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2025-03-13T16:51:58.222Z,1741884718.222 [NAL9602](INFO): SBD MO Status=2, MOMSN=18572, MT Status=2, MTMSN=0
2025-03-13T16:51:58.222Z,1741884718.222 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-03-13T16:52:15.180Z,1741884735.180 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T16:52:28.930Z,1741884748.930 [NAL9602](INFO): Not Powering down - fast GPS
2025-03-13T16:52:43.304Z,1741884763.304 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.251801
2025-03-13T16:53:25.481Z,1741884805.481 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T16:54:00.624Z,1741884840.624 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T16:54:24.153Z,1741884864.153 [DataOverHttps](IMPORTANT): SBD MTMSN=20250313T165423
2025-03-13T16:54:24.157Z,1741884864.157 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003799
2025-03-13T16:54:55.276Z,1741884895.276 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T16:55:24.404Z,1741884924.404 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.251080
2025-03-13T16:55:55.540Z,1741884955.540 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T16:56:26.664Z,1741884986.664 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T16:56:45.078Z,1741885005.078 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2025-03-13T16:56:45.078Z,1741885005.078 [Default:CheckIn:C.Wait] Stopped
2025-03-13T16:56:45.078Z,1741885005.078 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2025-03-13T16:56:45.079Z,1741885005.079 [Default:CheckIn:D] Running Loop=1
2025-03-13T16:56:45.480Z,1741885005.480 [Default:CheckIn:D] Stopped
2025-03-13T16:56:45.480Z,1741885005.480 [Default:CheckIn:E] Running Loop=1
2025-03-13T16:56:45.892Z,1741885005.892 [Default:CheckIn:E](IMPORTANT): Default mission has been running for  12.448597 min 
2025-03-13T16:56:45.892Z,1741885005.892 [Default:CheckIn:E] Stopped
2025-03-13T16:56:45.892Z,1741885005.892 [Default:CheckIn](INFO): Completed Default:CheckIn
2025-03-13T16:56:45.892Z,1741885005.892 [Default:CheckIn] Stopped
2025-03-13T16:56:45.892Z,1741885005.892 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-03-13T16:56:45.892Z,1741885005.892 [Default:CheckIn](INFO): Running loop #2
2025-03-13T16:56:45.892Z,1741885005.892 [Default:CheckIn] Running Loop=2
2025-03-13T16:56:45.893Z,1741885005.893 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-03-13T16:56:45.893Z,1741885005.893 [Default:CheckIn:Read_GPS] Running Loop=1
2025-03-13T16:56:47.902Z,1741885007.902 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,165646.00,A,3647.83982,N,12154.03580,W,0.933,35.52,130325,,,A*47
2025-03-13T16:56:47.904Z,1741885007.904 [NAL9602](INFO): GPS fix at 20250313T165646: (36.797330, -121.900597)
2025-03-13T16:56:47.930Z,1741885007.930 [Default:CheckIn:Read_GPS] Stopped
2025-03-13T16:56:47.930Z,1741885007.930 [Default:CheckIn:Read_Iridium] Running Loop=1
2025-03-13T16:56:57.788Z,1741885017.788 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T16:57:28.920Z,1741885048.920 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T16:58:00.043Z,1741885080.043 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T16:58:31.180Z,1741885111.180 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T16:59:02.303Z,1741885142.303 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T16:59:33.428Z,1741885173.428 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T16:59:54.080Z,1741885194.080 [DAT](INFO): DAT read: Rx Time:16:59:52.9096

2025-03-13T16:59:54.081Z,1741885194.081 [DAT](INFO): Rx dataTimestamp_ set to:1741885194.080494
2025-03-13T16:59:54.081Z,1741885194.081 [DAT](INFO): DAT read: 

2025-03-13T16:59:54.082Z,1741885194.082 [DAT](INFO): DAT read: $Packet for address 0

2025-03-13T16:59:54.082Z,1741885194.082 [DAT](INFO): received a packet notification
2025-03-13T17:00:04.552Z,1741885204.552 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T17:00:35.676Z,1741885235.676 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T17:01:06.800Z,1741885266.800 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T17:01:13.803Z,1741885273.803 [NAL9602](INFO): SBD MO Status=2, MOMSN=18572, MT Status=2, MTMSN=0
2025-03-13T17:01:13.804Z,1741885273.804 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-03-13T17:01:37.923Z,1741885297.923 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T17:01:38.875Z,1741885298.875 [NAL9602](INFO): SBD MO Status=2, MOMSN=18572, MT Status=2, MTMSN=0
2025-03-13T17:01:38.876Z,1741885298.876 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-03-13T17:02:00.744Z,1741885320.744 [NAL9602](INFO): SBD MO Status=2, MOMSN=18572, MT Status=2, MTMSN=0
2025-03-13T17:02:00.744Z,1741885320.744 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-03-13T17:02:09.048Z,1741885329.048 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T17:02:20.196Z,1741885340.196 [NAL9602](IMPORTANT): SBD MO Status=1, MOMSN=18572, MT Status=1, MTMSN=1055
2025-03-13T17:02:20.247Z,1741885340.247 [NAL9602](INFO): Sent 72 bytes from file Logs/20250311T232940/Courier0299.lzma
2025-03-13T17:02:20.248Z,1741885340.248 [NAL9602](INFO): Packets left to send: 0
2025-03-13T17:02:20.840Z,1741885340.840 [NAL9602](INFO): Received command: load Transport/keepstation.tl;set keepstation.MissionTimeout 6 h;set keepstation.Latitude 36.797 degree;set keepstation.Longitude -121.847 degree;run
2025-03-13T17:02:20.897Z,1741885340.897 [CommandExec](IMPORTANT): got command load ./Missions/Transport/keepstation.tl
2025-03-13T17:02:20.898Z,1741885340.898 [MissionManager](INFO): Loading Mission from file: ./Missions/Transport/keepstation.tl
2025-03-13T17:02:20.898Z,1741885340.898 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Transport/keepstation.tl
2025-03-13T17:02:20.928Z,1741885340.928 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Transport/keepstation.tl
2025-03-13T17:02:21.913Z,1741885341.913 [MissionManager](DEBUG): TethyslAPI: ./Missions/Transport/keepstation.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Mission Id="keepstation">
    <DefineArg Name="MissionTimeout">
        <Units:hour />
        <Value>4</Value>
    </DefineArg>
    <DefineArg Name="NeedCommsTime">
        <Units:minute />
        <Value>45</Value>
    </DefineArg>
    <DefineArg Name="Latitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Longitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Depth">
        <Units:meter />
        <Value>30</Value>
    </DefineArg>
    <DefineArg Name="ApproachDepth">
        <Units:meter />
        <Value>15</Value>
    </DefineArg>
    <DefineArg Name="DepthDeadband">
        <Units:meter />
        <Value>4</Value>
    </DefineArg>
    <DefineArg Name="Speed">
        <Units:meter_per_second />
        <Value>0.75</Value>
    </DefineArg>
    <DefineArg Name="Radius">
        <Units:meter />
        <Value>200</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>45</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:kilometer />
        <Value>2</Value>
    </DefineArg>
    <Timeout Duration="MissionTimeout" />
    <Insert Id="NeedComms" Filename="Insert/NeedComms.tl" />
    <Assign>
        <Sequence />
        <Arg Name="NeedComms:DiveInterval" />
        <Arg Name="NeedCommsTime" />
    </Assign>
    <Insert Filename="Insert/StandardEnvelopes.tl" />
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MaxDepth" />
        <Arg Name="MaxDepth" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MinOffshore" />
        <Arg Name="MinOffshore" />
    </Assign>
    <Insert Filename="Insert/BackseatDriver.tl" />
    <Insert Filename="Insert/PowerOnly.tl" />
    <Guidance:Pitch>
        <Parallel />
        <Setting>
            <Guidance:Pitch.massPosition />
            <Control:VerticalControl.massDefault />
        </Setting>
    </Guidance:Pitch>
    <Call RefId="NeedComms" Id="StartingMission" />
    <Aggregate Id="TransitToStation">
        <Sequence />
        <Guidance:Buoyancy>
            <Parallel />
            <Setting>
                <Guidance:Buoyancy.position />
                <Control:VerticalControl.buoyancyNeutral />
            </Setting>
        </Guidance:Buoyancy>
        <Guidance:Pitch>
            <Parallel />
            <Setting>
                <Guidance:Pitch.depth />
                <Arg Name="ApproachDepth" />
            </Setting>
        </Guidance:Pitch>
        <Guidance:SetSpeed>
            <Parallel />
            <Setting>
                <Guidance:SetSpeed.speed />
                <Arg Name="Speed" />
            </Setting>
        </Guidance:SetSpeed>
        <Guidance:Waypoint Id="Wpt1">
            <Sequence />
            <Setting>
                <Guidance:Waypoint.latitude />
                <Arg Name="Latitude" />
            </Setting>
            <Setting>
                <Guidance:Waypoint.longitude />
                <Arg Name="Longitude" />
            </Setting>
        </Guidance:Waypoint>
    </Aggregate>
    <Call RefId="NeedComms" Id="OnStation" />
    <Aggregate Id="KeepStation">
        <Sequence />
        <Assign>
            <Parallel />
            <Control:VerticalControl.depthDeadband />
            <Arg Name="DepthDeadband" />
        </Assign>
        <Guidance:Pitch>
            <Parallel />
            <Setting>
                <Guidance:Pitch.depth />
                <Arg Name="Depth" />
            </Setting>
        </Guidance:Pitch>
        <Guidance:KeepStation>
            <Parallel />
            <Setting>
                <Guidance:KeepStation.latitude />
                <Arg Name="Latitude" />
            </Setting>
            <Setting>
                <Guidance:KeepStation.longitude />
                <Arg Name="Longitude" />
            </Setting>
            <Setting>
                <Guidance:KeepStation.radius />
                <Arg Name="Radius" />
            </Setting>
            <Setting>
                <Guidance:KeepStation.speed />
                <Arg Name="Speed" />
            </Setting>
        </Guidance:KeepStation>
        <Guidance:Wait>
            <Sequence />
            <Setting>
                <Guidance:Wait.duration />
                <Arg Name="MissionTimeout" />
            </Setting>
        </Guidance:Wait>
    </Aggregate>
</Mission>

2025-03-13T17:02:21.927Z,1741885341.927 [MissionManager](INFO): DefineArg keepstation.MissionTimeout = 4.000000 h
2025-03-13T17:02:21.937Z,1741885341.937 [MissionManager](INFO): DefineArg keepstation.NeedCommsTime = 45.000000 min
2025-03-13T17:02:21.958Z,1741885341.958 [MissionManager](INFO): DefineArg keepstation.Latitude = nan arcdeg
2025-03-13T17:02:21.969Z,1741885341.969 [MissionManager](INFO): DefineArg keepstation.Longitude = nan arcdeg
2025-03-13T17:02:21.971Z,1741885341.971 [MissionManager](INFO): DefineArg keepstation.Depth = 30.000000 m
2025-03-13T17:02:21.985Z,1741885341.985 [MissionManager](INFO): DefineArg keepstation.ApproachDepth = 15.000000 m
2025-03-13T17:02:22.024Z,1741885342.024 [MissionManager](INFO): DefineArg keepstation.DepthDeadband = 4.000000 m
2025-03-13T17:02:22.026Z,1741885342.026 [MissionManager](INFO): DefineArg keepstation.Speed = 0.750000 m/s
2025-03-13T17:02:22.033Z,1741885342.033 [MissionManager](INFO): DefineArg keepstation.Radius = 200.000000 m
2025-03-13T17:02:22.039Z,1741885342.039 [MissionManager](INFO): DefineArg keepstation.MaxDepth = 45.000000 m
2025-03-13T17:02:22.042Z,1741885342.042 [MissionManager](INFO): DefineArg keepstation.MinOffshore = 2.000000 km
2025-03-13T17:02:22.042Z,1741885342.042 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl
2025-03-13T17:02:22.042Z,1741885342.042 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl
2025-03-13T17:02:22.105Z,1741885342.105 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl
2025-03-13T17:02:22.374Z,1741885342.374 [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>

2025-03-13T17:02:22.379Z,1741885342.379 [MissionManager](INFO): DefineArg keepstation:NeedComms.DiveInterval = 1.000000 h
2025-03-13T17:02:22.397Z,1741885342.397 [MissionManager](INFO): DefineArg keepstation:NeedComms.WaitForPitchUp = 10.000000 min
2025-03-13T17:02:22.400Z,1741885342.400 [MissionManager](INFO): DefineArg keepstation:NeedComms.SurfacePitch = 20.000000 arcdeg
2025-03-13T17:02:22.403Z,1741885342.403 [MissionManager](INFO): DefineArg keepstation:NeedComms.SurfaceDepthRate = nan m/s
2025-03-13T17:02:22.411Z,1741885342.411 [MissionManager](INFO): DefineArg keepstation:NeedComms.SurfaceSpeed = 1.000000 m/s
2025-03-13T17:02:22.414Z,1741885342.414 [MissionManager](INFO): DefineArg keepstation:NeedComms.SurfacingTimeout = 1000.000000 s
2025-03-13T17:02:22.416Z,1741885342.416 [MissionManager](INFO): DefineArg keepstation:NeedComms.GPSTimeout = 7.000000 min
2025-03-13T17:02:22.418Z,1741885342.418 [MissionManager](INFO): DefineArg keepstation:NeedComms.CommsTimeout = 30.000000 min
2025-03-13T17:02:22.425Z,1741885342.425 [keepstation:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2025-03-13T17:02:22.466Z,1741885342.466 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-03-13T17:02:22.466Z,1741885342.466 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-03-13T17:02:22.479Z,1741885342.479 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-03-13T17:02:22.558Z,1741885342.558 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/StandardEnvelopes.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="StandardEnvelopes">
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="MaxDepthIgnore">
        <Units:meter />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>200</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:meter />
        <Value>2000</Value>
    </DefineArg>
    <Parallel />
    <Guidance:AltitudeEnvelope>
        <Parallel />
        <Setting>
            <Guidance:AltitudeEnvelope.minAltitude />
            <Arg Name="MinAltitude" />
        </Setting>
        <Setting>
            <Guidance:AltitudeEnvelope.maxDepthIgnore />
            <Arg Name="MaxDepthIgnore" />
        </Setting>
    </Guidance:AltitudeEnvelope>
    <Guidance:DepthEnvelope>
        <Parallel />
        <Setting>
            <Guidance:DepthEnvelope.maxDepth />
            <Arg Name="MaxDepth" />
        </Setting>
    </Guidance:DepthEnvelope>
    <Guidance:OffshoreEnvelope>
        <Parallel />
        <Setting>
            <Guidance:OffshoreEnvelope.minOffshore />
            <Arg Name="MinOffshore" />
        </Setting>
    </Guidance:OffshoreEnvelope>
</Aggregate>

2025-03-13T17:02:22.562Z,1741885342.562 [MissionManager](INFO): DefineArg keepstation:StandardEnvelopes.MinAltitude = 5.000000 m
2025-03-13T17:02:22.565Z,1741885342.565 [MissionManager](INFO): DefineArg keepstation:StandardEnvelopes.MaxDepthIgnore = 0.000000 m
2025-03-13T17:02:22.567Z,1741885342.567 [MissionManager](INFO): DefineArg keepstation:StandardEnvelopes.MaxDepth = 200.000000 m
2025-03-13T17:02:22.569Z,1741885342.569 [MissionManager](INFO): DefineArg keepstation:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-03-13T17:02:22.570Z,1741885342.570 [keepstation:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-03-13T17:02:22.577Z,1741885342.577 [keepstation:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-03-13T17:02:22.583Z,1741885342.583 [keepstation:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-03-13T17:02:22.591Z,1741885342.591 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2025-03-13T17:02:22.591Z,1741885342.591 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2025-03-13T17:02:22.592Z,1741885342.592 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2025-03-13T17:02:22.677Z,1741885342.677 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/BackseatDriver.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="BackseatDriver">
    <DefineArg Name="EnableBackseat">
        <False />
    </DefineArg>
    <Parallel />
    <Guidance:BackseatDriver>
        <Sequence />
        <Setting>
            <Guidance:BackseatDriver.powerBackseat />
            <Arg Name="EnableBackseat" />
        </Setting>
    </Guidance:BackseatDriver>
</Aggregate>

2025-03-13T17:02:22.700Z,1741885342.700 [MissionManager](INFO): DefineArg keepstation:BackseatDriver.EnableBackseat = 0 bool
2025-03-13T17:02:22.702Z,1741885342.702 [keepstation:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2025-03-13T17:02:22.705Z,1741885342.705 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2025-03-13T17:02:22.705Z,1741885342.705 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2025-03-13T17:02:22.706Z,1741885342.706 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2025-03-13T17:02:22.867Z,1741885342.867 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/PowerOnly.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="PowerOnly">
    <DefineArg Name="SampleAll">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad1">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad2">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad3">
        <False />
    </DefineArg>
    <DefineArg Name="EnabledPowerOnly">
        <Sensor:PowerOnly.loadAtStartup />
    </DefineArg>
    <Parallel />
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleAll" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.samplePowerOnly />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad1" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad1 />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad2" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad2 />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad3" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad3 />
    </ReadData>
    <Guidance:Wait>
        <Sequence />
        <Setting>
            <Guidance:Wait.duration />
            <Units:hour />
            <Value>99999</Value>
        </Setting>
    </Guidance:Wait>
</Aggregate>

2025-03-13T17:02:22.873Z,1741885342.873 [MissionManager](INFO): DefineArg keepstation:PowerOnly.SampleAll = 0 bool
2025-03-13T17:02:22.874Z,1741885342.875 [MissionManager](INFO): DefineArg keepstation:PowerOnly.SampleLoad1 = 0 bool
2025-03-13T17:02:22.877Z,1741885342.877 [MissionManager](INFO): DefineArg keepstation:PowerOnly.SampleLoad2 = 0 bool
2025-03-13T17:02:22.879Z,1741885342.879 [MissionManager](INFO): DefineArg keepstation:PowerOnly.SampleLoad3 = 0 bool
2025-03-13T17:02:22.881Z,1741885342.881 [MissionManager](INFO): DefineArg keepstation:PowerOnly.EnabledPowerOnly = 1 bool
2025-03-13T17:02:22.889Z,1741885342.889 [keepstation:PowerOnly:E.Wait](DEBUG): Construct Wait.
2025-03-13T17:02:22.890Z,1741885342.890 [keepstation:H.Pitch](DEBUG): Construct.
2025-03-13T17:02:22.897Z,1741885342.897 [keepstation:TransitToStation:A.Buoyancy](DEBUG): Construct Buoyancy.
2025-03-13T17:02:22.900Z,1741885342.900 [keepstation:TransitToStation:B.Pitch](DEBUG): Construct.
2025-03-13T17:02:22.905Z,1741885342.905 [keepstation:TransitToStation:C.SetSpeed](DEBUG): Construct.
2025-03-13T17:02:22.907Z,1741885342.907 [keepstation:TransitToStation:Wpt1.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T17:02:22.916Z,1741885342.916 [keepstation:KeepStation:B.Pitch](DEBUG): Construct.
2025-03-13T17:02:22.940Z,1741885342.940 [keepstation:KeepStation:C.KeepStation](DEBUG): Construct KeepStation.
2025-03-13T17:02:22.950Z,1741885342.950 [keepstation:KeepStation:D.Wait](DEBUG): Construct Wait.
2025-03-13T17:02:22.981Z,1741885342.981 [MissionManager](DEBUG): 
#   Copyright (c) 2024 MBARI
#   MBARI Proprietary Information. Confidential. All Rights Reserved
#   Unauthorized copying or distribution of this file via any medium is strictly
#   prohibited.
#
#   WARNING - This file contains information whose export is restricted by the
#   Export Administration Act of 1979 (Title 50, U.S.C., App. 2401 et seq.), as
#   amended. Violations of these export laws are subject to severe civil and/or
#   criminal penalties.

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

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

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

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

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

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

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

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

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

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

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

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

  timeout duration=MissionTimeout

  insert id="NeedComms" Insert/NeedComms.tl

  assign in sequence NeedComms:DiveInterval = NeedCommsTime

  insert Insert/StandardEnvelopes.tl

  assign in sequence StandardEnvelopes:MaxDepth = MaxDepth

  assign in sequence StandardEnvelopes:MinOffshore = MinOffshore

  insert Insert/BackseatDriver.tl

  insert Insert/PowerOnly.tl

  behavior Guidance:Pitch {
    run in parallel

    set massPosition = Control:VerticalControl.massDefault
  }

  call id="StartingMission" refId="NeedComms"

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

    run in sequence

    behavior Guidance:Buoyancy {
      run in parallel

      set position = Control:VerticalControl.buoyancyNeutral
    }

    behavior Guidance:Pitch {
      run in parallel

      set depth = ApproachDepth
    }

    behavior Guidance:SetSpeed {
      run in parallel

      set speed = Speed
    }

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

      set latitude = Latitude
      set longitude = Longitude
    }
  }

  call id="OnStation" refId="NeedComms"

  aggregate KeepStation {
    run in sequence

    assign in parallel Control:VerticalControl.depthDeadband = DepthDeadband

    behavior Guidance:Pitch {
      run in parallel

      set depth = Depth
    }

    behavior Guidance:KeepStation {
      run in parallel

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

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

      run in sequence

      set duration = MissionTimeout
    }
  }
}


2025-03-13T17:02:22.981Z,1741885342.981 [CommandExec](IMPORTANT): Loaded ./Missions/Transport/keepstation.tl id=keepstation
2025-03-13T17:02:37.270Z,1741885357.270 [NAL9602](INFO): SBD MO Status=1, MOMSN=18573, MT Status=0, MTMSN=0
2025-03-13T17:02:37.320Z,1741885357.320 [NAL9602](INFO): Sent 184 bytes from file Logs/20250311T232940/Express0300.lzma
2025-03-13T17:02:37.320Z,1741885357.320 [NAL9602](INFO): Packets left to send: 0
2025-03-13T17:02:38.706Z,1741885358.706 [CommandExec](IMPORTANT): got command set keepstation.MissionTimeout 6 hour
2025-03-13T17:02:38.707Z,1741885358.707 [CommandExec](IMPORTANT): got command set keepstation.Latitude 36.797 degree
2025-03-13T17:02:38.718Z,1741885358.718 [CommandExec](IMPORTANT): got command set keepstation.Longitude -121.847 degree
2025-03-13T17:02:38.719Z,1741885358.719 [CommandExec](IMPORTANT): got command run
2025-03-13T17:02:38.721Z,1741885358.721 [CommandExec](IMPORTANT): Running 
2025-03-13T17:02:38.903Z,1741885358.903 [Default] Stopped
2025-03-13T17:02:38.903Z,1741885358.903 [Default](DEBUG): Aggregate::uninitialize Default
2025-03-13T17:02:38.903Z,1741885358.903 [Default:B.GoToSurface] Stopped
2025-03-13T17:02:38.903Z,1741885358.903 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-03-13T17:02:38.904Z,1741885358.904 [Default:CheckIn] Stopped
2025-03-13T17:02:38.904Z,1741885358.904 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-03-13T17:02:38.904Z,1741885358.904 [Default:CheckIn:Read_Iridium] Stopped
2025-03-13T17:02:38.904Z,1741885358.904 [MissionManager](IMPORTANT): Started mission keepstation
2025-03-13T17:02:38.904Z,1741885358.904 [keepstation] Running Loop=1
2025-03-13T17:02:38.904Z,1741885358.904 [keepstation](DEBUG): Aggregate::initialize keepstation
2025-03-13T17:02:38.904Z,1741885358.904 [keepstation:StandardEnvelopes] Running Loop=1
2025-03-13T17:02:38.904Z,1741885358.904 [keepstation:StandardEnvelopes](DEBUG): Aggregate::initialize keepstation:StandardEnvelopes
2025-03-13T17:02:38.905Z,1741885358.905 [keepstation:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-03-13T17:02:38.905Z,1741885358.905 [keepstation:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-03-13T17:02:38.905Z,1741885358.905 [keepstation:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-03-13T17:02:38.905Z,1741885358.905 [keepstation:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-03-13T17:02:38.905Z,1741885358.905 [keepstation:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-03-13T17:02:38.905Z,1741885358.905 [keepstation:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-03-13T17:02:38.905Z,1741885358.905 [keepstation:BackseatDriver] Running Loop=1
2025-03-13T17:02:38.905Z,1741885358.905 [keepstation:BackseatDriver](DEBUG): Aggregate::initialize keepstation:BackseatDriver
2025-03-13T17:02:38.905Z,1741885358.905 [keepstation:BackseatDriver:A.BackseatDriver] Running Loop=1
2025-03-13T17:02:38.906Z,1741885358.906 [keepstation:PowerOnly] Running Loop=1
2025-03-13T17:02:38.906Z,1741885358.906 [keepstation:PowerOnly](DEBUG): Aggregate::initialize keepstation:PowerOnly
2025-03-13T17:02:38.906Z,1741885358.906 [keepstation:PowerOnly:A] Running Loop=1
2025-03-13T17:02:38.906Z,1741885358.906 [keepstation:PowerOnly:B] Running Loop=1
2025-03-13T17:02:38.906Z,1741885358.906 [keepstation:PowerOnly:C] Running Loop=1
2025-03-13T17:02:38.906Z,1741885358.906 [keepstation:PowerOnly:D] Running Loop=1
2025-03-13T17:02:38.906Z,1741885358.906 [keepstation:PowerOnly:E.Wait] Running Loop=1
2025-03-13T17:02:38.906Z,1741885358.906 [keepstation:PowerOnly:E.Wait](DEBUG): Initialize Wait Component.
2025-03-13T17:02:38.906Z,1741885358.906 [keepstation:H.Pitch] Running Loop=1
2025-03-13T17:02:38.906Z,1741885358.906 [keepstation:H.Pitch](DEBUG): Initialize.
2025-03-13T17:02:38.907Z,1741885358.907 [keepstation:B] Running Loop=1
2025-03-13T17:02:38.907Z,1741885358.907 [keepstation:H.Pitch] Running Loop=1
2025-03-13T17:02:38.908Z,1741885358.908 [keepstation:PowerOnly] Running Loop=1
2025-03-13T17:02:38.908Z,1741885358.908 [keepstation:PowerOnly:D] Stopped
2025-03-13T17:02:38.908Z,1741885358.908 [keepstation:PowerOnly:C] Stopped
2025-03-13T17:02:38.908Z,1741885358.908 [keepstation:PowerOnly:B] Stopped
2025-03-13T17:02:38.908Z,1741885358.908 [keepstation:PowerOnly:A] Stopped
2025-03-13T17:02:38.908Z,1741885358.908 [keepstation:BackseatDriver] Running Loop=1
2025-03-13T17:02:38.908Z,1741885358.908 [keepstation:StandardEnvelopes] Running Loop=1
2025-03-13T17:02:38.908Z,1741885358.908 [keepstation:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-03-13T17:02:38.909Z,1741885358.909 [keepstation:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-03-13T17:02:38.909Z,1741885358.909 [keepstation:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-03-13T17:02:38.910Z,1741885358.910 [keepstation:B] Stopped
2025-03-13T17:02:38.910Z,1741885358.910 [keepstation:D] Running Loop=1
2025-03-13T17:02:39.309Z,1741885359.309 [keepstation:D] Stopped
2025-03-13T17:02:39.309Z,1741885359.309 [keepstation:E] Running Loop=1
2025-03-13T17:02:39.716Z,1741885359.716 [keepstation:E] Stopped
2025-03-13T17:02:39.717Z,1741885359.717 [keepstation:StartingMission] Running Loop=1
2025-03-13T17:02:39.717Z,1741885359.717 [keepstation:StartingMission](DEBUG): Aggregate::initialize keepstation:StartingMission
2025-03-13T17:02:40.133Z,1741885360.133 [keepstation:NeedComms] Running Loop=1
2025-03-13T17:02:40.134Z,1741885360.134 [keepstation:NeedComms](DEBUG): Aggregate::initialize keepstation:NeedComms
2025-03-13T17:02:40.134Z,1741885360.134 [keepstation:NeedComms:B.GoToSurface] Running Loop=1
2025-03-13T17:02:40.134Z,1741885360.134 [keepstation:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-03-13T17:02:40.134Z,1741885360.134 [keepstation:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-03-13T17:02:40.134Z,1741885360.134 [keepstation:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-03-13T17:02:40.135Z,1741885360.135 [keepstation:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-03-13T17:02:40.139Z,1741885360.139 [keepstation:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-03-13T17:02:40.140Z,1741885360.140 [keepstation:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-03-13T17:02:40.140Z,1741885360.140 [keepstation:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-03-13T17:02:40.140Z,1741885360.140 [keepstation:NeedComms:A] Running Loop=1
2025-03-13T17:02:40.142Z,1741885360.142 [keepstation:NeedComms:A](INFO): last time_fix was:  1741885006.000000 second since 1970/01/01T00:00:00Z 
2025-03-13T17:02:40.142Z,1741885360.142 [keepstation:NeedComms:A] Stopped
2025-03-13T17:02:40.172Z,1741885360.172 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T17:02:40.514Z,1741885360.514 [keepstation:NeedComms:C] Running Loop=1
2025-03-13T17:02:40.919Z,1741885360.919 [keepstation:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-03-13T17:02:46.159Z,1741885366.159 [NAL9602](INFO): SBD MO Status=0, MOMSN=18574, MT Status=0, MTMSN=0
2025-03-13T17:02:47.374Z,1741885367.374 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,170246.00,A,3647.88319,N,12154.04829,W,0.369,27.47,130325,,,A*4F
2025-03-13T17:02:47.376Z,1741885367.376 [NAL9602](INFO): GPS fix at 20250313T170246: (36.798053, -121.900805)
2025-03-13T17:02:47.388Z,1741885367.388 [keepstation:NeedComms:C] Stopped
2025-03-13T17:02:47.388Z,1741885367.388 [keepstation:NeedComms:D] Running Loop=1
2025-03-13T17:02:47.799Z,1741885367.799 [keepstation:NeedComms:D](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-03-13T17:03:06.510Z,1741885386.510 [NAL9602](INFO): SBD MO Status=2, MOMSN=18575, MT Status=2, MTMSN=0
2025-03-13T17:03:06.510Z,1741885386.510 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-03-13T17:03:11.320Z,1741885391.320 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T17:03:25.178Z,1741885405.178 [NAL9602](INFO): SBD MO Status=1, MOMSN=18575, MT Status=0, MTMSN=0
2025-03-13T17:03:25.235Z,1741885405.235 [NAL9602](INFO): Sent 39 bytes from file Logs/20250311T232940/Courier0302.lzma
2025-03-13T17:03:25.236Z,1741885405.236 [NAL9602](INFO): Packets left to send: 0
2025-03-13T17:03:36.944Z,1741885416.944 [NAL9602](INFO): SBD MO Status=1, MOMSN=18576, MT Status=0, MTMSN=0
2025-03-13T17:03:36.997Z,1741885416.997 [NAL9602](INFO): Sent 62 bytes from file Logs/20250311T232940/Courier0305.lzma
2025-03-13T17:03:36.997Z,1741885416.997 [NAL9602](INFO): Packets left to send: 0
2025-03-13T17:03:42.444Z,1741885422.444 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T17:03:50.739Z,1741885430.739 [NAL9602](INFO): SBD MO Status=1, MOMSN=18577, MT Status=0, MTMSN=0
2025-03-13T17:03:50.789Z,1741885430.789 [NAL9602](INFO): Sent 303 bytes from file Logs/20250311T232940/Express0303.lzma
2025-03-13T17:03:50.789Z,1741885430.789 [NAL9602](INFO): Packets left to send: 0
2025-03-13T17:04:01.284Z,1741885441.284 [NAL9602](INFO): SBD MO Status=1, MOMSN=18578, MT Status=0, MTMSN=0
2025-03-13T17:04:01.332Z,1741885441.332 [NAL9602](INFO): Sent 82 bytes from file Logs/20250311T232940/Express0306.lzma
2025-03-13T17:04:01.332Z,1741885441.332 [NAL9602](INFO): Packets left to send: 0
2025-03-13T17:04:10.183Z,1741885450.183 [NAL9602](INFO): SBD MO Status=0, MOMSN=18579, MT Status=0, MTMSN=0
2025-03-13T17:04:10.261Z,1741885450.261 [keepstation:NeedComms:D] Stopped
2025-03-13T17:04:10.262Z,1741885450.262 [keepstation:NeedComms:E] Running Loop=1
2025-03-13T17:04:10.586Z,1741885450.586 [keepstation:NeedComms:E](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-03-13T17:04:12.595Z,1741885452.595 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,170411.00,A,3647.89394,N,12154.04960,W,0.253,356.78,130325,,,A*72
2025-03-13T17:04:12.597Z,1741885452.597 [NAL9602](INFO): GPS fix at 20250313T170411: (36.798232, -121.900827)
2025-03-13T17:04:12.610Z,1741885452.610 [keepstation:NeedComms:E] Stopped
2025-03-13T17:04:12.611Z,1741885452.611 [keepstation:NeedComms](INFO): Completed keepstation:NeedComms
2025-03-13T17:04:12.611Z,1741885452.611 [keepstation:NeedComms] Stopped
2025-03-13T17:04:12.611Z,1741885452.611 [keepstation:NeedComms](DEBUG): Aggregate::uninitialize keepstation:NeedComms
2025-03-13T17:04:12.611Z,1741885452.611 [keepstation:NeedComms:B.GoToSurface] Stopped
2025-03-13T17:04:12.611Z,1741885452.611 [keepstation:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-03-13T17:04:13.021Z,1741885453.021 [keepstation:StartingMission](INFO): Completed keepstation:StartingMission
2025-03-13T17:04:13.021Z,1741885453.021 [keepstation:StartingMission] Stopped
2025-03-13T17:04:13.021Z,1741885453.021 [keepstation:StartingMission](DEBUG): Aggregate::uninitialize keepstation:StartingMission
2025-03-13T17:04:13.021Z,1741885453.021 [keepstation:TransitToStation] Running Loop=1
2025-03-13T17:04:13.022Z,1741885453.022 [keepstation:TransitToStation](DEBUG): Aggregate::initialize keepstation:TransitToStation
2025-03-13T17:04:13.022Z,1741885453.022 [keepstation:TransitToStation:A.Buoyancy] Running Loop=1
2025-03-13T17:04:13.022Z,1741885453.022 [keepstation:TransitToStation:A.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-03-13T17:04:13.022Z,1741885453.022 [keepstation:TransitToStation:B.Pitch] Running Loop=1
2025-03-13T17:04:13.022Z,1741885453.022 [keepstation:TransitToStation:B.Pitch](DEBUG): Initialize.
2025-03-13T17:04:13.022Z,1741885453.022 [keepstation:TransitToStation:C.SetSpeed] Running Loop=1
2025-03-13T17:04:13.022Z,1741885453.022 [keepstation:TransitToStation:C.SetSpeed](DEBUG): Initialize.
2025-03-13T17:04:13.022Z,1741885453.022 [keepstation:TransitToStation:Wpt1.Waypoint] Running Loop=1
2025-03-13T17:04:13.023Z,1741885453.023 [keepstation:TransitToStation:Wpt1.Waypoint](DEBUG): Initialize WaypointComponent.
2025-03-13T17:04:13.024Z,1741885453.024 [keepstation:TransitToStation:Wpt1.Waypoint](IMPORTANT): Navigating to waypoint: 36.797001,-121.847000
2025-03-13T17:04:13.425Z,1741885453.425 [keepstation:TransitToStation:Wpt1.Waypoint](INFO): Navigating to waypoint: 36.797001,-121.847000
2025-03-13T17:04:13.426Z,1741885453.426 [keepstation:TransitToStation:C.SetSpeed] Running Loop=1
2025-03-13T17:04:13.426Z,1741885453.426 [keepstation:TransitToStation:B.Pitch] Running Loop=1
2025-03-13T17:04:13.429Z,1741885453.429 [keepstation:TransitToStation:A.Buoyancy] Running Loop=1
2025-03-13T17:04:13.568Z,1741885453.568 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T17:04:44.655Z,1741885484.655 [NAL9602](INFO): Not Powering down - fast GPS
2025-03-13T17:04:44.700Z,1741885484.700 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T17:05:15.824Z,1741885515.824 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T17:05:46.963Z,1741885546.963 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T17:06:06.212Z,1741885566.212 [Radio_Surface](INFO): Powering down
2025-03-13T17:06:18.108Z,1741885578.108 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T17:06:19.112Z,1741885579.112 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-03-13T17:11:19.559Z,1741885879.559 [Waterlinked](ERROR): DVL uart error: serial timeout
2025-03-13T17:11:19.559Z,1741885879.559 [Waterlinked] Communications Fault, FailCount= 1
2025-03-13T17:11:19.559Z,1741885879.559 [Waterlinked](ERROR): Communications Fault
2025-03-13T17:11:19.639Z,1741885879.639 [CBIT](ERROR): Communications Fault in component: Waterlinked
2025-03-13T17:11:20.055Z,1741885880.055 [Waterlinked](INFO): Powering down
2025-03-13T17:11:20.847Z,1741885880.847 [CBIT](INFO): Clearing failed state for component Waterlinked
2025-03-13T17:11:20.847Z,1741885880.847 [Waterlinked] No Fault, FailCount= 1
2025-03-13T17:13:58.109Z,1741886038.109 [Waterlinked](ERROR): only read 3 of 5 data items. Device response::BI,    +0,   +0,    +0,V
2025-03-13T17:16:50.467Z,1741886210.467 [Waterlinked](ERROR): only read 0 of 1 data item for altitude. Device response::BD,       +0.00,       +0   +0.00,   0.00,  0.00
2025-03-13T17:20:26.548Z,1741886426.548 [BPC1](INFO): Calculating totals. Valid battery stick count: 49. Valid reserve battery stick count: 5.
2025-03-13T17:20:26.556Z,1741886426.556 [BPC1](FAULT): Failed to receive data from 1 sticks prior to timeout. Will not retry this scan cycle. Missing stick IDs are: 21.
2025-03-13T17:38:26.394Z,1741887506.394 [Waterlinked](ERROR): only read 3 of 5 data items. Device response::BI,    +0, 0,  0.00
2025-03-13T17:45:57.870Z,1741887957.870 [DAT](INFO): DAT read: Rx Time:17:45:56.5526

2025-03-13T17:45:57.871Z,1741887957.871 [DAT](INFO): Rx dataTimestamp_ set to:1741887957.870096
2025-03-13T17:45:57.871Z,1741887957.871 [DAT](INFO): DAT read: 

2025-03-13T17:45:57.873Z,1741887957.873 [DAT](INFO): DAT read: $Packet for address 0

2025-03-13T17:45:57.874Z,1741887957.874 [DAT](INFO): received a packet notification
2025-03-13T17:49:23.438Z,1741888163.438 [keepstation:NeedComms] Running Loop=1
2025-03-13T17:49:23.439Z,1741888163.439 [keepstation:NeedComms](DEBUG): Aggregate::initialize keepstation:NeedComms
2025-03-13T17:49:23.443Z,1741888163.443 [keepstation:NeedComms:B.GoToSurface] Running Loop=1
2025-03-13T17:49:23.443Z,1741888163.443 [keepstation:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-03-13T17:49:23.444Z,1741888163.444 [keepstation:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-03-13T17:49:23.444Z,1741888163.444 [keepstation:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-03-13T17:49:23.444Z,1741888163.444 [keepstation:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-03-13T17:49:23.445Z,1741888163.445 [keepstation:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-03-13T17:49:23.445Z,1741888163.445 [keepstation:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-03-13T17:49:23.445Z,1741888163.445 [keepstation:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-03-13T17:49:23.446Z,1741888163.446 [keepstation:NeedComms:A] Running Loop=1
2025-03-13T17:49:23.450Z,1741888163.450 [keepstation:NeedComms:A](INFO): last time_fix was:  1741885451.000000 second since 1970/01/01T00:00:00Z 
2025-03-13T17:49:23.450Z,1741888163.450 [keepstation:NeedComms:A] Stopped
2025-03-13T17:49:28.914Z,1741888168.914 [BPC1](ERROR): BPC1B: No match for serial number 1717 in BPC1B's battery stick inventory (sticks 32-62 in onboard configuration file).
2025-03-13T17:50:32.001Z,1741888232.001 [keepstation:NeedComms:C] Running Loop=1
2025-03-13T17:50:32.475Z,1741888232.475 [Waterlinked](INFO): Powering down
2025-03-13T17:50:32.483Z,1741888232.483 [Radio_Surface](INFO): Powering up
2025-03-13T17:50:38.160Z,1741888238.160 [DataOverHttps](INFO): Radio surface powered ON.
2025-03-13T17:51:08.280Z,1741888268.280 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T17:51:38.685Z,1741888298.685 [BPC1](ERROR): BPC1A: No match for serial number 1717 in BPC1A's battery stick inventory (sticks 1-31 in onboard configuration file).
2025-03-13T17:51:39.404Z,1741888299.404 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T17:52:10.539Z,1741888330.539 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T17:52:41.672Z,1741888361.672 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T17:52:49.855Z,1741888369.855 [NAL9602](IMPORTANT): SBD MO Status=0, MOMSN=18580, MT Status=1, MTMSN=1056
2025-03-13T17:52:49.856Z,1741888369.856 [NAL9602](INFO): Data available in MT queue
2025-03-13T17:52:50.524Z,1741888370.524 [NAL9602](INFO): Received command: sched asap "load Science/sci2_noyo_optim.tl;set sci2_noyo_optim.MissionTimeout 3 h;set sci2_noyo_optim.NeedCommsTime 90 min;set sci2_noyo_optim.Depth1 125 m;set sci2_noyo_optim.Depth2 125 m;set sci2_noyo_optim.Depth3 NaN m" 34h41 1 4
2025-03-13T17:52:50.564Z,1741888370.564 [CommandExec](IMPORTANT): got command schedule asap "load Science/sci2_noyo_optim.tl;set sci2_noyo_optim.MissionTimeout 3 h;set sci2_noyo_optim.NeedCommsTime 90 min;set sci2_noyo_optim.Depth1 125 m;set sci2_noyo_optim.Depth2 125 m;set sci2_noyo_optim.Depth3 NaN m" 34h41 1 4.000000
2025-03-13T17:52:50.564Z,1741888370.564 [CommandExec](IMPORTANT): Scheduling command #1 of 4 with id=34h41
2025-03-13T17:52:50.565Z,1741888370.565 [CommandExec](IMPORTANT): Scheduled #43 (#1 of 4 with id='34h41'): "load Science/sci2_noyo_optim.tl;set sci2_noyo_optim.MissionTimeout 3 h;set sci2_noyo_optim.NeedCommsTime 90 min;set sci2_noyo_optim.Depth1 125 m;set sci2_noyo_optim.Depth2 125 m;set sci2_noyo_optim.Depth3 NaN m", ASAP
2025-03-13T17:52:51.414Z,1741888371.414 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,175250.00,A,3648.04585,N,12152.88808,W,0.719,344.88,130325,,,D*77
2025-03-13T17:52:51.417Z,1741888371.417 [NAL9602](INFO): GPS fix at 20250313T175250: (36.800764, -121.881468)
2025-03-13T17:52:51.429Z,1741888371.429 [UniversalFixResidualReporter](INFO): Fix residual: 22.8 %DT, over the last 2059.2 m. Residual distance 470.5 m at bearing 135.2 degrees. Fix at (36.8008, -121.8815) with 1746.5 m made good.
2025-03-13T17:52:51.433Z,1741888371.433 [keepstation:NeedComms:C] Stopped
2025-03-13T17:52:51.433Z,1741888371.433 [keepstation:NeedComms:D] Running Loop=1
2025-03-13T17:53:12.796Z,1741888392.796 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T17:53:14.898Z,1741888394.898 [NAL9602](INFO): SBD MO Status=2, MOMSN=18581, MT Status=2, MTMSN=0
2025-03-13T17:53:14.898Z,1741888394.898 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-03-13T17:53:43.928Z,1741888423.928 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T17:53:47.255Z,1741888427.255 [NAL9602](IMPORTANT): SBD MO Status=1, MOMSN=18581, MT Status=1, MTMSN=1057
2025-03-13T17:53:47.307Z,1741888427.307 [NAL9602](INFO): Sent 93 bytes from file Logs/20250311T232940/Courier0308.lzma
2025-03-13T17:53:47.308Z,1741888427.308 [NAL9602](INFO): Packets left to send: 0
2025-03-13T17:53:47.976Z,1741888427.976 [NAL9602](INFO): Received command: sched asap "set sci2_noyo_optim.Repeat 4 count;set sci2_noyo_optim.Lat1 36.79434 degree;set sci2_noyo_optim.Lon1 -121.89035 degree;set sci2_noyo_optim.Lat2 36.79447 degree;set sci2_noyo_optim.Lon2 -121.90743 degree" 34h41 2 4
2025-03-13T17:53:47.981Z,1741888427.981 [CommandExec](IMPORTANT): got command schedule asap "set sci2_noyo_optim.Repeat 4 count;set sci2_noyo_optim.Lat1 36.79434 degree;set sci2_noyo_optim.Lon1 -121.89035 degree;set sci2_noyo_optim.Lat2 36.79447 degree;set sci2_noyo_optim.Lon2 -121.90743 degree" 34h41 2 4.000000
2025-03-13T17:53:47.982Z,1741888427.982 [CommandExec](IMPORTANT): Scheduling command #2 of 4 with id=34h41
2025-03-13T17:53:47.983Z,1741888427.983 [CommandExec](IMPORTANT): Scheduled #44 (#2 of 4 with id='34h41'): "set sci2_noyo_optim.Repeat 4 count;set sci2_noyo_optim.Lat1 36.79434 degree;set sci2_noyo_optim.Lon1 -121.89035 degree;set sci2_noyo_optim.Lat2 36.79447 degree;set sci2_noyo_optim.Lon2 -121.90743 degree", ASAP
2025-03-13T17:54:08.723Z,1741888448.723 [NAL9602](IMPORTANT): SBD MO Status=1, MOMSN=18582, MT Status=1, MTMSN=1058
2025-03-13T17:54:08.771Z,1741888448.771 [NAL9602](INFO): Sent 332 bytes from file Logs/20250311T232940/Express0309.lzma
2025-03-13T17:54:08.772Z,1741888448.772 [NAL9602](INFO): Packets left to send: 1
2025-03-13T17:54:09.428Z,1741888449.428 [NAL9602](INFO): Received command: sched asap "set sci2_noyo_optim.ApproachDepth 10 m;set sci2_noyo_optim.ApproachSpeed 1.0 m/s;set sci2_noyo_optim.SlowSpeed 0.4 m/s;set sci2_noyo_optim.MinAltitude 10 m;set sci2_noyo_optim.MaxDepth 135 m" 34h41 3 4
2025-03-13T17:54:09.433Z,1741888449.433 [CommandExec](IMPORTANT): got command schedule asap "set sci2_noyo_optim.ApproachDepth 10 m;set sci2_noyo_optim.ApproachSpeed 1.0 m/s;set sci2_noyo_optim.SlowSpeed 0.4 m/s;set sci2_noyo_optim.MinAltitude 10 m;set sci2_noyo_optim.MaxDepth 135 m" 34h41 3 4.000000
2025-03-13T17:54:09.434Z,1741888449.434 [CommandExec](IMPORTANT): Scheduling command #3 of 4 with id=34h41
2025-03-13T17:54:09.435Z,1741888449.435 [CommandExec](IMPORTANT): Scheduled #45 (#3 of 4 with id='34h41'): "set sci2_noyo_optim.ApproachDepth 10 m;set sci2_noyo_optim.ApproachSpeed 1.0 m/s;set sci2_noyo_optim.SlowSpeed 0.4 m/s;set sci2_noyo_optim.MinAltitude 10 m;set sci2_noyo_optim.MaxDepth 135 m", ASAP
2025-03-13T17:54:15.052Z,1741888455.052 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T17:54:20.901Z,1741888460.901 [NAL9602](IMPORTANT): SBD MO Status=1, MOMSN=18583, MT Status=1, MTMSN=1059
2025-03-13T17:54:20.952Z,1741888460.952 [NAL9602](INFO): Sent 254 bytes from file Logs/20250311T232940/Express0309.lzma
2025-03-13T17:54:20.952Z,1741888460.952 [NAL9602](INFO): Packets left to send: 0
2025-03-13T17:54:21.461Z,1741888461.461 [NAL9602](INFO): Received command: sched asap "set sci2_noyo_optim:PowerOnly.SampleLoad1 1 bool;run" 34h41 4 4
2025-03-13T17:54:21.526Z,1741888461.526 [CommandExec](IMPORTANT): got command schedule asap "set sci2_noyo_optim:PowerOnly.SampleLoad1 1 bool;run" 34h41 4 4.000000
2025-03-13T17:54:21.527Z,1741888461.527 [CommandExec](IMPORTANT): Scheduling command #4 of 4 with id=34h41
2025-03-13T17:54:21.528Z,1741888461.528 [CommandExec](IMPORTANT): Scheduled #46 (#4 of 4 with id='34h41'): "set sci2_noyo_optim:PowerOnly.SampleLoad1 1 bool;run", ASAP
2025-03-13T17:54:21.674Z,1741888461.674 [CommandExec](IMPORTANT): got command load ./Missions/Science/sci2_noyo_optim.tl
2025-03-13T17:54:21.674Z,1741888461.674 [MissionManager](INFO): Uninitializing Mission keepstation
2025-03-13T17:54:21.674Z,1741888461.674 [keepstation] Stopped
2025-03-13T17:54:21.674Z,1741888461.674 [keepstation](DEBUG): Aggregate::uninitialize keepstation
2025-03-13T17:54:21.674Z,1741888461.674 [keepstation:NeedComms] Stopped
2025-03-13T17:54:21.674Z,1741888461.674 [keepstation:NeedComms](DEBUG): Aggregate::uninitialize keepstation:NeedComms
2025-03-13T17:54:21.674Z,1741888461.674 [keepstation:NeedComms:B.GoToSurface] Stopped
2025-03-13T17:54:21.675Z,1741888461.675 [keepstation:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-03-13T17:54:21.675Z,1741888461.675 [keepstation:NeedComms:D] Stopped
2025-03-13T17:54:21.675Z,1741888461.675 [keepstation:StandardEnvelopes] Stopped
2025-03-13T17:54:21.675Z,1741888461.675 [keepstation:StandardEnvelopes](DEBUG): Aggregate::uninitialize keepstation:StandardEnvelopes
2025-03-13T17:54:21.675Z,1741888461.675 [keepstation:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-03-13T17:54:21.675Z,1741888461.675 [keepstation:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-03-13T17:54:21.675Z,1741888461.675 [keepstation:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-03-13T17:54:21.675Z,1741888461.675 [keepstation:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-03-13T17:54:21.676Z,1741888461.676 [keepstation:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-03-13T17:54:21.676Z,1741888461.676 [keepstation:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-03-13T17:54:21.676Z,1741888461.676 [keepstation:BackseatDriver] Stopped
2025-03-13T17:54:21.676Z,1741888461.676 [keepstation:BackseatDriver](DEBUG): Aggregate::uninitialize keepstation:BackseatDriver
2025-03-13T17:54:21.676Z,1741888461.676 [keepstation:BackseatDriver:A.BackseatDriver] Stopped
2025-03-13T17:54:21.676Z,1741888461.676 [keepstation:PowerOnly] Stopped
2025-03-13T17:54:21.676Z,1741888461.676 [keepstation:PowerOnly](DEBUG): Aggregate::uninitialize keepstation:PowerOnly
2025-03-13T17:54:21.676Z,1741888461.676 [keepstation:PowerOnly:E.Wait] Stopped
2025-03-13T17:54:21.676Z,1741888461.676 [keepstation:PowerOnly:E.Wait](DEBUG): Uninitialize Wait Component.
2025-03-13T17:54:21.676Z,1741888461.676 [keepstation:H.Pitch] Stopped
2025-03-13T17:54:21.676Z,1741888461.676 [keepstation:TransitToStation] Stopped
2025-03-13T17:54:21.676Z,1741888461.676 [keepstation:TransitToStation](DEBUG): Aggregate::uninitialize keepstation:TransitToStation
2025-03-13T17:54:21.677Z,1741888461.677 [keepstation:TransitToStation:A.Buoyancy] Stopped
2025-03-13T17:54:21.677Z,1741888461.677 [keepstation:TransitToStation:A.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-03-13T17:54:21.677Z,1741888461.677 [keepstation:TransitToStation:B.Pitch] Stopped
2025-03-13T17:54:21.677Z,1741888461.677 [keepstation:TransitToStation:C.SetSpeed] Stopped
2025-03-13T17:54:21.677Z,1741888461.677 [keepstation:TransitToStation:C.SetSpeed](DEBUG): Uninitialize.
2025-03-13T17:54:21.677Z,1741888461.677 [keepstation:TransitToStation:Wpt1.Waypoint] Stopped
2025-03-13T17:54:21.677Z,1741888461.677 [keepstation:TransitToStation:Wpt1.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-03-13T17:54:21.748Z,1741888461.748 [MissionManager](INFO): Loading Mission from file: ./Missions/Science/sci2_noyo_optim.tl
2025-03-13T17:54:21.748Z,1741888461.748 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Science/sci2_noyo_optim.tl
2025-03-13T17:54:21.760Z,1741888461.760 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Science/sci2_noyo_optim.tl
2025-03-13T17:54:27.364Z,1741888467.364 [MissionManager](DEBUG): TethyslAPI: ./Missions/Science/sci2_noyo_optim.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Mission Id="sci2_noyo_optim">
    <DefineArg Name="MissionTimeout">
        <Units:hour />
        <Value>2</Value>
    </DefineArg>
    <DefineArg Name="NeedCommsTime">
        <Units:minute />
        <Value>60</Value>
    </DefineArg>
    <DefineArg Name="Depth1">
        <Units:meter />
        <Value>35</Value>
    </DefineArg>
    <DefineArg Name="Depth2">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Depth3">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Depth4">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Depth5">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Depth6">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Depth7">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Depth8">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="DepthPerLeg">
        <False />
    </DefineArg>
    <DefineArg Name="Repeat">
        <Units:count />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="Lat1">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lat2">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lat3">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lat4">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lat5">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lat6">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lat7">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lat8">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lon1">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lon2">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lon3">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lon4">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lon5">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lon6">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lon7">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lon8">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="FastSpeed">
        <Units:meter_per_second />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="ApproachDepth">
        <Units:meter />
        <Value>30</Value>
    </DefineArg>
    <DefineArg Name="ApproachSpeed">
        <Units:meter_per_second />
        <Value>0.7</Value>
    </DefineArg>
    <DefineArg Name="ApproachDepthRate">
        <Units:meter_per_second />
        <Value>0.05</Value>
    </DefineArg>
    <DefineArg Name="ApproachPitchLimit">
        <Units:degree />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="ApproachDepthTimeout">
        <Units:minute />
        <Value>15</Value>
    </DefineArg>
    <DefineArg Name="ApproachSettleTimePreDive">
        <Units:minute />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="ApproachSettleTimePostDive">
        <Units:minute />
        <Value>3</Value>
    </DefineArg>
    <DefineArg Name="kpDepth">
        <Units:radian_per_meter />
        <Value>0.07</Value>
    </DefineArg>
    <DefineArg Name="SlowSpeed">
        <Units:meter_per_second />
        <Value>0.25</Value>
    </DefineArg>
    <DefineArg Name="DepthDeviationSlow">
        <Units:meter />
        <Value>3</Value>
    </DefineArg>
    <DefineArg Name="BuoyancyNeutral">
        <Control:VerticalControl.buoyancyNeutral />
    </DefineArg>
    <DefineArg Name="MassDefault">
        <Control:VerticalControl.massDefault />
    </DefineArg>
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>2</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>50</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:kilometer />
        <Value>2</Value>
    </DefineArg>
    <DefineOutput Name="DiveMode">
        <Units:count />
        <Value>0</Value>
    </DefineOutput>
    <DefineOutput Name="DoingComms">
        <Units:count />
        <Value>0</Value>
    </DefineOutput>
    <DefineOutput Name="InitialDive">
        <Units:count />
        <Value>1</Value>
    </DefineOutput>
    <DefineOutput Name="SettleAtDepth">
        <Units:count />
        <Value>2</Value>
    </DefineOutput>
    <DefineOutput Name="MaintainDepth">
        <Units:count />
        <Value>3</Value>
    </DefineOutput>
    <DefineOutput Name="LegDepth">
        <Arg Name="Depth1" />
    </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="MissionTimeout" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="NeedComms:WaitForPitchUp" />
        <Units:minute />
        <Value>0</Value>
    </Assign>
    <Insert Filename="Insert/BackseatDriver.tl" />
    <Assign>
        <Parallel />
        <Arg Name="BackseatDriver:EnableBackseat" />
        <True />
    </Assign>
    <Insert Filename="Insert/PowerOnly.tl" />
    <Assign>
        <Parallel />
        <Arg Name="PowerOnly:SampleLoad1" />
        <True />
    </Assign>
    <Assign>
        <Sequence />
        <Sensor:MultiRay.lightModeCommand />
        <Units:count />
        <Value>2</Value>
    </Assign>
    <ReadData Strategy="MinError">
        <While>
            <Sensor:MultiRay.loadAtStartup />
        </While>
        <Sensor:MultiRay.lightModeLog />
    </ReadData>
    <Guidance:Buoyancy>
        <Parallel />
        <Setting>
            <Guidance:Buoyancy.position />
            <Arg Name="BuoyancyNeutral" />
        </Setting>
    </Guidance:Buoyancy>
    <Aggregate Id="SurfaceComms">
        <When>
            <Called />
            <Or>
                <Elapsed>
                    <Universal:time_fix />
                </Elapsed>
                <Gt>
                    <Arg Name="NeedCommsTime" />
                </Gt>
            </Or>
        </When>
        <Assign>
            <Sequence />
            <Arg Name="DiveMode" />
            <Arg Name="DoingComms" />
        </Assign>
        <Call RefId="NeedComms" />
        <Assign>
            <Sequence />
            <Arg Name="DiveMode" />
            <Arg Name="InitialDive" />
        </Assign>
    </Aggregate>
    <Aggregate Id="DiveCmd">
        <When>
            <Called />
        </When>
        <Aggregate Id="InitialDive">
            <While>
                <Arg Name="DiveMode" />
                <Eq>
                    <Arg Name="InitialDive" />
                </Eq>
            </While>
            <Aggregate Id="dive">
                <Sequence />
                <Assign>
                    <Parallel />
                    <Control:VerticalControl.pitchLimit />
                    <Arg Name="ApproachPitchLimit" />
                </Assign>
                <Assign>
                    <Parallel />
                    <Control:VerticalControl.kpDepth />
                    <Arg Name="kpDepth" />
                </Assign>
                <Guidance:Mass>
                    <Parallel />
                    <Setting>
                        <Guidance:Mass.position />
                        <Arg Name="MassDefault" />
                    </Setting>
                </Guidance:Mass>
                <Syslog Severity="Info">
                    Waiting for 
                    <Arg Name="ApproachSettleTimePreDive" />
                    <Units:minute />
                    while pumping down to neutral.
                </Syslog>
                <Guidance:Wait>
                    <Sequence />
                    <Setting>
                        <Guidance:Wait.duration />
                        <Arg Name="ApproachSettleTimePreDive" />
                    </Setting>
                </Guidance:Wait>
                <Syslog>
                    Moving to 
                    <Arg Name="ApproachDepth" />
                    <Units:meter />
                </Syslog>
                <Aggregate Id="ApproachDepth">
                    <Sequence />
                    <Guidance:SetSpeed>
                        <Parallel />
                        <Setting>
                            <Guidance:SetSpeed.speed />
                            <Arg Name="ApproachSpeed" />
                        </Setting>
                    </Guidance:SetSpeed>
                    <Guidance:Pitch>
                        <Sequence />
                        <Timeout Duration="ApproachDepthTimeout">
                            <Syslog Severity="Important">
                                Timed out while trying to reach target depth at current depth of 
                                <Universal:depth />
                                <Units:meter />
                            </Syslog>
                            <Guidance:Execute>
                                <Sequence />
                                <Setting>
                                    <Guidance:Execute.command />
                                    <String>stop</String>
                                </Setting>
                            </Guidance:Execute>
                        </Timeout>
                        <Setting>
                            <Guidance:Pitch.depth />
                            <Arg Name="ApproachDepth" />
                        </Setting>
                        <Setting>
                            <Guidance:Pitch.depthRate />
                            <Arg Name="ApproachDepthRate" />
                        </Setting>
                    </Guidance:Pitch>
                </Aggregate>
                <Assign>
                    <Sequence />
                    <Arg Name="DiveMode" />
                    <Arg Name="SettleAtDepth" />
                </Assign>
            </Aggregate>
        </Aggregate>
        <Aggregate Id="SettleAtDepth">
            <While>
                <Arg Name="DiveMode" />
                <Eq>
                    <Arg Name="SettleAtDepth" />
                </Eq>
            </While>
            <Aggregate Id="dive">
                <Sequence />
                <Syslog Severity="Info">
                    Reached 
                    <Universal:depth />
                    <Units:meter />
                    , settling for 
                    <Arg Name="ApproachSettleTimePostDive" />
                    <Units:minute />
                </Syslog>
                <Guidance:Pitch>
                    <Parallel />
                    <Setting>
                        <Guidance:Pitch.depth />
                        <Arg Name="LegDepth" />
                    </Setting>
                </Guidance:Pitch>
                <Guidance:Wait>
                    <Sequence />
                    <Setting>
                        <Guidance:Wait.duration />
                        <Arg Name="ApproachSettleTimePostDive" />
                    </Setting>
                </Guidance:Wait>
                <Assign>
                    <Sequence />
                    <Arg Name="DiveMode" />
                    <Arg Name="MaintainDepth" />
                </Assign>
            </Aggregate>
        </Aggregate>
        <Aggregate Id="MaintainDepth">
            <While>
                <Arg Name="DiveMode" />
                <Eq>
                    <Arg Name="MaintainDepth" />
                </Eq>
                <And>
                    <Universal:depth />
                    <Gt>
                        <Arg Name="LegDepth" />
                        <Add>
                            <Arg Name="DepthDeviationSlow" />
                        </Add>
                    </Gt>
                </And>
                <Or>
                    <Universal:depth />
                    <Lt>
                        <Arg Name="LegDepth" />
                        <Sub>
                            <Arg Name="DepthDeviationSlow" />
                        </Sub>
                    </Lt>
                </Or>
            </While>
            <Aggregate Id="dive">
                <Parallel />
                <Aggregate Id="ThrusterDive">
                    <While>
                        <Arg Name="FastSpeed" />
                        <Gt>
                            <Units:meter_per_second />
                            <Value>0.0</Value>
                        </Gt>
                    </While>
                    <Guidance:Mass>
                        <Parallel />
                        <Setting>
                            <Guidance:Mass.position />
                            <Arg Name="MassDefault" />
                        </Setting>
                    </Guidance:Mass>
                    <Guidance:SetSpeed>
                        <Parallel />
                        <Setting>
                            <Guidance:SetSpeed.speed />
                            <Arg Name="FastSpeed" />
                        </Setting>
                    </Guidance:SetSpeed>
                </Aggregate>
                <Guidance:Pitch>
                    <Parallel />
                    <Setting>
                        <Guidance:Pitch.depth />
                        <Arg Name="LegDepth" />
                    </Setting>
                </Guidance:Pitch>
            </Aggregate>
        </Aggregate>
        <Aggregate Id="MaintainDepthSlow">
            <While>
                <Not>
                    <IsNaN>
                        <Arg Name="SlowSpeed" />
                    </IsNaN>
                </Not>
                <And>
                    <Arg Name="DiveMode" />
                    <Eq>
                        <Arg Name="MaintainDepth" />
                    </Eq>
                </And>
                <And>
                    <Universal:depth />
                    <Le>
                        <Arg Name="LegDepth" />
                        <Add>
                            <Arg Name="DepthDeviationSlow" />
                        </Add>
                    </Le>
                </And>
                <And>
                    <Universal:depth />
                    <Ge>
                        <Arg Name="LegDepth" />
                        <Sub>
                            <Arg Name="DepthDeviationSlow" />
                        </Sub>
                    </Ge>
                </And>
            </While>
            <Guidance:SetSpeed>
                <Parallel />
                <Setting>
                    <Guidance:SetSpeed.speed />
                    <Arg Name="SlowSpeed" />
                </Setting>
            </Guidance:SetSpeed>
            <Assign>
                <Parallel />
                <Control:VerticalControl.depthDeadband />
                <Arg Name="DepthDeviationSlow" />
                <Add>
                    <Units:meter />
                    <Value>3</Value>
                </Add>
            </Assign>
            <Guidance:Buoyancy>
                <Parallel />
                <Setting>
                    <Guidance:Buoyancy.position />
                    <Units:cubic_centimeter />
                    <Value>NaN</Value>
                </Setting>
            </Guidance:Buoyancy>
            <Guidance:Pitch>
                <Parallel />
                <Setting>
                    <Guidance:Pitch.depth />
                    <Arg Name="LegDepth" />
                </Setting>
            </Guidance:Pitch>
        </Aggregate>
    </Aggregate>
    <Call RefId="SurfaceComms" Id="StartingMission" />
    <Aggregate Id="Lap">
        <Sequence Repeat="Repeat" />
        <Aggregate Id="Dive">
            <While>
                <Not>
                    <Arg Name="DiveMode" />
                    <Eq>
                        <Arg Name="DoingComms" />
                    </Eq>
                </Not>
            </While>
            <Call RefId="DiveCmd" />
        </Aggregate>
        <Aggregate Id="DepthByLap">
            <Sequence />
            <Break>
                <Arg Name="DepthPerLeg" />
            </Break>
            <Assign>
                <Sequence />
                <Arg Name="LegDepth" />
                <Arg Name="Depth1" />
            </Assign>
            <Aggregate Id="Wpt1">
                <Sequence />
                <Guidance:Waypoint>
                    <Sequence />
                    <Setting>
                        <Guidance:Waypoint.latitude />
                        <Arg Name="Lat1" />
                    </Setting>
                    <Setting>
                        <Guidance:Waypoint.longitude />
                        <Arg Name="Lon1" />
                    </Setting>
                </Guidance:Waypoint>
            </Aggregate>
            <Aggregate Id="Wpt2">
                <Sequence />
                <Guidance:Waypoint>
                    <Sequence />
                    <Setting>
                        <Guidance:Waypoint.latitude />
                        <Arg Name="Lat2" />
                    </Setting>
                    <Setting>
                        <Guidance:Waypoint.longitude />
                        <Arg Name="Lon2" />
                    </Setting>
                </Guidance:Waypoint>
            </Aggregate>
            <Aggregate Id="Wpt3">
                <Sequence />
                <Guidance:Waypoint>
                    <Sequence />
                    <Setting>
                        <Guidance:Waypoint.latitude />
                        <Arg Name="Lat3" />
                    </Setting>
                    <Setting>
                        <Guidance:Waypoint.longitude />
                        <Arg Name="Lon3" />
                    </Setting>
                </Guidance:Waypoint>
            </Aggregate>
            <Aggregate Id="Wpt4">
                <Sequence />
                <Guidance:Waypoint>
                    <Sequence />
                    <Setting>
                        <Guidance:Waypoint.latitude />
                        <Arg Name="Lat4" />
                    </Setting>
                    <Setting>
                        <Guidance:Waypoint.longitude />
                        <Arg Name="Lon4" />
                    </Setting>
                </Guidance:Waypoint>
            </Aggregate>
            <Aggregate Id="Wpt5">
                <Sequence />
                <Guidance:Waypoint>
                    <Sequence />
                    <Setting>
                        <Guidance:Waypoint.latitude />
                        <Arg Name="Lat5" />
                    </Setting>
                    <Setting>
                        <Guidance:Waypoint.longitude />
                        <Arg Name="Lon5" />
                    </Setting>
                </Guidance:Waypoint>
            </Aggregate>
            <Aggregate Id="Wpt6">
                <Sequence />
                <Guidance:Waypoint>
                    <Sequence />
                    <Setting>
                        <Guidance:Waypoint.latitude />
                        <Arg Name="Lat6" />
                    </Setting>
                    <Setting>
                        <Guidance:Waypoint.longitude />
                        <Arg Name="Lon6" />
                    </Setting>
                </Guidance:Waypoint>
            </Aggregate>
            <Aggregate Id="Wpt7">
                <Sequence />
                <Guidance:Waypoint>
                    <Sequence />
                    <Setting>
                        <Guidance:Waypoint.latitude />
                        <Arg Name="Lat7" />
                    </Setting>
                    <Setting>
                        <Guidance:Waypoint.longitude />
                        <Arg Name="Lon7" />
                    </Setting>
                </Guidance:Waypoint>
            </Aggregate>
            <Aggregate Id="Wpt8">
                <Sequence />
                <Guidance:Waypoint>
                    <Sequence />
                    <Setting>
                        <Guidance:Waypoint.latitude />
                        <Arg Name="Lat8" />
                    </Setting>
                    <Setting>
                        <Guidance:Waypoint.longitude />
                        <Arg Name="Lon8" />
                    </Setting>
                </Guidance:Waypoint>
            </Aggregate>
            <Aggregate Id="Leg2">
                <Sequence />
                <Break>
                    <IsNaN>
                        <Arg Name="Depth2" />
                    </IsNaN>
                </Break>
                <Syslog Severity="Important">
                    Transiting waypoints at depth 
                    <Arg Name="Depth2" />
                    <Units:meter />
                </Syslog>
                <Assign>
                    <Sequence />
                    <Arg Name="LegDepth" />
                    <Arg Name="Depth2" />
                </Assign>
                <Aggregate Id="Wpt1">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat1" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon1" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt2">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat2" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon2" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt3">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat3" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon3" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt4">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat4" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon4" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt5">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat5" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon5" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt6">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat6" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon6" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt7">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat7" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon7" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt8">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat8" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon8" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
            </Aggregate>
            <Aggregate Id="Leg3">
                <Sequence />
                <Break>
                    <IsNaN>
                        <Arg Name="Depth3" />
                    </IsNaN>
                </Break>
                <Syslog Severity="Important">
                    Transiting waypoints at depth 
                    <Arg Name="Depth3" />
                    <Units:meter />
                </Syslog>
                <Assign>
                    <Sequence />
                    <Arg Name="LegDepth" />
                    <Arg Name="Depth3" />
                </Assign>
                <Aggregate Id="Wpt1">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat1" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon1" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt2">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat2" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon2" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt3">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat3" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon3" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt4">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat4" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon4" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt5">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat5" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon5" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt6">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat6" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon6" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt7">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat7" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon7" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt8">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat8" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon8" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
            </Aggregate>
            <Aggregate Id="Leg4">
                <Sequence />
                <Break>
                    <IsNaN>
                        <Arg Name="Depth4" />
                    </IsNaN>
                </Break>
                <Syslog Severity="Important">
                    Transiting waypoints at depth 
                    <Arg Name="Depth4" />
                    <Units:meter />
                </Syslog>
                <Assign>
                    <Sequence />
                    <Arg Name="LegDepth" />
                    <Arg Name="Depth4" />
                </Assign>
                <Aggregate Id="Wpt1">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat1" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon1" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt2">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat2" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon2" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt3">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat3" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon3" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt4">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat4" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon4" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt5">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat5" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon5" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt6">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat6" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon6" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt7">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat7" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon7" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt8">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat8" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon8" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
            </Aggregate>
            <Aggregate Id="Leg5">
                <Sequence />
                <Break>
                    <IsNaN>
                        <Arg Name="Depth5" />
                    </IsNaN>
                </Break>
                <Syslog Severity="Important">
                    Transiting waypoints at depth 
                    <Arg Name="Depth5" />
                    <Units:meter />
                </Syslog>
                <Assign>
                    <Sequence />
                    <Arg Name="LegDepth" />
                    <Arg Name="Depth5" />
                </Assign>
                <Aggregate Id="Wpt1">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat1" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon1" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt2">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat2" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon2" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt3">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat3" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon3" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt4">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat4" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon4" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt5">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat5" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon5" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt6">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat6" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon6" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt7">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat7" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon7" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt8">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat8" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon8" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
            </Aggregate>
            <Aggregate Id="Leg6">
                <Sequence />
                <Break>
                    <IsNaN>
                        <Arg Name="Depth6" />
                    </IsNaN>
                </Break>
                <Syslog Severity="Important">
                    Transiting waypoints at depth 
                    <Arg Name="Depth6" />
                    <Units:meter />
                </Syslog>
                <Assign>
                    <Sequence />
                    <Arg Name="LegDepth" />
                    <Arg Name="Depth6" />
                </Assign>
                <Aggregate Id="Wpt1">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat1" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon1" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt2">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat2" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon2" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt3">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat3" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon3" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt4">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat4" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon4" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt5">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat5" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon5" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt6">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat6" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon6" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt7">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat7" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon7" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt8">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat8" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon8" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
            </Aggregate>
            <Aggregate Id="Leg7">
                <Sequence />
                <Break>
                    <IsNaN>
                        <Arg Name="Depth7" />
                    </IsNaN>
                </Break>
                <Syslog Severity="Important">
                    Transiting waypoints at depth 
                    <Arg Name="Depth7" />
                    <Units:meter />
                </Syslog>
                <Assign>
                    <Sequence />
                    <Arg Name="LegDepth" />
                    <Arg Name="Depth7" />
                </Assign>
                <Aggregate Id="Wpt1">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat1" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon1" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt2">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat2" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon2" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt3">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat3" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon3" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt4">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat4" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon4" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt5">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat5" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon5" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt6">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat6" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon6" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt7">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat7" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon7" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt8">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat8" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon8" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
            </Aggregate>
            <Aggregate Id="Leg8">
                <Sequence />
                <Break>
                    <IsNaN>
                        <Arg Name="Depth8" />
                    </IsNaN>
                </Break>
                <Syslog Severity="Important">
                    Transiting waypoints at depth 
                    <Arg Name="Depth8" />
                    <Units:meter />
                </Syslog>
                <Assign>
                    <Sequence />
                    <Arg Name="LegDepth" />
                    <Arg Name="Depth8" />
                </Assign>
                <Aggregate Id="Wpt1">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat1" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon1" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt2">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat2" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon2" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt3">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat3" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon3" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt4">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat4" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon4" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt5">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat5" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon5" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt6">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat6" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon6" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt7">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat7" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon7" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
                <Aggregate Id="Wpt8">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat8" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon8" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
            </Aggregate>
        </Aggregate>
        <Aggregate Id="DepthByLeg">
            <Sequence />
            <Break>
                <Not>
                    <Arg Name="DepthPerLeg" />
                </Not>
            </Break>
            <Aggregate Id="Leg1">
                <Sequence />
                <Assign>
                    <Sequence />
                    <Arg Name="LegDepth" />
                    <Arg Name="Depth1" />
                </Assign>
                <Guidance:Waypoint>
                    <Sequence />
                    <Setting>
                        <Guidance:Waypoint.latitude />
                        <Arg Name="Lat1" />
                    </Setting>
                    <Setting>
                        <Guidance:Waypoint.longitude />
                        <Arg Name="Lon1" />
                    </Setting>
                </Guidance:Waypoint>
            </Aggregate>
            <Aggregate Id="Leg2">
                <Sequence />
                <Break>
                    <IsNaN>
                        <Arg Name="Depth2" />
                    </IsNaN>
                </Break>
                <Syslog Severity="Info">
                    Transiting to next waypoint at depth 
                    <Arg Name="Depth2" />
                    <Units:meter />
                </Syslog>
                <Assign>
                    <Sequence />
                    <Arg Name="LegDepth" />
                    <Arg Name="Depth2" />
                </Assign>
                <Aggregate Id="Wpt2">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat2" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon2" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
            </Aggregate>
            <Aggregate Id="Leg3">
                <Sequence />
                <Break>
                    <IsNaN>
                        <Arg Name="Depth3" />
                    </IsNaN>
                </Break>
                <Syslog Severity="Info">
                    Transiting to next waypoint at depth 
                    <Arg Name="Depth3" />
                    <Units:meter />
                </Syslog>
                <Assign>
                    <Sequence />
                    <Arg Name="LegDepth" />
                    <Arg Name="Depth3" />
                </Assign>
                <Aggregate Id="Wpt3">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat3" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon3" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
            </Aggregate>
            <Aggregate Id="Leg4">
                <Sequence />
                <Break>
                    <IsNaN>
                        <Arg Name="Depth4" />
                    </IsNaN>
                </Break>
                <Syslog Severity="Info">
                    Transiting to next waypoint at depth 
                    <Arg Name="Depth4" />
                    <Units:meter />
                </Syslog>
                <Assign>
                    <Sequence />
                    <Arg Name="LegDepth" />
                    <Arg Name="Depth4" />
                </Assign>
                <Aggregate Id="Wpt4">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat4" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon4" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
            </Aggregate>
            <Aggregate Id="Leg5">
                <Sequence />
                <Break>
                    <IsNaN>
                        <Arg Name="Depth5" />
                    </IsNaN>
                </Break>
                <Syslog Severity="Info">
                    Transiting to next waypoint at depth 
                    <Arg Name="Depth5" />
                    <Units:meter />
                </Syslog>
                <Assign>
                    <Sequence />
                    <Arg Name="LegDepth" />
                    <Arg Name="Depth5" />
                </Assign>
                <Aggregate Id="Wpt5">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat5" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon5" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
            </Aggregate>
            <Aggregate Id="Leg6">
                <Sequence />
                <Break>
                    <IsNaN>
                        <Arg Name="Depth6" />
                    </IsNaN>
                </Break>
                <Syslog Severity="Info">
                    Transiting to next waypoint at depth 
                    <Arg Name="Depth6" />
                    <Units:meter />
                </Syslog>
                <Assign>
                    <Sequence />
                    <Arg Name="LegDepth" />
                    <Arg Name="Depth6" />
                </Assign>
                <Aggregate Id="Wpt6">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat6" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon6" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
            </Aggregate>
            <Aggregate Id="Leg7">
                <Sequence />
                <Break>
                    <IsNaN>
                        <Arg Name="Depth7" />
                    </IsNaN>
                </Break>
                <Syslog Severity="Info">
                    Transiting to next waypoint at depth 
                    <Arg Name="Depth7" />
                    <Units:meter />
                </Syslog>
                <Assign>
                    <Sequence />
                    <Arg Name="LegDepth" />
                    <Arg Name="Depth7" />
                </Assign>
                <Aggregate Id="Wpt7">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat7" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon7" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
            </Aggregate>
            <Aggregate Id="Leg8">
                <Sequence />
                <Break>
                    <IsNaN>
                        <Arg Name="Depth8" />
                    </IsNaN>
                </Break>
                <Syslog Severity="Info">
                    Transiting to next waypoint at depth 
                    <Arg Name="Depth8" />
                    <Units:meter />
                </Syslog>
                <Assign>
                    <Sequence />
                    <Arg Name="LegDepth" />
                    <Arg Name="Depth8" />
                </Assign>
                <Aggregate Id="Wpt8">
                    <Sequence />
                    <Guidance:Waypoint>
                        <Sequence />
                        <Setting>
                            <Guidance:Waypoint.latitude />
                            <Arg Name="Lat8" />
                        </Setting>
                        <Setting>
                            <Guidance:Waypoint.longitude />
                            <Arg Name="Lon8" />
                        </Setting>
                    </Guidance:Waypoint>
                </Aggregate>
            </Aggregate>
        </Aggregate>
    </Aggregate>
</Mission>

2025-03-13T17:54:27.440Z,1741888467.440 [MissionManager](INFO): DefineArg sci2_noyo_optim.MissionTimeout = 2.000000 h
2025-03-13T17:54:27.443Z,1741888467.443 [MissionManager](INFO): DefineArg sci2_noyo_optim.NeedCommsTime = 60.000000 min
2025-03-13T17:54:27.453Z,1741888467.453 [MissionManager](INFO): DefineArg sci2_noyo_optim.Depth1 = 35.000000 m
2025-03-13T17:54:27.460Z,1741888467.460 [MissionManager](INFO): DefineArg sci2_noyo_optim.Depth2 = nan m
2025-03-13T17:54:27.462Z,1741888467.462 [MissionManager](INFO): DefineArg sci2_noyo_optim.Depth3 = nan m
2025-03-13T17:54:27.469Z,1741888467.469 [MissionManager](INFO): DefineArg sci2_noyo_optim.Depth4 = nan m
2025-03-13T17:54:27.475Z,1741888467.475 [MissionManager](INFO): DefineArg sci2_noyo_optim.Depth5 = nan m
2025-03-13T17:54:27.478Z,1741888467.478 [MissionManager](INFO): DefineArg sci2_noyo_optim.Depth6 = nan m
2025-03-13T17:54:27.484Z,1741888467.484 [MissionManager](INFO): DefineArg sci2_noyo_optim.Depth7 = nan m
2025-03-13T17:54:27.486Z,1741888467.486 [MissionManager](INFO): DefineArg sci2_noyo_optim.Depth8 = nan m
2025-03-13T17:54:27.490Z,1741888467.490 [MissionManager](INFO): DefineArg sci2_noyo_optim.DepthPerLeg = 0 bool
2025-03-13T17:54:27.505Z,1741888467.505 [MissionManager](INFO): DefineArg sci2_noyo_optim.Repeat = 1.000000 count
2025-03-13T17:54:27.511Z,1741888467.511 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lat1 = nan arcdeg
2025-03-13T17:54:27.514Z,1741888467.514 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lat2 = nan arcdeg
2025-03-13T17:54:27.516Z,1741888467.516 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lat3 = nan arcdeg
2025-03-13T17:54:27.519Z,1741888467.519 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lat4 = nan arcdeg
2025-03-13T17:54:27.530Z,1741888467.530 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lat5 = nan arcdeg
2025-03-13T17:54:27.536Z,1741888467.536 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lat6 = nan arcdeg
2025-03-13T17:54:27.538Z,1741888467.538 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lat7 = nan arcdeg
2025-03-13T17:54:27.545Z,1741888467.545 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lat8 = nan arcdeg
2025-03-13T17:54:27.556Z,1741888467.556 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lon1 = nan arcdeg
2025-03-13T17:54:27.558Z,1741888467.558 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lon2 = nan arcdeg
2025-03-13T17:54:27.561Z,1741888467.561 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lon3 = nan arcdeg
2025-03-13T17:54:27.563Z,1741888467.563 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lon4 = nan arcdeg
2025-03-13T17:54:27.565Z,1741888467.565 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lon5 = nan arcdeg
2025-03-13T17:54:27.578Z,1741888467.578 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lon6 = nan arcdeg
2025-03-13T17:54:27.585Z,1741888467.585 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lon7 = nan arcdeg
2025-03-13T17:54:27.587Z,1741888467.587 [MissionManager](INFO): DefineArg sci2_noyo_optim.Lon8 = nan arcdeg
2025-03-13T17:54:27.590Z,1741888467.590 [MissionManager](INFO): DefineArg sci2_noyo_optim.FastSpeed = 1.000000 m/s
2025-03-13T17:54:27.592Z,1741888467.592 [MissionManager](INFO): DefineArg sci2_noyo_optim.ApproachDepth = 30.000000 m
2025-03-13T17:54:27.594Z,1741888467.594 [MissionManager](INFO): DefineArg sci2_noyo_optim.ApproachSpeed = 0.700000 m/s
2025-03-13T17:54:27.613Z,1741888467.613 [MissionManager](INFO): DefineArg sci2_noyo_optim.ApproachDepthRate = 0.050000 m/s
2025-03-13T17:54:27.615Z,1741888467.615 [MissionManager](INFO): DefineArg sci2_noyo_optim.ApproachPitchLimit = 20.000000 arcdeg
2025-03-13T17:54:27.618Z,1741888467.618 [MissionManager](INFO): DefineArg sci2_noyo_optim.ApproachDepthTimeout = 15.000000 min
2025-03-13T17:54:27.620Z,1741888467.620 [MissionManager](INFO): DefineArg sci2_noyo_optim.ApproachSettleTimePreDive = 1.000000 min
2025-03-13T17:54:27.622Z,1741888467.622 [MissionManager](INFO): DefineArg sci2_noyo_optim.ApproachSettleTimePostDive = 3.000000 min
2025-03-13T17:54:27.645Z,1741888467.645 [MissionManager](INFO): DefineArg sci2_noyo_optim.kpDepth = 0.070000 rad/m
2025-03-13T17:54:27.647Z,1741888467.647 [MissionManager](INFO): DefineArg sci2_noyo_optim.SlowSpeed = 0.250000 m/s
2025-03-13T17:54:27.649Z,1741888467.649 [MissionManager](INFO): DefineArg sci2_noyo_optim.DepthDeviationSlow = 3.000000 m
2025-03-13T17:54:27.661Z,1741888467.661 [MissionManager](INFO): DefineArg sci2_noyo_optim.BuoyancyNeutral = 373.087250 cc
2025-03-13T17:54:27.663Z,1741888467.663 [MissionManager](INFO): DefineArg sci2_noyo_optim.MassDefault = 0.684636 cm
2025-03-13T17:54:27.665Z,1741888467.665 [MissionManager](INFO): DefineArg sci2_noyo_optim.MinAltitude = 2.000000 m
2025-03-13T17:54:27.668Z,1741888467.668 [MissionManager](INFO): DefineArg sci2_noyo_optim.MaxDepth = 50.000000 m
2025-03-13T17:54:27.670Z,1741888467.670 [MissionManager](INFO): DefineArg sci2_noyo_optim.MinOffshore = 2.000000 km
2025-03-13T17:54:27.686Z,1741888467.686 [MissionManager](INFO): DefineOutput sci2_noyo_optim.DiveMode = 0.000000 count
2025-03-13T17:54:27.688Z,1741888467.688 [MissionManager](INFO): DefineOutput sci2_noyo_optim.DoingComms = 0.000000 count
2025-03-13T17:54:27.690Z,1741888467.690 [MissionManager](INFO): DefineOutput sci2_noyo_optim.InitialDive = 1.000000 count
2025-03-13T17:54:27.701Z,1741888467.701 [MissionManager](INFO): DefineOutput sci2_noyo_optim.SettleAtDepth = 2.000000 count
2025-03-13T17:54:27.704Z,1741888467.704 [MissionManager](INFO): DefineOutput sci2_noyo_optim.MaintainDepth = 3.000000 count
2025-03-13T17:54:27.706Z,1741888467.706 [MissionManager](INFO): DefineOutput sci2_noyo_optim.LegDepth = 35.000000 m
2025-03-13T17:54:27.707Z,1741888467.707 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/Science.tl
2025-03-13T17:54:27.707Z,1741888467.707 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/Science.tl
2025-03-13T17:54:27.711Z,1741888467.711 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/Science.tl
2025-03-13T17:54:30.527Z,1741888470.527 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/Science.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="Science">
    <DefineArg Name="PeakDetectChlActive">
        <False />
    </DefineArg>
    <DefineArg Name="EdgeDetectChlActive">
        <False />
    </DefineArg>
    <DefineArg Name="TimeWindowPeakReport">
        <Units:minute />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="HighestChlPeakReportActive">
        <False />
    </DefineArg>
    <DefineArg Name="HighestSaltPeakReportActive">
        <False />
    </DefineArg>
    <DefineArg Name="HighestOilPeakReportActive">
        <False />
    </DefineArg>
    <DefineArg Name="PatchTracking">
        <False />
    </DefineArg>
    <DefineArg Name="FilterWidthHorizontal">
        <Units:count />
        <Value>3</Value>
    </DefineArg>
    <DefineArg Name="NumProfilesSlidingwindow">
        <Units:count />
        <Value>100</Value>
    </DefineArg>
    <DefineArg Name="OffPeakFractionHorizontal">
        <Units:percent />
        <Value>80</Value>
    </DefineArg>
    <DefineArg Name="PeakDetectNO3Active">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectOilActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectFDOMActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectSalinityActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreLMavgROIActive">
        <False />
    </DefineArg>
    <DefineArg Name="EdgeDetectPlanktivoreLMavgROIActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreHMavgROIActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreDiatomsActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreDinoflagellatesActive">
        <False />
    </DefineArg>
    <DefineArg Name="UpwardDerivativeOfTemperatureActive">
        <False />
    </DefineArg>
    <DefineArg Name="EnabledAanderaaO2">
        <Science:Aanderaa_O2.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledNeilBrown">
        <Science:CTD_NeilBrown.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledSeabird">
        <Science:CTD_Seabird.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledWetLabsBB2FL">
        <Science:WetLabsBB2FL.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledWetLabsSeaOWL_UV_A">
        <Science:WetLabsSeaOWL_UV_A.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledWetLabsUBAT">
        <Science:WetLabsUBAT.loadAtStartup />
    </DefineArg>
    <DefineArg Name="LowPassWindowLength">
        <Units:count />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="MedianFilterLen">
        <Units:count />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="ShallowBound">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="DeepBound">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="DepChangeThreshForAttitudeFlip">
        <Units:meter />
        <Value>2.0</Value>
    </DefineArg>
    <DefineArg Name="OffPeakFractionVertical">
        <Units:percent />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="ChlPeakThresh">
        <Units:microgram_per_liter />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="ChlThreshTriggerActive">
        <False />
    </DefineArg>
    <DefineArg Name="ChlLowerThresh">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="ChlUpperThresh">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="NumProfilesThresh">
        <Units:count />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="PlanktivoreLMavgROIPeakThresh">
        <Units:count_per_second />
        <Value>0</Value>
    </DefineArg>
    <DefineOutput Name="GoDown">
        <True />
    </DefineOutput>
    <DefineOutput Name="PeakChl">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChl">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChlDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChlTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChlLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChlLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3">
        <Units:micromole_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3Depth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3Latitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3Longitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOil">
        <Units:kilogram_per_cubic_meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOilDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOilLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOilLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOM">
        <Units:part_per_billion />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSalt">
        <Units:practical_salinity_unit />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROI">
        <Units:count_per_second />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROIDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROITemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROILatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROILongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROI">
        <Units:count_per_second />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROIDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROITemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROILatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROILongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROI">
        <Units:count_per_second />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROIDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROITemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROILatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROILongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatoms">
        <Units:count_per_milliliter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellates">
        <Units:count_per_milliliter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChl">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlDistance">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSalt">
        <Units:practical_salinity_unit />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltDistance">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOil">
        <Units:practical_salinity_unit />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilDistance">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="TriggeredOnChl">
        <False />
    </DefineOutput>
    <DefineOutput Name="ChlTriggering">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <Parallel />
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledAanderaaO2" />
        </While>
        <Universal:mass_concentration_of_oxygen_in_sea_water />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledNeilBrown" />
            <Or>
                <Arg Name="EnabledSeabird" />
            </Or>
        </While>
        <Universal:sea_water_temperature />
        <Universal:sea_water_salinity />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledSeabird" />
        </While>
        <Science:CTD_Seabird.sea_water_temperature />
        <Science:CTD_Seabird.sea_water_salinity />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledNeilBrown" />
            <Or>
                <Arg Name="EnabledSeabird" />
            </Or>
            <And>
                <Arg Name="UpwardDerivativeOfTemperatureActive" />
            </And>
        </While>
        <Universal:upward_derivative_of_sea_water_temperature />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledWetLabsBB2FL" />
            <Or>
                <Arg Name="PeakDetectChlActive" />
            </Or>
        </While>
        <Universal:mass_concentration_of_chlorophyll_in_sea_water />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledWetLabsUBAT" />
        </While>
        <Science:WetLabsUBAT.average_bioluminescence />
    </ReadData>
    <ReadData Id="Read_Oil" Strategy="MinError">
        <While>
            <Arg Name="EnabledWetLabsSeaOWL_UV_A" />
            <Or>
                <Arg Name="PeakDetectOilActive" />
            </Or>
        </While>
        <Universal:mass_concentration_of_petroleum_hydrocarbons_in_sea_water />
    </ReadData>
    <Aggregate Id="OceanCurrent">
        <Sequence />
        <Estimation:CurrentEstimator>
            <Parallel />
        </Estimation:CurrentEstimator>
    </Aggregate>
    <Aggregate Id="PeakDetectChl">
        <While>
            <Arg Name="PeakDetectChlActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:mass_concentration_of_chlorophyll_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakChl">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakChlDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakChlTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakChlLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakChlLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakChl" />
            <Arg Name="PeakChlDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="EdgeDetectChl">
        <While>
            <Arg Name="EdgeDetectChlActive" />
        </While>
        <Syslog Severity="Debug">EdgeDetectVsDepth</Syslog>
        <Trigger:EdgeDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:EdgeDetectVsDepth.detect />
                <Universal:mass_concentration_of_chlorophyll_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFraction />
                <Arg Name="OffPeakFractionVertical" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.peakThresh />
                <Arg Name="ChlPeakThresh" />
            </Setting>
            <OutputArg Name="GoDown">
                <Trigger:EdgeDetectVsDepth.goDown />
            </OutputArg>
            <OutputArg Name="PeakChl">
                <Trigger:EdgeDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakChlDepth">
                <Trigger:EdgeDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakChlTemperature">
                <Trigger:EdgeDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakChlLatitude">
                <Trigger:EdgeDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakChlLongitude">
                <Trigger:EdgeDetectVsDepth.peakLongitude />
            </OutputArg>
            <OutputArg Name="EdgeChl">
                <Trigger:EdgeDetectVsDepth.edgeDetect />
            </OutputArg>
            <OutputArg Name="EdgeChlDepth">
                <Trigger:EdgeDetectVsDepth.edgeDepth />
            </OutputArg>
            <OutputArg Name="EdgeChlTemperature">
                <Trigger:EdgeDetectVsDepth.edgeTemperature />
            </OutputArg>
            <OutputArg Name="EdgeChlLatitude">
                <Trigger:EdgeDetectVsDepth.edgeLatitude />
            </OutputArg>
            <OutputArg Name="EdgeChlLongitude">
                <Trigger:EdgeDetectVsDepth.edgeLongitude />
            </OutputArg>
        </Trigger:EdgeDetectVsDepth>
        <Syslog Severity="Info">
            GoDown, ChlPeakThresh, PeakChl, PeakChlDepth, EdgeChl, EdgeChlDepth = 
            <Arg Name="GoDown" />
            <Units:bool />
            , 
            <Arg Name="ChlPeakThresh" />
            <Units:microgram_per_liter />
            , 
            <Arg Name="PeakChl" />
            <Units:microgram_per_liter />
            , 
            <Arg Name="PeakChlDepth" />
            <Units:meter />
            , 
            <Arg Name="EdgeChl" />
            <Units:microgram_per_liter />
            , 
            <Arg Name="EdgeChlDepth" />
            <Units:meter />
        </Syslog>
        <SendData Service="Express">
            <Arg Name="PeakChl" />
            <Arg Name="PeakChlDepth" />
            <Arg Name="EdgeChl" />
            <Arg Name="EdgeChlDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="HighestChlPeakReport">
        <While>
            <Arg Name="HighestChlPeakReportActive" />
        </While>
        <Trigger:PeakDetectHorizontal>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectHorizontal.detectFrom />
                <Arg Name="PeakChl" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.depthFrom />
                <Arg Name="PeakChlDepth" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.latitudeFrom />
                <Arg Name="PeakChlLatitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.longitudeFrom />
                <Arg Name="PeakChlLongitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.patchTracking />
                <Arg Name="PatchTracking" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.filterWidth />
                <Arg Name="FilterWidthHorizontal" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.numProfilesSlidingwindow />
                <Arg Name="NumProfilesSlidingwindow" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.offPeakFraction />
                <Arg Name="OffPeakFractionHorizontal" />
            </Setting>
            <OutputArg Name="PatchChl">
                <Trigger:PeakDetectHorizontal.peakDetect />
            </OutputArg>
            <OutputArg Name="PatchChlDepth">
                <Trigger:PeakDetectHorizontal.peakDepth />
            </OutputArg>
            <OutputArg Name="PatchChlLatitude">
                <Trigger:PeakDetectHorizontal.peakLatitude />
            </OutputArg>
            <OutputArg Name="PatchChlLongitude">
                <Trigger:PeakDetectHorizontal.peakLongitude />
            </OutputArg>
            <OutputArg Name="PatchChlDistance">
                <Trigger:PeakDetectHorizontal.peakDistance />
            </OutputArg>
        </Trigger:PeakDetectHorizontal>
    </Aggregate>
    <Aggregate Id="PeakDetectNO3">
        <While>
            <Arg Name="PeakDetectNO3Active" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:mole_concentration_of_nitrate_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <OutputArg Name="PeakNO3">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakNO3Depth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakNO3Latitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakNO3Longitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakNO3" />
            <Arg Name="PeakNO3Depth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectOil">
        <While>
            <Arg Name="PeakDetectOilActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:mass_concentration_of_petroleum_hydrocarbons_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <OutputArg Name="PeakOil">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakOilDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakOilLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakOilLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakOil" />
            <Arg Name="PeakOilDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="HighestOilPeakReport">
        <While>
            <Arg Name="HighestOilPeakReportActive" />
        </While>
        <Trigger:PeakDetectHorizontal>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectHorizontal.detectFrom />
                <Arg Name="PeakOil" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.depthFrom />
                <Arg Name="PeakOilDepth" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.latitudeFrom />
                <Arg Name="PeakOilLatitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.longitudeFrom />
                <Arg Name="PeakOilLongitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.patchTracking />
                <Arg Name="PatchTracking" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.filterWidth />
                <Arg Name="FilterWidthHorizontal" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.numProfilesSlidingwindow />
                <Arg Name="NumProfilesSlidingwindow" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.offPeakFraction />
                <Arg Name="OffPeakFractionHorizontal" />
            </Setting>
            <OutputArg Name="PatchOil">
                <Trigger:PeakDetectHorizontal.peakDetect />
            </OutputArg>
            <OutputArg Name="PatchOilDepth">
                <Trigger:PeakDetectHorizontal.peakDepth />
            </OutputArg>
            <OutputArg Name="PatchOilLatitude">
                <Trigger:PeakDetectHorizontal.peakLatitude />
            </OutputArg>
            <OutputArg Name="PatchOilLongitude">
                <Trigger:PeakDetectHorizontal.peakLongitude />
            </OutputArg>
            <OutputArg Name="PatchOilDistance">
                <Trigger:PeakDetectHorizontal.peakDistance />
            </OutputArg>
        </Trigger:PeakDetectHorizontal>
    </Aggregate>
    <Aggregate Id="PeakDetectFDOM">
        <While>
            <Arg Name="PeakDetectFDOMActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:concentration_of_colored_dissolved_organic_matter_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <OutputArg Name="PeakFDOM">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakFDOMDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakFDOMTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakFDOMLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakFDOMLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakFDOM" />
            <Arg Name="PeakFDOMDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectSalinity">
        <While>
            <Arg Name="PeakDetectSalinityActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:sea_water_salinity />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakSalt">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakSaltDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakSaltTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakSaltLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakSaltLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakSalt" />
            <Arg Name="PeakSaltDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="HighestSaltPeakReport">
        <While>
            <Arg Name="HighestSaltPeakReportActive" />
        </While>
        <Trigger:PeakDetectHorizontal>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectHorizontal.detectFrom />
                <Arg Name="PeakSalt" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.depthFrom />
                <Arg Name="PeakSaltDepth" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.latitudeFrom />
                <Arg Name="PeakSaltLatitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.longitudeFrom />
                <Arg Name="PeakSaltLongitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.patchTracking />
                <Arg Name="PatchTracking" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.filterWidth />
                <Arg Name="FilterWidthHorizontal" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.numProfilesSlidingwindow />
                <Arg Name="NumProfilesSlidingwindow" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.offPeakFraction />
                <Arg Name="OffPeakFractionHorizontal" />
            </Setting>
            <OutputArg Name="PatchSalt">
                <Trigger:PeakDetectHorizontal.peakDetect />
            </OutputArg>
            <OutputArg Name="PatchSaltDepth">
                <Trigger:PeakDetectHorizontal.peakDepth />
            </OutputArg>
            <OutputArg Name="PatchSaltLatitude">
                <Trigger:PeakDetectHorizontal.peakLatitude />
            </OutputArg>
            <OutputArg Name="PatchSaltLongitude">
                <Trigger:PeakDetectHorizontal.peakLongitude />
            </OutputArg>
            <OutputArg Name="PatchSaltDistance">
                <Trigger:PeakDetectHorizontal.peakDistance />
            </OutputArg>
        </Trigger:PeakDetectHorizontal>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreLMavgROI">
        <While>
            <Arg Name="PeakDetectPlanktivoreLMavgROIActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_LM_AvgRois</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreLMavgROI">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROIDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROITemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROILatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROILongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreLMavgROI" />
            <Arg Name="PeakPlanktivoreLMavgROIDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="EdgeDetectPlanktivoreLMavgROI">
        <While>
            <Arg Name="EdgeDetectPlanktivoreLMavgROIActive" />
        </While>
        <Syslog Severity="Debug">EdgeDetectVsDepth</Syslog>
        <Trigger:EdgeDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:EdgeDetectVsDepth.detect />
                <String>_.planktivore_LM_AvgRois</String>
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFraction />
                <Arg Name="OffPeakFractionVertical" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.peakThresh />
                <Arg Name="PlanktivoreLMavgROIPeakThresh" />
            </Setting>
            <OutputArg Name="GoDown">
                <Trigger:EdgeDetectVsDepth.goDown />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROI">
                <Trigger:EdgeDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROIDepth">
                <Trigger:EdgeDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROITemperature">
                <Trigger:EdgeDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROILatitude">
                <Trigger:EdgeDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROILongitude">
                <Trigger:EdgeDetectVsDepth.peakLongitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROI">
                <Trigger:EdgeDetectVsDepth.edgeDetect />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROIDepth">
                <Trigger:EdgeDetectVsDepth.edgeDepth />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROITemperature">
                <Trigger:EdgeDetectVsDepth.edgeTemperature />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROILatitude">
                <Trigger:EdgeDetectVsDepth.edgeLatitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROILongitude">
                <Trigger:EdgeDetectVsDepth.edgeLongitude />
            </OutputArg>
        </Trigger:EdgeDetectVsDepth>
        <Syslog Severity="Important">
            GoDown, PlanktivoreLMavgROIPeakThresh, PeakPlanktivoreLMavgROI, PeakPlanktivoreLMavgROIDepth, EdgePlanktivoreLMavgROI, EdgePlanktivoreLMavgROIDepth = 
            <Arg Name="GoDown" />
            <Units:bool />
            , 
            <Arg Name="PlanktivoreLMavgROIPeakThresh" />
            <Units:microgram_per_liter />
            , 
            <Arg Name="PeakPlanktivoreLMavgROI" />
            <Units:microgram_per_liter />
            , 
            <Arg Name="PeakPlanktivoreLMavgROIDepth" />
            <Units:meter />
            , 
            <Arg Name="EdgePlanktivoreLMavgROI" />
            <Units:microgram_per_liter />
            , 
            <Arg Name="EdgePlanktivoreLMavgROIDepth" />
            <Units:meter />
        </Syslog>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreLMavgROI" />
            <Arg Name="PeakPlanktivoreLMavgROIDepth" />
            <Arg Name="EdgePlanktivoreLMavgROI" />
            <Arg Name="EdgePlanktivoreLMavgROIDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreHMavgROI">
        <While>
            <Arg Name="PeakDetectPlanktivoreHMavgROIActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_HM_AvgRois</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreHMavgROI">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROIDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROITemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROILatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROILongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreHMavgROI" />
            <Arg Name="PeakPlanktivoreHMavgROIDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreDiatoms">
        <While>
            <Arg Name="PeakDetectPlanktivoreDiatomsActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_diatoms</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreDiatoms">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreDiatoms" />
            <Arg Name="PeakPlanktivoreDiatomsDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreDinoflagellates">
        <While>
            <Arg Name="PeakDetectPlanktivoreDinoflagellatesActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_dinoflagellates</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreDinoflagellates">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreDinoflagellates" />
            <Arg Name="PeakPlanktivoreDinoflagellatesDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="ChlThreshTrigger">
        <While>
            <Arg Name="ChlThreshTriggerActive" />
        </While>
        <Trigger:ValueDetect>
            <Sequence />
            <Setting>
                <Trigger:ValueDetect.detect />
                <Arg Name="PeakChl" />
            </Setting>
            <Setting>
                <Trigger:ValueDetect.lowerThreshold />
                <Arg Name="ChlLowerThresh" />
            </Setting>
            <Setting>
                <Trigger:ValueDetect.upperThreshold />
                <Arg Name="ChlUpperThresh" />
            </Setting>
            <Setting>
                <Trigger:ValueDetect.numProfilesThreshold />
                <Arg Name="NumProfilesThresh" />
            </Setting>
            <OutputArg Name="ChlTriggering">
                <Trigger:ValueDetect.outputValue />
            </OutputArg>
        </Trigger:ValueDetect>
        <Assign>
            <Sequence />
            <Arg Name="TriggeredOnChl" />
            <True />
        </Assign>
        <Syslog Severity="Important">
            Triggered. PeakChl values on 
            <Arg Name="NumProfilesThresh" />
            <Units:count />
             consecutive yo-yo profiles fall in [
            <Arg Name="ChlLowerThresh" />
            <Units:microgram_per_liter />
            <Arg Name="ChlUpperThresh" />
            <Units:microgram_per_liter />
            ] (NaN bound is ignored).
        </Syslog>
    </Aggregate>
</Aggregate>

2025-03-13T17:54:30.561Z,1741888470.561 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.PeakDetectChlActive = 0 bool
2025-03-13T17:54:30.563Z,1741888470.563 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.EdgeDetectChlActive = 0 bool
2025-03-13T17:54:30.565Z,1741888470.565 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.TimeWindowPeakReport = nan min
2025-03-13T17:54:30.568Z,1741888470.568 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.HighestChlPeakReportActive = 0 bool
2025-03-13T17:54:30.570Z,1741888470.570 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.HighestSaltPeakReportActive = 0 bool
2025-03-13T17:54:30.572Z,1741888470.572 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.HighestOilPeakReportActive = 0 bool
2025-03-13T17:54:30.574Z,1741888470.574 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.PatchTracking = 0 bool
2025-03-13T17:54:30.648Z,1741888470.648 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.FilterWidthHorizontal = 3.000000 count
2025-03-13T17:54:30.650Z,1741888470.650 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.NumProfilesSlidingwindow = 100.000000 count
2025-03-13T17:54:30.666Z,1741888470.666 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.OffPeakFractionHorizontal = 80.000000 %
2025-03-13T17:54:30.668Z,1741888470.668 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.PeakDetectNO3Active = 0 bool
2025-03-13T17:54:30.670Z,1741888470.670 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.PeakDetectOilActive = 0 bool
2025-03-13T17:54:30.676Z,1741888470.676 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.PeakDetectFDOMActive = 0 bool
2025-03-13T17:54:30.678Z,1741888470.678 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.PeakDetectSalinityActive = 0 bool
2025-03-13T17:54:30.680Z,1741888470.680 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.PeakDetectPlanktivoreLMavgROIActive = 0 bool
2025-03-13T17:54:30.682Z,1741888470.682 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.EdgeDetectPlanktivoreLMavgROIActive = 0 bool
2025-03-13T17:54:30.684Z,1741888470.684 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.PeakDetectPlanktivoreHMavgROIActive = 0 bool
2025-03-13T17:54:30.686Z,1741888470.686 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.PeakDetectPlanktivoreDiatomsActive = 0 bool
2025-03-13T17:54:30.700Z,1741888470.700 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.PeakDetectPlanktivoreDinoflagellatesActive = 0 bool
2025-03-13T17:54:30.702Z,1741888470.702 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2025-03-13T17:54:30.706Z,1741888470.706 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.EnabledAanderaaO2 = 0 bool
2025-03-13T17:54:30.708Z,1741888470.708 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.EnabledNeilBrown = 0 bool
2025-03-13T17:54:30.711Z,1741888470.711 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.EnabledSeabird = 1 bool
2025-03-13T17:54:30.726Z,1741888470.726 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.EnabledWetLabsBB2FL = 1 bool
2025-03-13T17:54:30.728Z,1741888470.728 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.EnabledWetLabsSeaOWL_UV_A = 0 bool
2025-03-13T17:54:30.731Z,1741888470.731 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.EnabledWetLabsUBAT = 0 bool
2025-03-13T17:54:30.747Z,1741888470.747 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.LowPassWindowLength = 20.000000 count
2025-03-13T17:54:30.749Z,1741888470.749 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.MedianFilterLen = 5.000000 count
2025-03-13T17:54:30.751Z,1741888470.751 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.ShallowBound = nan m
2025-03-13T17:54:30.753Z,1741888470.753 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.DeepBound = nan m
2025-03-13T17:54:30.780Z,1741888470.780 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.DepChangeThreshForAttitudeFlip = 2.000000 m
2025-03-13T17:54:30.782Z,1741888470.782 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.OffPeakFractionVertical = nan %
2025-03-13T17:54:30.800Z,1741888470.800 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.ChlPeakThresh = 0.000000 ug/l
2025-03-13T17:54:30.802Z,1741888470.802 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.ChlThreshTriggerActive = 0 bool
2025-03-13T17:54:30.808Z,1741888470.808 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.ChlLowerThresh = nan ug/l
2025-03-13T17:54:30.811Z,1741888470.811 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.ChlUpperThresh = nan ug/l
2025-03-13T17:54:30.825Z,1741888470.825 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.NumProfilesThresh = 5.000000 count
2025-03-13T17:54:30.832Z,1741888470.832 [MissionManager](INFO): DefineArg sci2_noyo_optim:Science.PlanktivoreLMavgROIPeakThresh = 0.000000 count/s
2025-03-13T17:54:30.834Z,1741888470.834 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.GoDown = 1 bool
2025-03-13T17:54:30.845Z,1741888470.845 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakChl = nan ug/l
2025-03-13T17:54:30.851Z,1741888470.851 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakChlDepth = nan m
2025-03-13T17:54:30.854Z,1741888470.854 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakChlTemperature = nan degC
2025-03-13T17:54:30.860Z,1741888470.860 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakChlLatitude = nan arcdeg
2025-03-13T17:54:30.863Z,1741888470.863 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakChlLongitude = nan arcdeg
2025-03-13T17:54:30.873Z,1741888470.873 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.EdgeChl = nan ug/l
2025-03-13T17:54:30.880Z,1741888470.880 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.EdgeChlDepth = nan m
2025-03-13T17:54:30.882Z,1741888470.882 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.EdgeChlTemperature = nan degC
2025-03-13T17:54:30.889Z,1741888470.889 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.EdgeChlLatitude = nan arcdeg
2025-03-13T17:54:30.900Z,1741888470.900 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.EdgeChlLongitude = nan arcdeg
2025-03-13T17:54:30.902Z,1741888470.902 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakNO3 = nan umol/l
2025-03-13T17:54:30.909Z,1741888470.909 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakNO3Depth = nan m
2025-03-13T17:54:30.919Z,1741888470.919 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakNO3Latitude = nan arcdeg
2025-03-13T17:54:30.922Z,1741888470.922 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakNO3Longitude = nan arcdeg
2025-03-13T17:54:30.928Z,1741888470.928 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakOil = nan kg/m3
2025-03-13T17:54:30.931Z,1741888470.931 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakOilDepth = nan m
2025-03-13T17:54:30.937Z,1741888470.937 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakOilLatitude = nan arcdeg
2025-03-13T17:54:30.948Z,1741888470.948 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakOilLongitude = nan arcdeg
2025-03-13T17:54:30.951Z,1741888470.951 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakFDOM = nan ppb
2025-03-13T17:54:30.953Z,1741888470.953 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakFDOMDepth = nan m
2025-03-13T17:54:30.956Z,1741888470.956 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakFDOMTemperature = nan degC
2025-03-13T17:54:30.958Z,1741888470.958 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakFDOMLatitude = nan arcdeg
2025-03-13T17:54:30.977Z,1741888470.977 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakFDOMLongitude = nan arcdeg
2025-03-13T17:54:31.016Z,1741888471.016 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakSalt = nan psu
2025-03-13T17:54:31.019Z,1741888471.019 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakSaltDepth = nan m
2025-03-13T17:54:31.030Z,1741888471.030 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakSaltTemperature = nan degC
2025-03-13T17:54:31.033Z,1741888471.033 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakSaltLatitude = nan arcdeg
2025-03-13T17:54:31.048Z,1741888471.048 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakSaltLongitude = nan arcdeg
2025-03-13T17:54:31.052Z,1741888471.052 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreLMavgROI = nan count/s
2025-03-13T17:54:31.055Z,1741888471.055 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreLMavgROIDepth = nan m
2025-03-13T17:54:31.061Z,1741888471.061 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreLMavgROITemperature = nan degC
2025-03-13T17:54:31.072Z,1741888471.072 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreLMavgROILatitude = nan arcdeg
2025-03-13T17:54:31.074Z,1741888471.074 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreLMavgROILongitude = nan arcdeg
2025-03-13T17:54:31.081Z,1741888471.081 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.EdgePlanktivoreLMavgROI = nan count/s
2025-03-13T17:54:31.088Z,1741888471.088 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.EdgePlanktivoreLMavgROIDepth = nan m
2025-03-13T17:54:31.090Z,1741888471.090 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.EdgePlanktivoreLMavgROITemperature = nan degC
2025-03-13T17:54:31.097Z,1741888471.097 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.EdgePlanktivoreLMavgROILatitude = nan arcdeg
2025-03-13T17:54:31.104Z,1741888471.104 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.EdgePlanktivoreLMavgROILongitude = nan arcdeg
2025-03-13T17:54:31.106Z,1741888471.106 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreHMavgROI = nan count/s
2025-03-13T17:54:31.113Z,1741888471.113 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreHMavgROIDepth = nan m
2025-03-13T17:54:31.120Z,1741888471.120 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreHMavgROITemperature = nan degC
2025-03-13T17:54:31.122Z,1741888471.122 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreHMavgROILatitude = nan arcdeg
2025-03-13T17:54:31.129Z,1741888471.129 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreHMavgROILongitude = nan arcdeg
2025-03-13T17:54:31.136Z,1741888471.136 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreDiatoms = nan count/ml
2025-03-13T17:54:31.138Z,1741888471.138 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreDiatomsDepth = nan m
2025-03-13T17:54:31.149Z,1741888471.149 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreDiatomsTemperature = nan degC
2025-03-13T17:54:31.156Z,1741888471.156 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreDiatomsLatitude = nan arcdeg
2025-03-13T17:54:31.158Z,1741888471.158 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreDiatomsLongitude = nan arcdeg
2025-03-13T17:54:31.165Z,1741888471.165 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreDinoflagellates = nan count/ml
2025-03-13T17:54:31.175Z,1741888471.175 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreDinoflagellatesDepth = nan m
2025-03-13T17:54:31.178Z,1741888471.178 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreDinoflagellatesTemperature = nan degC
2025-03-13T17:54:31.196Z,1741888471.196 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreDinoflagellatesLatitude = nan arcdeg
2025-03-13T17:54:31.198Z,1741888471.198 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreDinoflagellatesLongitude = nan arcdeg
2025-03-13T17:54:31.205Z,1741888471.205 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchChl = nan ug/l
2025-03-13T17:54:31.216Z,1741888471.216 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchChlDepth = nan m
2025-03-13T17:54:31.221Z,1741888471.221 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchChlLatitude = nan arcdeg
2025-03-13T17:54:31.223Z,1741888471.223 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchChlLongitude = nan arcdeg
2025-03-13T17:54:31.226Z,1741888471.226 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchChlDistance = nan m
2025-03-13T17:54:31.248Z,1741888471.248 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchSalt = nan psu
2025-03-13T17:54:31.251Z,1741888471.251 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchSaltDepth = nan m
2025-03-13T17:54:31.253Z,1741888471.253 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchSaltLatitude = nan arcdeg
2025-03-13T17:54:31.269Z,1741888471.269 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchSaltLongitude = nan arcdeg
2025-03-13T17:54:31.272Z,1741888471.272 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchSaltDistance = nan m
2025-03-13T17:54:31.274Z,1741888471.274 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchOil = nan psu
2025-03-13T17:54:31.288Z,1741888471.288 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchOilDepth = nan m
2025-03-13T17:54:31.291Z,1741888471.291 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchOilLatitude = nan arcdeg
2025-03-13T17:54:31.293Z,1741888471.293 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchOilLongitude = nan arcdeg
2025-03-13T17:54:31.296Z,1741888471.296 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.PatchOilDistance = nan m
2025-03-13T17:54:31.302Z,1741888471.302 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.TriggeredOnChl = 0 bool
2025-03-13T17:54:31.304Z,1741888471.304 [MissionManager](INFO): DefineOutput sci2_noyo_optim:Science.ChlTriggering = nan ug/l
2025-03-13T17:54:31.349Z,1741888471.349 [sci2_noyo_optim:Science:PeakDetectChl:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-03-13T17:54:31.382Z,1741888471.382 [sci2_noyo_optim:Science:EdgeDetectChl:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-03-13T17:54:31.478Z,1741888471.478 [sci2_noyo_optim:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-03-13T17:54:31.516Z,1741888471.516 [sci2_noyo_optim:Science:PeakDetectNO3:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-03-13T17:54:31.551Z,1741888471.551 [sci2_noyo_optim:Science:PeakDetectOil:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-03-13T17:54:31.574Z,1741888471.574 [sci2_noyo_optim:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-03-13T17:54:31.609Z,1741888471.609 [sci2_noyo_optim:Science:PeakDetectFDOM:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-03-13T17:54:31.646Z,1741888471.646 [sci2_noyo_optim:Science:PeakDetectSalinity:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-03-13T17:54:31.675Z,1741888471.675 [sci2_noyo_optim:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-03-13T17:54:31.732Z,1741888471.732 [sci2_noyo_optim:Science:PeakDetectPlanktivoreLMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-03-13T17:54:31.751Z,1741888471.751 [sci2_noyo_optim:Science:EdgeDetectPlanktivoreLMavgROI:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-03-13T17:54:31.857Z,1741888471.857 [sci2_noyo_optim:Science:PeakDetectPlanktivoreHMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-03-13T17:54:31.893Z,1741888471.893 [sci2_noyo_optim:Science:PeakDetectPlanktivoreDiatoms:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-03-13T17:54:31.918Z,1741888471.918 [sci2_noyo_optim:Science:PeakDetectPlanktivoreDinoflagellates:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-03-13T17:54:31.947Z,1741888471.947 [sci2_noyo_optim:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Construct ValueDetect.
2025-03-13T17:54:31.953Z,1741888471.953 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-03-13T17:54:31.954Z,1741888471.954 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-03-13T17:54:31.955Z,1741888471.955 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-03-13T17:54:32.056Z,1741888472.056 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/StandardEnvelopes.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="StandardEnvelopes">
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="MaxDepthIgnore">
        <Units:meter />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>200</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:meter />
        <Value>2000</Value>
    </DefineArg>
    <Parallel />
    <Guidance:AltitudeEnvelope>
        <Parallel />
        <Setting>
            <Guidance:AltitudeEnvelope.minAltitude />
            <Arg Name="MinAltitude" />
        </Setting>
        <Setting>
            <Guidance:AltitudeEnvelope.maxDepthIgnore />
            <Arg Name="MaxDepthIgnore" />
        </Setting>
    </Guidance:AltitudeEnvelope>
    <Guidance:DepthEnvelope>
        <Parallel />
        <Setting>
            <Guidance:DepthEnvelope.maxDepth />
            <Arg Name="MaxDepth" />
        </Setting>
    </Guidance:DepthEnvelope>
    <Guidance:OffshoreEnvelope>
        <Parallel />
        <Setting>
            <Guidance:OffshoreEnvelope.minOffshore />
            <Arg Name="MinOffshore" />
        </Setting>
    </Guidance:OffshoreEnvelope>
</Aggregate>

2025-03-13T17:54:32.060Z,1741888472.060 [MissionManager](INFO): DefineArg sci2_noyo_optim:StandardEnvelopes.MinAltitude = 5.000000 m
2025-03-13T17:54:32.062Z,1741888472.062 [MissionManager](INFO): DefineArg sci2_noyo_optim:StandardEnvelopes.MaxDepthIgnore = 0.000000 m
2025-03-13T17:54:32.064Z,1741888472.064 [MissionManager](INFO): DefineArg sci2_noyo_optim:StandardEnvelopes.MaxDepth = 200.000000 m
2025-03-13T17:54:32.066Z,1741888472.066 [MissionManager](INFO): DefineArg sci2_noyo_optim:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-03-13T17:54:32.067Z,1741888472.067 [sci2_noyo_optim:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-03-13T17:54:32.073Z,1741888472.073 [sci2_noyo_optim:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-03-13T17:54:32.079Z,1741888472.079 [sci2_noyo_optim:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-03-13T17:54:32.092Z,1741888472.092 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl
2025-03-13T17:54:32.094Z,1741888472.094 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl
2025-03-13T17:54:32.145Z,1741888472.145 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl
2025-03-13T17:54:32.401Z,1741888472.401 [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>

2025-03-13T17:54:32.407Z,1741888472.407 [MissionManager](INFO): DefineArg sci2_noyo_optim:NeedComms.DiveInterval = 1.000000 h
2025-03-13T17:54:32.410Z,1741888472.410 [MissionManager](INFO): DefineArg sci2_noyo_optim:NeedComms.WaitForPitchUp = 10.000000 min
2025-03-13T17:54:32.430Z,1741888472.430 [MissionManager](INFO): DefineArg sci2_noyo_optim:NeedComms.SurfacePitch = 20.000000 arcdeg
2025-03-13T17:54:32.432Z,1741888472.432 [MissionManager](INFO): DefineArg sci2_noyo_optim:NeedComms.SurfaceDepthRate = nan m/s
2025-03-13T17:54:32.435Z,1741888472.435 [MissionManager](INFO): DefineArg sci2_noyo_optim:NeedComms.SurfaceSpeed = 1.000000 m/s
2025-03-13T17:54:32.437Z,1741888472.437 [MissionManager](INFO): DefineArg sci2_noyo_optim:NeedComms.SurfacingTimeout = 1000.000000 s
2025-03-13T17:54:32.439Z,1741888472.439 [MissionManager](INFO): DefineArg sci2_noyo_optim:NeedComms.GPSTimeout = 7.000000 min
2025-03-13T17:54:32.442Z,1741888472.442 [MissionManager](INFO): DefineArg sci2_noyo_optim:NeedComms.CommsTimeout = 30.000000 min
2025-03-13T17:54:32.448Z,1741888472.448 [sci2_noyo_optim:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2025-03-13T17:54:32.465Z,1741888472.465 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2025-03-13T17:54:32.466Z,1741888472.466 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2025-03-13T17:54:32.467Z,1741888472.467 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2025-03-13T17:54:32.528Z,1741888472.528 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/BackseatDriver.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="BackseatDriver">
    <DefineArg Name="EnableBackseat">
        <False />
    </DefineArg>
    <Parallel />
    <Guidance:BackseatDriver>
        <Sequence />
        <Setting>
            <Guidance:BackseatDriver.powerBackseat />
            <Arg Name="EnableBackseat" />
        </Setting>
    </Guidance:BackseatDriver>
</Aggregate>

2025-03-13T17:54:32.532Z,1741888472.532 [MissionManager](INFO): DefineArg sci2_noyo_optim:BackseatDriver.EnableBackseat = 0 bool
2025-03-13T17:54:32.534Z,1741888472.534 [sci2_noyo_optim:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2025-03-13T17:54:32.538Z,1741888472.538 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2025-03-13T17:54:32.538Z,1741888472.538 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2025-03-13T17:54:32.539Z,1741888472.539 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2025-03-13T17:54:32.726Z,1741888472.726 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/PowerOnly.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="PowerOnly">
    <DefineArg Name="SampleAll">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad1">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad2">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad3">
        <False />
    </DefineArg>
    <DefineArg Name="EnabledPowerOnly">
        <Sensor:PowerOnly.loadAtStartup />
    </DefineArg>
    <Parallel />
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleAll" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.samplePowerOnly />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad1" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad1 />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad2" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad2 />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad3" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad3 />
    </ReadData>
    <Guidance:Wait>
        <Sequence />
        <Setting>
            <Guidance:Wait.duration />
            <Units:hour />
            <Value>99999</Value>
        </Setting>
    </Guidance:Wait>
</Aggregate>

2025-03-13T17:54:32.732Z,1741888472.732 [MissionManager](INFO): DefineArg sci2_noyo_optim:PowerOnly.SampleAll = 0 bool
2025-03-13T17:54:32.734Z,1741888472.734 [MissionManager](INFO): DefineArg sci2_noyo_optim:PowerOnly.SampleLoad1 = 0 bool
2025-03-13T17:54:32.736Z,1741888472.736 [MissionManager](INFO): DefineArg sci2_noyo_optim:PowerOnly.SampleLoad2 = 0 bool
2025-03-13T17:54:32.738Z,1741888472.738 [MissionManager](INFO): DefineArg sci2_noyo_optim:PowerOnly.SampleLoad3 = 0 bool
2025-03-13T17:54:32.741Z,1741888472.741 [MissionManager](INFO): DefineArg sci2_noyo_optim:PowerOnly.EnabledPowerOnly = 1 bool
2025-03-13T17:54:32.748Z,1741888472.748 [sci2_noyo_optim:PowerOnly:E.Wait](DEBUG): Construct Wait.
2025-03-13T17:54:32.755Z,1741888472.755 [sci2_noyo_optim:O.Buoyancy](DEBUG): Construct Buoyancy.
2025-03-13T17:54:32.769Z,1741888472.769 [sci2_noyo_optim:DiveCmd:InitialDive:dive:C.Mass](DEBUG): Construct.
2025-03-13T17:54:32.772Z,1741888472.772 [sci2_noyo_optim:DiveCmd:InitialDive:dive:E.Wait](DEBUG): Construct Wait.
2025-03-13T17:54:32.776Z,1741888472.776 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:A.SetSpeed](DEBUG): Construct.
2025-03-13T17:54:32.778Z,1741888472.778 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:B.Pitch](DEBUG): Construct.
2025-03-13T17:54:32.827Z,1741888472.827 [sci2_noyo_optim:DiveCmd:InitialDive:dive:ApproachDepth:B.Pitch:A_Timeout:B.Execute](DEBUG): Construct Execute.
2025-03-13T17:54:32.837Z,1741888472.837 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:B.Pitch](DEBUG): Construct.
2025-03-13T17:54:32.842Z,1741888472.842 [sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:C.Wait](DEBUG): Construct Wait.
2025-03-13T17:54:32.850Z,1741888472.850 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass](DEBUG): Construct.
2025-03-13T17:54:32.852Z,1741888472.852 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed](DEBUG): Construct.
2025-03-13T17:54:32.855Z,1741888472.855 [sci2_noyo_optim:DiveCmd:MaintainDepth:dive:B.Pitch](DEBUG): Construct.
2025-03-13T17:54:32.864Z,1741888472.864 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:A.SetSpeed](DEBUG): Construct.
2025-03-13T17:54:32.868Z,1741888472.868 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:C.Buoyancy](DEBUG): Construct Buoyancy.
2025-03-13T17:54:32.871Z,1741888472.871 [sci2_noyo_optim:DiveCmd:MaintainDepthSlow:D.Pitch](DEBUG): Construct.
2025-03-13T17:54:32.882Z,1741888472.882 [sci2_noyo_optim:Lap:DepthByLap:Wpt1:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T17:54:32.901Z,1741888472.901 [sci2_noyo_optim:Lap:DepthByLap:Wpt2:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T17:54:32.906Z,1741888472.906 [sci2_noyo_optim:Lap:DepthByLap:Wpt3:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T17:54:32.912Z,1741888472.912 [sci2_noyo_optim:Lap:DepthByLap:Wpt4:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T17:54:32.918Z,1741888472.918 [sci2_noyo_optim:Lap:DepthByLap:Wpt5:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T17:54:32.924Z,1741888472.924 [sci2_noyo_optim:Lap:DepthByLap:Wpt6:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T17:54:32.929Z,1741888472.929 [sci2_noyo_optim:Lap:DepthByLap:Wpt7:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T17:54:32.935Z,1741888472.935 [sci2_noyo_optim:Lap:DepthByLap:Wpt8:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T17:54:32.956Z,1741888472.956 [sci2_noyo_optim:Lap:DepthByLap:Leg2:Wpt1:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T17:54:32.961Z,1741888472.961 [sci2_noyo_optim:Lap:DepthByLap:Leg2:Wpt2:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T17:54:32.967Z,1741888472.967 [sci2_noyo_optim:Lap:DepthByLap:Leg2:Wpt3:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T17:54:32.973Z,1741888472.973 [sci2_noyo_optim:Lap:DepthByLap:Leg2:Wpt4:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T17:54:32.978Z,1741888472.978 [sci2_noyo_optim:Lap:DepthByLap:Leg2:Wpt5:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T17:54:32.985Z,1741888472.985 [sci2_noyo_optim:Lap:DepthByLap:Leg2:Wpt6:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T17:54:33.028Z,1741888473.028 [sci2_noyo_optim:Lap:DepthByLap:Leg2:Wpt7:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T17:54:33.037Z,1741888473.037 [sci2_noyo_optim:Lap:DepthByLap:Leg2:Wpt8:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T17:54:33.072Z,1741888473.072 [sci2_noyo_optim:Lap:DepthByLap:Leg3:Wpt1:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T17:54:33.080Z,1741888473.080 [sci2_noyo_optim:Lap:DepthByLap:Leg3:Wpt2:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T17:54:33.089Z,1741888473.089 [sci2_noyo_optim:Lap:DepthByLap:Leg3:Wpt3:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T17:54:33.095Z,1741888473.095 [sci2_noyo_optim:Lap:DepthByLap:Leg3:Wpt4:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T17:54:33.113Z,1741888473.113 [sci2_noyo_optim:Lap:DepthByLap:Leg3:Wpt5:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T17:54:33.126Z,1741888473.126 [sci2_noyo_optim:Lap:DepthByLap:Leg3:Wpt6:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T17:54:33.131Z,1741888473.131 [sci2_noyo_optim:Lap:DepthByLap:Leg3:Wpt7:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T17:54:33.137Z,1741888473.137 [sci2_noyo_optim:Lap:DepthByLap:Leg3:Wpt8:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T17:54:33.146Z,1741888473.146 [sci2_noyo_optim:Lap:DepthByLap:Leg4:Wpt1:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T17:54:33.158Z,1741888473.158 [sci2_noyo_optim:Lap:DepthByLap:Leg4:Wpt2:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T17:54:33.164Z,1741888473.164 [sci2_noyo_optim:Lap:DepthByLap:Leg4:Wpt3:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T17:54:33.169Z,1741888473.169 [sci2_noyo_optim:Lap:DepthByLap:Leg4:Wpt4:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T17:54:33.175Z,1741888473.175 [sci2_noyo_optim:Lap:DepthByLap:Leg4:Wpt5:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T17:54:33.180Z,1741888473.180 [sci2_noyo_optim:Lap:DepthByLap:Leg4:Wpt6:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T17:54:33.186Z,1741888473.186 [sci2_noyo_optim:Lap:DepthByLap:Leg4:Wpt7:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T17:54:33.192Z,1741888473.192 [sci2_noyo_optim:Lap:DepthByLap:Leg4:Wpt8:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T17:54:33.216Z,1741888473.216 [sci2_noyo_optim:Lap:DepthByLap:Leg5:Wpt1:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T17:54:33.223Z,1741888473.223 [sci2_noyo_optim:Lap:DepthByLap:Leg5:Wpt2:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T17:54:33.228Z,1741888473.228 [sci2_noyo_optim:Lap:DepthByLap:Leg5:Wpt3:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T17:54:33.234Z,1741888473.234 [sci2_noyo_optim:Lap:DepthByLap:Leg5:Wpt4:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T17:54:33.240Z,1741888473.240 [sci2_noyo_optim:Lap:DepthByLap:Leg5:Wpt5:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T17:54:33.245Z,1741888473.245 [sci2_noyo_optim:Lap:DepthByLap:Leg5:Wpt6:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T17:54:33.259Z,1741888473.259 [sci2_noyo_optim:Lap:DepthByLap:Leg5:Wpt7:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T17:54:33.265Z,1741888473.265 [sci2_noyo_optim:Lap:DepthByLap:Leg5:Wpt8:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T17:54:33.274Z,1741888473.274 [sci2_noyo_optim:Lap:DepthByLap:Leg6:Wpt1:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T17:54:33.279Z,1741888473.279 [sci2_noyo_optim:Lap:DepthByLap:Leg6:Wpt2:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T17:54:33.285Z,1741888473.285 [sci2_noyo_optim:Lap:DepthByLap:Leg6:Wpt3:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T17:54:33.290Z,1741888473.290 [sci2_noyo_optim:Lap:DepthByLap:Leg6:Wpt4:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T17:54:33.296Z,1741888473.296 [sci2_noyo_optim:Lap:DepthByLap:Leg6:Wpt5:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T17:54:33.302Z,1741888473.302 [sci2_noyo_optim:Lap:DepthByLap:Leg6:Wpt6:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T17:54:33.319Z,1741888473.319 [sci2_noyo_optim:Lap:DepthByLap:Leg6:Wpt7:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T17:54:33.324Z,1741888473.324 [sci2_noyo_optim:Lap:DepthByLap:Leg6:Wpt8:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T17:54:33.333Z,1741888473.333 [sci2_noyo_optim:Lap:DepthByLap:Leg7:Wpt1:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T17:54:33.338Z,1741888473.338 [sci2_noyo_optim:Lap:DepthByLap:Leg7:Wpt2:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T17:54:33.344Z,1741888473.344 [sci2_noyo_optim:Lap:DepthByLap:Leg7:Wpt3:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T17:54:33.349Z,1741888473.349 [sci2_noyo_optim:Lap:DepthByLap:Leg7:Wpt4:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T17:54:33.355Z,1741888473.355 [sci2_noyo_optim:Lap:DepthByLap:Leg7:Wpt5:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T17:54:33.371Z,1741888473.371 [sci2_noyo_optim:Lap:DepthByLap:Leg7:Wpt6:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T17:54:33.376Z,1741888473.376 [sci2_noyo_optim:Lap:DepthByLap:Leg7:Wpt7:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T17:54:33.382Z,1741888473.382 [sci2_noyo_optim:Lap:DepthByLap:Leg7:Wpt8:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T17:54:33.391Z,1741888473.391 [sci2_noyo_optim:Lap:DepthByLap:Leg8:Wpt1:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T17:54:33.397Z,1741888473.397 [sci2_noyo_optim:Lap:DepthByLap:Leg8:Wpt2:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T17:54:33.402Z,1741888473.402 [sci2_noyo_optim:Lap:DepthByLap:Leg8:Wpt3:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T17:54:33.451Z,1741888473.451 [sci2_noyo_optim:Lap:DepthByLap:Leg8:Wpt4:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T17:54:33.488Z,1741888473.488 [sci2_noyo_optim:Lap:DepthByLap:Leg8:Wpt5:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T17:54:33.498Z,1741888473.498 [sci2_noyo_optim:Lap:DepthByLap:Leg8:Wpt6:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T17:54:33.511Z,1741888473.511 [sci2_noyo_optim:Lap:DepthByLap:Leg8:Wpt7:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T17:54:33.520Z,1741888473.520 [sci2_noyo_optim:Lap:DepthByLap:Leg8:Wpt8:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T17:54:33.528Z,1741888473.528 [sci2_noyo_optim:Lap:DepthByLeg:Leg1:B.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T17:54:33.537Z,1741888473.537 [sci2_noyo_optim:Lap:DepthByLeg:Leg2:Wpt2:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T17:54:33.546Z,1741888473.546 [sci2_noyo_optim:Lap:DepthByLeg:Leg3:Wpt3:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T17:54:33.557Z,1741888473.557 [sci2_noyo_optim:Lap:DepthByLeg:Leg4:Wpt4:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T17:54:33.566Z,1741888473.566 [sci2_noyo_optim:Lap:DepthByLeg:Leg5:Wpt5:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T17:54:33.585Z,1741888473.585 [sci2_noyo_optim:Lap:DepthByLeg:Leg6:Wpt6:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T17:54:33.594Z,1741888473.594 [sci2_noyo_optim:Lap:DepthByLeg:Leg7:Wpt7:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T17:54:33.603Z,1741888473.603 [sci2_noyo_optim:Lap:DepthByLeg:Leg8:Wpt8:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T17:54:33.704Z,1741888473.704 [MissionManager](DEBUG): 
#   Copyright (c) 2024 MBARI
#   MBARI Proprietary Information. Confidential. All Rights Reserved
#   Unauthorized copying or distribution of this file via any medium is strictly
#   prohibited.
#
#   WARNING - This file contains information whose export is restricted by the
#   Export Administration Act of 1979 (Title 50, U.S.C., App. 2401 et seq.), as
#   amended. Violations of these export laws are subject to severe civil and/or
#   criminal penalties.

mission sci2_noyo_optim {
  """
  Vehicle transits to the specified waypoints at the commanded depth
  (flat-and-level, no yoyos) with science, Optim camera, and multiray
  lights on.
  """

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

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

    Depth1 = 35 meter
      """
      Depth of flat and level flight during the mission for the first transit leg or lap.
      """

    Depth[2..8] = NaN meter
      """
      Depth of flat and level flight during the mission for subsequent transit legs or laps.
      Skipped if NaN.
      """

    DepthPerLeg = false
      """
      Indicates whether additional depths correspond to laps (cycle through all waypoints at
      each depth, default) or legs (use depth for transit leg ending at corresponding waypoint,
      each lap repeats all depths and waypoints).
      """

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

    Lat[1..8] = NaN degree
      """
      Latitude of waypoint {$}. If nan, waypoint is skipped.
      """

    Lon[1..8] = NaN degree
      """
      Longitude of waypoint {$}. If nan, waypoint is skipped.
      """

    FastSpeed = 1 meter_per_second
      """
      Speed while transiting to waypoint.
      """

    ApproachDepth = 30 meter
      """
      Depth for initial descent form the surface.
      """

    ApproachSpeed = 0.7 meter_per_second
      """
      Speed while descending to target depth.
      """

    ApproachDepthRate = 0.05 meter_per_second
      """
      Descent depth rate (Positive depth rate means going down).
      """

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

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

    ApproachSettleTimePreDive = 1 minute
      """
      Time duration for the vehicle to pump down the VBS *BEFORE* leaving the
      surface.
      """

    ApproachSettleTimePostDive = 3 minute
      """
      Time duration for the vehicle to settle *AFTER* reaching the target
      depth.
      """

    kpDepth = 0.07 radian_per_meter
      """
      Dive loop proportional gain (applied only while the vehicle is
      descending to target depth).
      """

    SlowSpeed = 0.25 meter_per_second
      """
      Set this to something other than Nan if slow speed filming with a
      wide depth deadband is desired.
      """

    DepthDeviationSlow = 3 meter
      """
      Allowable +/- deviation from depth during slow flight. Needs a SlowSpeed
      to be set.
      """

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

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

    MinAltitude = 2 meter
      """
      Minimum height above the sea floor for the entire mission.
      """

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

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

  output {
    DiveMode = 0 count
      """
      Mission variable (don't change). The mission sets this variable to
      switch between dive modes. Initialized to DoingComms.
      """

    DoingComms = 0 count
      """
      Mission variable (don't change). The mission will run in this to mode
      when doing surface comms.
      """

    InitialDive = 1 count
      """
      Mission variable (don't change). The mission will run in this mode after
      surface comms are done to dive the vehicle to the approach depth.
      """

    SettleAtDepth = 2 count
      """
      Mission variable (don't change). The mission will run in this mode to
      settle the vehicle at the target depth.
      """

    MaintainDepth = 3 count
      """
      Mission variable (don't change). The mission will run in this mode to
      maintain the vehicle at the target depth.
      """

    LegDepth = Depth1
      """
      Mission variable to track the current depth for the current leg.
      """
  }

  # Mission timeout

  timeout duration=MissionTimeout

  # Science!

  insert Insert/Science.tl {
    """
    Run the science sensors.
    """
  }

  # 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 = MissionTimeout

  assign in sequence NeedComms:WaitForPitchUp = 0 minute

  insert Insert/BackseatDriver.tl
  assign in parallel BackseatDriver:EnableBackseat = true

  insert Insert/PowerOnly.tl
  assign in parallel PowerOnly:SampleLoad1 = true

  assign in sequence Sensor:MultiRay.lightModeCommand = 2 count
  readData strategy="MinError" {
    while ( Sensor:MultiRay.loadAtStartup )

    Sensor:MultiRay.lightModeLog
  }

  behavior Guidance:Buoyancy {
    run in parallel

    set position = BuoyancyNeutral
  }

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

    assign in sequence DiveMode = DoingComms

    call refId="NeedComms"

    assign in sequence DiveMode = InitialDive
  }

  aggregate DiveCmd {
    """
    Called when the vehicle should be underwater. Arbitrates between 4
    dive modes: 1) descend from the surface to initial depth. 2) settle
    at target depth using the VB. 3) cruise at target depth and go slow
    while within depth deviation bounds if a slow speed is set.
    """

    run when ( called )

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

      run while ( DiveMode == InitialDive )

      aggregate dive {
        run in sequence

        assign in parallel Control:VerticalControl.pitchLimit = ApproachPitchLimit

        assign in parallel Control:VerticalControl.kpDepth = kpDepth

        behavior Guidance:Mass {
          run in parallel

          set position = MassDefault
        }

        # behavior Guidance:Buoyancy {
        #   run in parallel

        #   set position = BuoyancyNeutral
        # }

        syslog info "Waiting for "
             + ApproachSettleTimePreDive~minute + "while pumping down to neutral."

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

          run in sequence

          set duration = ApproachSettleTimePreDive
        }

        syslog "Moving to " + ApproachDepth~meter

        aggregate ApproachDepth {
          run in sequence

          behavior Guidance:SetSpeed {
            run in parallel

            set speed = ApproachSpeed
          }

          behavior Guidance:Pitch {
            run in sequence

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

              behavior Guidance:Execute {
                run in sequence

                set command = "stop"
              }
            }

            set depth = ApproachDepth
            set depthRate = ApproachDepthRate
          }
        }

        assign in sequence DiveMode = SettleAtDepth
      }
    }

    aggregate SettleAtDepth {
      """
      Take a few more moments here to make sure the vehicle is settled
      at the target depth.
      """

      run while ( DiveMode == SettleAtDepth )

      aggregate dive {
        run in sequence

        syslog info "Reached " + Universal:depth~meter + ", settling for "
             + ApproachSettleTimePostDive~minute

        behavior Guidance:Pitch {
          run in parallel

          set depth = LegDepth
        }

        behavior Guidance:Wait {
          run in sequence

          set duration = ApproachSettleTimePostDive
        }

        assign in sequence DiveMode = MaintainDepth
      }
    }

    aggregate MaintainDepth {
      """
      Cruise at the target depth.
      """

      run while (
        DiveMode == MaintainDepth
        and ( Universal:depth > ( LegDepth + DepthDeviationSlow ) )
        or ( Universal:depth < ( LegDepth - DepthDeviationSlow ) )
      )

      aggregate dive {
        run in parallel

        aggregate ThrusterDive {
          run while ( FastSpeed > 0.0 meter_per_second )

          behavior Guidance:Mass {
            run in parallel

            set position = MassDefault
          }

          # behavior Guidance:Buoyancy {
          #   run in parallel

          #   set position = BuoyancyNeutral
          # }

          behavior Guidance:SetSpeed {
            run in parallel

            set speed = FastSpeed
          }
        }

        behavior Guidance:Pitch {
          run in parallel

          set depth = LegDepth
        }
      }
    }

    aggregate MaintainDepthSlow {
      """
      Cruise slow at the target depth.
      """

      run while (
        ( not isNaN ( SlowSpeed ) )
        and ( DiveMode == MaintainDepth )
        and ( Universal:depth <= ( LegDepth + DepthDeviationSlow ) )
        and ( Universal:depth >= ( LegDepth - DepthDeviationSlow ) )
      )

      behavior Guidance:SetSpeed {
        run in parallel

        set speed = SlowSpeed
      }

      # Let's make sure the vertical control depth deadband doesn't interfere with our mission
      # level version of the deadband. And we'll add an extra 3m so we don't trigger any
      # faults inside vertical control when attempting to regain the commanded depth.
      assign in parallel Control:VerticalControl.depthDeadband = ( DepthDeviationSlow + 3 m )

      behavior Guidance:Buoyancy {
        run in parallel

        set position = NaN cc
      }

      behavior Guidance:Pitch {
        run in parallel

        set depth = LegDepth
      }
    }
  }

  # Start mission sequence

  call id="StartingMission" refId="SurfaceComms"

  aggregate Lap {
    run in sequence repeat=Repeat

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

      call refId="DiveCmd"
    }

    # Default behavior: Depths correspond to laps
    # Run through all waypoints at each depth
    aggregate DepthByLap {
      run in sequence

      break if ( DepthPerLeg )

      assign in sequence LegDepth = Depth1

      aggregate Wpt1 {
        run in sequence

        behavior Guidance:Waypoint {
          run in sequence

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

      macro $i = 2..8 {
        aggregate Wpt$i {
          run in sequence

          behavior Guidance:Waypoint {
            run in sequence

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

      macro $j = 2..8 {
        aggregate Leg$j {
          run in sequence

          break if ( isNaN ( Depth[$j] ) )

          syslog important "Transiting waypoints at depth " + Depth[$j]~meter
          assign in sequence LegDepth = Depth[$j]

          macro $i = 1..8 {
            aggregate Wpt$i {
              run in sequence

              behavior Guidance:Waypoint {
                run in sequence

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

    # Non-default behavior: depth by leg
    # Transit to waypoint at corresponding depth, repeat per lap
    # (e.g. Transit to waypoint 1 at depth 1, waypoint 2 at depth 2, and so on)
    aggregate DepthByLeg {
      run in sequence

      break if ( not DepthPerLeg )

      aggregate Leg1 {
        run in sequence

        assign in sequence LegDepth = Depth1

        behavior Guidance:Waypoint {
          run in sequence

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

      macro $i = 2..8 {
        aggregate Leg$i {
          run in sequence

          break if ( isNaN ( Depth[$i] ) )

          syslog info "Transiting to next waypoint at depth " + Depth[$i]~meter
          assign in sequence LegDepth = Depth[$i]

          aggregate Wpt$i {
            run in sequence

            behavior Guidance:Waypoint {
              run in sequence

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


2025-03-13T17:54:33.705Z,1741888473.705 [CommandExec](IMPORTANT): Loaded ./Missions/Science/sci2_noyo_optim.tl id=sci2_noyo_optim
2025-03-13T17:54:33.855Z,1741888473.855 [MissionManager](IMPORTANT): Started mission Default
2025-03-13T17:54:33.855Z,1741888473.855 [Default] Running Loop=1
2025-03-13T17:54:33.855Z,1741888473.855 [Default](DEBUG): Aggregate::initialize Default
2025-03-13T17:54:33.856Z,1741888473.856 [Default:B.GoToSurface] Running Loop=1
2025-03-13T17:54:33.856Z,1741888473.856 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-03-13T17:54:33.856Z,1741888473.856 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-03-13T17:54:33.856Z,1741888473.856 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-03-13T17:54:33.856Z,1741888473.856 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-03-13T17:54:33.857Z,1741888473.857 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-03-13T17:54:33.857Z,1741888473.857 [Default:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-03-13T17:54:33.857Z,1741888473.857 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-03-13T17:54:33.858Z,1741888473.858 [Default:A.Wait] Running Loop=1
2025-03-13T17:54:33.858Z,1741888473.858 [Default:A.Wait](DEBUG): Initialize Wait Component.
2025-03-13T17:54:46.180Z,1741888486.180 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T17:54:47.206Z,1741888487.206 [Default:A.Wait](INFO): Done Waiting.
2025-03-13T17:54:47.206Z,1741888487.206 [Default:A.Wait] Stopped
2025-03-13T17:54:47.206Z,1741888487.206 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2025-03-13T17:54:47.615Z,1741888487.615 [Default:CheckIn] Running Loop=1
2025-03-13T17:54:47.615Z,1741888487.615 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-03-13T17:54:47.616Z,1741888487.616 [Default:CheckIn:Read_GPS] Running Loop=1
2025-03-13T17:54:49.587Z,1741888489.587 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,175448.00,A,3648.05750,N,12152.89014,W,0.894,340.51,130325,,,D*7D
2025-03-13T17:54:49.589Z,1741888489.589 [NAL9602](INFO): GPS fix at 20250313T175448: (36.800958, -121.881502)
2025-03-13T17:54:49.634Z,1741888489.634 [Default:CheckIn:Read_GPS] Stopped
2025-03-13T17:54:49.634Z,1741888489.634 [Default:CheckIn:Read_Iridium] Running Loop=1
2025-03-13T17:55:02.552Z,1741888502.552 [CommandExec](IMPORTANT): got command set sci2_noyo_optim.MissionTimeout 3 hour
2025-03-13T17:55:02.553Z,1741888502.553 [CommandExec](IMPORTANT): got command set sci2_noyo_optim.NeedCommsTime 90 minute
2025-03-13T17:55:02.554Z,1741888502.554 [CommandExec](IMPORTANT): got command set sci2_noyo_optim.Depth1 125 meter
2025-03-13T17:55:02.555Z,1741888502.555 [CommandExec](IMPORTANT): got command set sci2_noyo_optim.Depth2 125 meter
2025-03-13T17:55:02.556Z,1741888502.556 [CommandExec](IMPORTANT): got command set sci2_noyo_optim.Depth3 NaN meter
2025-03-13T17:55:09.158Z,1741888509.158 [NAL9602](INFO): SBD MO Status=1, MOMSN=18584, MT Status=0, MTMSN=0
2025-03-13T17:55:09.208Z,1741888509.208 [NAL9602](INFO): Sent 72 bytes from file Logs/20250311T232940/Courier0311.lzma
2025-03-13T17:55:09.208Z,1741888509.208 [NAL9602](INFO): Packets left to send: 0
2025-03-13T17:55:17.308Z,1741888517.308 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T17:55:26.418Z,1741888526.418 [CommandExec](IMPORTANT): got command set sci2_noyo_optim.Repeat 4 count
2025-03-13T17:55:26.419Z,1741888526.419 [CommandExec](IMPORTANT): got command set sci2_noyo_optim.Lat1 36.79434 degree
2025-03-13T17:55:26.420Z,1741888526.420 [CommandExec](IMPORTANT): got command set sci2_noyo_optim.Lon1 -121.89035 degree
2025-03-13T17:55:26.421Z,1741888526.421 [CommandExec](IMPORTANT): got command set sci2_noyo_optim.Lat2 36.79447 degree
2025-03-13T17:55:26.422Z,1741888526.422 [CommandExec](IMPORTANT): got command set sci2_noyo_optim.Lon2 -121.90743 degree
2025-03-13T17:55:48.432Z,1741888548.432 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T17:55:54.070Z,1741888554.070 [NAL9602](INFO): SBD MO Status=2, MOMSN=18585, MT Status=2, MTMSN=0
2025-03-13T17:55:54.070Z,1741888554.070 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-03-13T17:55:57.884Z,1741888557.884 [CommandExec](IMPORTANT): got command set sci2_noyo_optim.ApproachDepth 10 meter
2025-03-13T17:55:57.885Z,1741888557.885 [CommandExec](IMPORTANT): got command set sci2_noyo_optim.ApproachSpeed 1.0 meter_per_second
2025-03-13T17:55:57.886Z,1741888557.886 [CommandExec](IMPORTANT): got command set sci2_noyo_optim.SlowSpeed 0.4 meter_per_second
2025-03-13T17:55:57.887Z,1741888557.887 [CommandExec](IMPORTANT): got command set sci2_noyo_optim.MinAltitude 10 meter
2025-03-13T17:55:57.888Z,1741888557.888 [CommandExec](IMPORTANT): got command set sci2_noyo_optim.MaxDepth 135 meter
2025-03-13T17:56:06.320Z,1741888566.320 [CommandExec](IMPORTANT): got command set sci2_noyo_optim:PowerOnly.SampleLoad1 1 bool
2025-03-13T17:56:06.321Z,1741888566.321 [CommandExec](IMPORTANT): got command run
2025-03-13T17:56:06.339Z,1741888566.339 [CommandExec](IMPORTANT): Running 
2025-03-13T17:56:06.702Z,1741888566.702 [Default] Stopped
2025-03-13T17:56:06.702Z,1741888566.702 [Default](DEBUG): Aggregate::uninitialize Default
2025-03-13T17:56:06.702Z,1741888566.702 [Default:B.GoToSurface] Stopped
2025-03-13T17:56:06.702Z,1741888566.702 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-03-13T17:56:06.702Z,1741888566.702 [Default:CheckIn] Stopped
2025-03-13T17:56:06.702Z,1741888566.702 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-03-13T17:56:06.702Z,1741888566.702 [Default:CheckIn:Read_Iridium] Stopped
2025-03-13T17:56:06.702Z,1741888566.702 [MissionManager](IMPORTANT): Started mission sci2_noyo_optim
2025-03-13T17:56:06.703Z,1741888566.703 [sci2_noyo_optim] Running Loop=1
2025-03-13T17:56:06.703Z,1741888566.703 [sci2_noyo_optim](DEBUG): Aggregate::initialize sci2_noyo_optim
2025-03-13T17:56:06.703Z,1741888566.703 [sci2_noyo_optim:Science] Running Loop=1
2025-03-13T17:56:06.703Z,1741888566.703 [sci2_noyo_optim:Science](DEBUG): Aggregate::initialize sci2_noyo_optim:Science
2025-03-13T17:56:06.703Z,1741888566.703 [sci2_noyo_optim:Science:A] Running Loop=1
2025-03-13T17:56:06.703Z,1741888566.703 [sci2_noyo_optim:Science:B] Running Loop=1
2025-03-13T17:56:06.703Z,1741888566.703 [sci2_noyo_optim:Science:C] Running Loop=1
2025-03-13T17:56:06.704Z,1741888566.704 [sci2_noyo_optim:Science:D] Running Loop=1
2025-03-13T17:56:06.704Z,1741888566.704 [sci2_noyo_optim:Science:E] Running Loop=1
2025-03-13T17:56:06.704Z,1741888566.704 [sci2_noyo_optim:Science:F] Running Loop=1
2025-03-13T17:56:06.704Z,1741888566.704 [sci2_noyo_optim:Science:Read_Oil] Running Loop=1
2025-03-13T17:56:06.704Z,1741888566.704 [sci2_noyo_optim:Science:PeakDetectChl] Running Loop=1
2025-03-13T17:56:06.704Z,1741888566.704 [sci2_noyo_optim:Science:PeakDetectChl](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:PeakDetectChl
2025-03-13T17:56:06.704Z,1741888566.704 [sci2_noyo_optim:Science:PeakDetectChl:A] Running Loop=1
2025-03-13T17:56:06.704Z,1741888566.704 [sci2_noyo_optim:Science:EdgeDetectChl] Running Loop=1
2025-03-13T17:56:06.704Z,1741888566.704 [sci2_noyo_optim:Science:EdgeDetectChl](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:EdgeDetectChl
2025-03-13T17:56:06.704Z,1741888566.704 [sci2_noyo_optim:Science:EdgeDetectChl:A] Running Loop=1
2025-03-13T17:56:06.704Z,1741888566.704 [sci2_noyo_optim:Science:HighestChlPeakReport] Running Loop=1
2025-03-13T17:56:06.705Z,1741888566.705 [sci2_noyo_optim:Science:HighestChlPeakReport](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:HighestChlPeakReport
2025-03-13T17:56:06.705Z,1741888566.705 [sci2_noyo_optim:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-03-13T17:56:06.705Z,1741888566.705 [sci2_noyo_optim:Science:HighestChlPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-03-13T17:56:06.705Z,1741888566.705 [sci2_noyo_optim:Science:PeakDetectNO3] Running Loop=1
2025-03-13T17:56:06.705Z,1741888566.705 [sci2_noyo_optim:Science:PeakDetectNO3](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:PeakDetectNO3
2025-03-13T17:56:06.705Z,1741888566.705 [sci2_noyo_optim:Science:PeakDetectNO3:A] Running Loop=1
2025-03-13T17:56:06.706Z,1741888566.706 [sci2_noyo_optim:Science:PeakDetectOil] Running Loop=1
2025-03-13T17:56:06.706Z,1741888566.706 [sci2_noyo_optim:Science:PeakDetectOil](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:PeakDetectOil
2025-03-13T17:56:06.706Z,1741888566.706 [sci2_noyo_optim:Science:PeakDetectOil:A] Running Loop=1
2025-03-13T17:56:06.706Z,1741888566.706 [sci2_noyo_optim:Science:HighestOilPeakReport] Running Loop=1
2025-03-13T17:56:06.706Z,1741888566.706 [sci2_noyo_optim:Science:HighestOilPeakReport](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:HighestOilPeakReport
2025-03-13T17:56:06.706Z,1741888566.706 [sci2_noyo_optim:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-03-13T17:56:06.706Z,1741888566.706 [sci2_noyo_optim:Science:HighestOilPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-03-13T17:56:06.707Z,1741888566.707 [sci2_noyo_optim:Science:PeakDetectFDOM] Running Loop=1
2025-03-13T17:56:06.707Z,1741888566.707 [sci2_noyo_optim:Science:PeakDetectFDOM](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:PeakDetectFDOM
2025-03-13T17:56:06.707Z,1741888566.707 [sci2_noyo_optim:Science:PeakDetectFDOM:A] Running Loop=1
2025-03-13T17:56:06.707Z,1741888566.707 [sci2_noyo_optim:Science:PeakDetectSalinity] Running Loop=1
2025-03-13T17:56:06.707Z,1741888566.707 [sci2_noyo_optim:Science:PeakDetectSalinity](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:PeakDetectSalinity
2025-03-13T17:56:06.707Z,1741888566.707 [sci2_noyo_optim:Science:PeakDetectSalinity:A] Running Loop=1
2025-03-13T17:56:06.707Z,1741888566.707 [sci2_noyo_optim:Science:HighestSaltPeakReport] Running Loop=1
2025-03-13T17:56:06.707Z,1741888566.707 [sci2_noyo_optim:Science:HighestSaltPeakReport](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:HighestSaltPeakReport
2025-03-13T17:56:06.708Z,1741888566.708 [sci2_noyo_optim:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-03-13T17:56:06.708Z,1741888566.708 [sci2_noyo_optim:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-03-13T17:56:06.708Z,1741888566.708 [sci2_noyo_optim:Science:PeakDetectPlanktivoreLMavgROI] Running Loop=1
2025-03-13T17:56:06.708Z,1741888566.708 [sci2_noyo_optim:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:PeakDetectPlanktivoreLMavgROI
2025-03-13T17:56:06.708Z,1741888566.708 [sci2_noyo_optim:Science:PeakDetectPlanktivoreLMavgROI:A] Running Loop=1
2025-03-13T17:56:06.708Z,1741888566.708 [sci2_noyo_optim:Science:EdgeDetectPlanktivoreLMavgROI] Running Loop=1
2025-03-13T17:56:06.708Z,1741888566.708 [sci2_noyo_optim:Science:EdgeDetectPlanktivoreLMavgROI](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:EdgeDetectPlanktivoreLMavgROI
2025-03-13T17:56:06.709Z,1741888566.709 [sci2_noyo_optim:Science:EdgeDetectPlanktivoreLMavgROI:A] Running Loop=1
2025-03-13T17:56:06.709Z,1741888566.709 [sci2_noyo_optim:Science:PeakDetectPlanktivoreHMavgROI] Running Loop=1
2025-03-13T17:56:06.709Z,1741888566.709 [sci2_noyo_optim:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:PeakDetectPlanktivoreHMavgROI
2025-03-13T17:56:06.709Z,1741888566.709 [sci2_noyo_optim:Science:PeakDetectPlanktivoreHMavgROI:A] Running Loop=1
2025-03-13T17:56:06.709Z,1741888566.709 [sci2_noyo_optim:Science:PeakDetectPlanktivoreDiatoms] Running Loop=1
2025-03-13T17:56:06.709Z,1741888566.709 [sci2_noyo_optim:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:PeakDetectPlanktivoreDiatoms
2025-03-13T17:56:06.710Z,1741888566.710 [sci2_noyo_optim:Science:PeakDetectPlanktivoreDiatoms:A] Running Loop=1
2025-03-13T17:56:06.710Z,1741888566.710 [sci2_noyo_optim:Science:PeakDetectPlanktivoreDinoflagellates] Running Loop=1
2025-03-13T17:56:06.710Z,1741888566.710 [sci2_noyo_optim:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:PeakDetectPlanktivoreDinoflagellates
2025-03-13T17:56:06.710Z,1741888566.710 [sci2_noyo_optim:Science:PeakDetectPlanktivoreDinoflagellates:A] Running Loop=1
2025-03-13T17:56:06.710Z,1741888566.710 [sci2_noyo_optim:Science:ChlThreshTrigger] Running Loop=1
2025-03-13T17:56:06.710Z,1741888566.710 [sci2_noyo_optim:Science:ChlThreshTrigger](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:ChlThreshTrigger
2025-03-13T17:56:06.710Z,1741888566.710 [sci2_noyo_optim:Science:ChlThreshTrigger:A.ValueDetect] Running Loop=1
2025-03-13T17:56:06.710Z,1741888566.710 [sci2_noyo_optim:Science:ChlThreshTrigger:A.ValueDetect](INFO): Initialize.
2025-03-13T17:56:06.711Z,1741888566.711 [sci2_noyo_optim:Science:OceanCurrent] Running Loop=1
2025-03-13T17:56:06.711Z,1741888566.711 [sci2_noyo_optim:Science:OceanCurrent](DEBUG): Aggregate::initialize sci2_noyo_optim:Science:OceanCurrent
2025-03-13T17:56:06.712Z,1741888566.712 [sci2_noyo_optim:Science:OceanCurrent:A.] Running Loop=1
2025-03-13T17:56:06.712Z,1741888566.712 [sci2_noyo_optim:Science:OceanCurrent:A.](INFO): Initializing CurrentEstimator.
2025-03-13T17:56:06.712Z,1741888566.712 [sci2_noyo_optim:StandardEnvelopes] Running Loop=1
2025-03-13T17:56:06.712Z,1741888566.712 [sci2_noyo_optim:StandardEnvelopes](DEBUG): Aggregate::initialize sci2_noyo_optim:StandardEnvelopes
2025-03-13T17:56:06.712Z,1741888566.712 [sci2_noyo_optim:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-03-13T17:56:06.713Z,1741888566.713 [sci2_noyo_optim:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-03-13T17:56:06.713Z,1741888566.713 [sci2_noyo_optim:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-03-13T17:56:06.713Z,1741888566.713 [sci2_noyo_optim:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-03-13T17:56:06.713Z,1741888566.713 [sci2_noyo_optim:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-03-13T17:56:06.713Z,1741888566.713 [sci2_noyo_optim:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-03-13T17:56:06.713Z,1741888566.713 [sci2_noyo_optim:BackseatDriver] Running Loop=1
2025-03-13T17:56:06.713Z,1741888566.713 [sci2_noyo_optim:BackseatDriver](DEBUG): Aggregate::initialize sci2_noyo_optim:BackseatDriver
2025-03-13T17:56:06.713Z,1741888566.713 [sci2_noyo_optim:BackseatDriver:A.BackseatDriver] Running Loop=1
2025-03-13T17:56:06.713Z,1741888566.713 [sci2_noyo_optim:J] Running Loop=1
2025-03-13T17:56:06.713Z,1741888566.713 [sci2_noyo_optim:PowerOnly] Running Loop=1
2025-03-13T17:56:06.714Z,1741888566.714 [sci2_noyo_optim:PowerOnly](DEBUG): Aggregate::initialize sci2_noyo_optim:PowerOnly
2025-03-13T17:56:06.714Z,1741888566.714 [sci2_noyo_optim:PowerOnly:A] Running Loop=1
2025-03-13T17:56:06.714Z,1741888566.714 [sci2_noyo_optim:PowerOnly:B] Running Loop=1
2025-03-13T17:56:06.714Z,1741888566.714 [sci2_noyo_optim:PowerOnly:C] Running Loop=1
2025-03-13T17:56:06.714Z,1741888566.714 [sci2_noyo_optim:PowerOnly:D] Running Loop=1
2025-03-13T17:56:06.714Z,1741888566.714 [sci2_noyo_optim:PowerOnly:E.Wait] Running Loop=1
2025-03-13T17:56:06.714Z,1741888566.714 [sci2_noyo_optim:PowerOnly:E.Wait](DEBUG): Initialize Wait Component.
2025-03-13T17:56:06.714Z,1741888566.714 [sci2_noyo_optim:L] Running Loop=1
2025-03-13T17:56:06.714Z,1741888566.714 [sci2_noyo_optim:N] Running Loop=1
2025-03-13T17:56:06.714Z,1741888566.714 [sci2_noyo_optim:O.Buoyancy] Running Loop=1
2025-03-13T17:56:06.714Z,1741888566.714 [sci2_noyo_optim:O.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-03-13T17:56:06.715Z,1741888566.715 [sci2_noyo_optim:C] Running Loop=1
2025-03-13T17:56:06.716Z,1741888566.716 [sci2_noyo_optim:O.Buoyancy] Running Loop=1
2025-03-13T17:56:06.716Z,1741888566.716 [sci2_noyo_optim:N] Running Loop=1
2025-03-13T17:56:06.717Z,1741888566.717 [sci2_noyo_optim:N](DEBUG): Initialize ReadDataComponent to sense MultiRay.lightModeLog
2025-03-13T17:56:06.717Z,1741888566.717 [sci2_noyo_optim:L] Running Loop=1
2025-03-13T17:56:06.717Z,1741888566.717 [sci2_noyo_optim:PowerOnly] Running Loop=1
2025-03-13T17:56:06.718Z,1741888566.718 [sci2_noyo_optim:PowerOnly:D] Stopped
2025-03-13T17:56:06.718Z,1741888566.718 [sci2_noyo_optim:PowerOnly:C] Stopped
2025-03-13T17:56:06.718Z,1741888566.718 [sci2_noyo_optim:PowerOnly:B] Running Loop=1
2025-03-13T17:56:06.718Z,1741888566.718 [sci2_noyo_optim:PowerOnly:B](DEBUG): Initialize ReadDataComponent to sense PowerOnly.sampleLoad1
2025-03-13T17:56:06.718Z,1741888566.718 [sci2_noyo_optim:PowerOnly:A] Stopped
2025-03-13T17:56:06.718Z,1741888566.718 [sci2_noyo_optim:J] Running Loop=1
2025-03-13T17:56:06.719Z,1741888566.719 [sci2_noyo_optim:BackseatDriver] Running Loop=1
2025-03-13T17:56:06.719Z,1741888566.719 [sci2_noyo_optim:BackseatDriver:A.BackseatDriver](INFO): Initializing backseat
2025-03-13T17:56:06.738Z,1741888566.738 [sci2_noyo_optim:C] Stopped
2025-03-13T17:56:06.738Z,1741888566.738 [sci2_noyo_optim:D] Running Loop=1
2025-03-13T17:56:06.738Z,1741888566.738 [sci2_noyo_optim:StandardEnvelopes] Running Loop=1
2025-03-13T17:56:06.738Z,1741888566.738 [sci2_noyo_optim:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-03-13T17:56:06.738Z,1741888566.738 [sci2_noyo_optim:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-03-13T17:56:06.739Z,1741888566.739 [sci2_noyo_optim:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-03-13T17:56:06.739Z,1741888566.739 [sci2_noyo_optim:Science] Running Loop=1
2025-03-13T17:56:06.760Z,1741888566.760 [sci2_noyo_optim:Science:ChlThreshTrigger] Stopped
2025-03-13T17:56:06.761Z,1741888566.761 [sci2_noyo_optim:Science:ChlThreshTrigger](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:ChlThreshTrigger
2025-03-13T17:56:06.761Z,1741888566.761 [sci2_noyo_optim:Science:ChlThreshTrigger:A.ValueDetect] Stopped
2025-03-13T17:56:06.761Z,1741888566.761 [sci2_noyo_optim:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Uninitialize.
2025-03-13T17:56:06.761Z,1741888566.761 [sci2_noyo_optim:Science:PeakDetectPlanktivoreDinoflagellates] Stopped
2025-03-13T17:56:06.761Z,1741888566.761 [sci2_noyo_optim:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:PeakDetectPlanktivoreDinoflagellates
2025-03-13T17:56:06.761Z,1741888566.761 [sci2_noyo_optim:Science:PeakDetectPlanktivoreDinoflagellates:A] Stopped
2025-03-13T17:56:06.761Z,1741888566.761 [sci2_noyo_optim:Science:PeakDetectPlanktivoreDiatoms] Stopped
2025-03-13T17:56:06.761Z,1741888566.761 [sci2_noyo_optim:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:PeakDetectPlanktivoreDiatoms
2025-03-13T17:56:06.761Z,1741888566.761 [sci2_noyo_optim:Science:PeakDetectPlanktivoreDiatoms:A] Stopped
2025-03-13T17:56:06.761Z,1741888566.761 [sci2_noyo_optim:Science:PeakDetectPlanktivoreHMavgROI] Stopped
2025-03-13T17:56:06.761Z,1741888566.761 [sci2_noyo_optim:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:PeakDetectPlanktivoreHMavgROI
2025-03-13T17:56:06.761Z,1741888566.761 [sci2_noyo_optim:Science:PeakDetectPlanktivoreHMavgROI:A] Stopped
2025-03-13T17:56:06.762Z,1741888566.762 [sci2_noyo_optim:Science:EdgeDetectPlanktivoreLMavgROI] Stopped
2025-03-13T17:56:06.762Z,1741888566.762 [sci2_noyo_optim:Science:EdgeDetectPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:EdgeDetectPlanktivoreLMavgROI
2025-03-13T17:56:06.762Z,1741888566.762 [sci2_noyo_optim:Science:EdgeDetectPlanktivoreLMavgROI:A] Stopped
2025-03-13T17:56:06.762Z,1741888566.762 [sci2_noyo_optim:Science:PeakDetectPlanktivoreLMavgROI] Stopped
2025-03-13T17:56:06.762Z,1741888566.762 [sci2_noyo_optim:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:PeakDetectPlanktivoreLMavgROI
2025-03-13T17:56:06.762Z,1741888566.762 [sci2_noyo_optim:Science:PeakDetectPlanktivoreLMavgROI:A] Stopped
2025-03-13T17:56:06.762Z,1741888566.762 [sci2_noyo_optim:Science:HighestSaltPeakReport] Stopped
2025-03-13T17:56:06.762Z,1741888566.762 [sci2_noyo_optim:Science:HighestSaltPeakReport](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:HighestSaltPeakReport
2025-03-13T17:56:06.762Z,1741888566.762 [sci2_noyo_optim:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Stopped
2025-03-13T17:56:06.762Z,1741888566.762 [sci2_noyo_optim:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-03-13T17:56:06.762Z,1741888566.762 [sci2_noyo_optim:Science:PeakDetectSalinity] Stopped
2025-03-13T17:56:06.762Z,1741888566.762 [sci2_noyo_optim:Science:PeakDetectSalinity](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:PeakDetectSalinity
2025-03-13T17:56:06.762Z,1741888566.762 [sci2_noyo_optim:Science:PeakDetectSalinity:A] Stopped
2025-03-13T17:56:06.763Z,1741888566.763 [sci2_noyo_optim:Science:PeakDetectFDOM] Stopped
2025-03-13T17:56:06.763Z,1741888566.763 [sci2_noyo_optim:Science:PeakDetectFDOM](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:PeakDetectFDOM
2025-03-13T17:56:06.763Z,1741888566.763 [sci2_noyo_optim:Science:PeakDetectFDOM:A] Stopped
2025-03-13T17:56:06.763Z,1741888566.763 [sci2_noyo_optim:Science:HighestOilPeakReport] Stopped
2025-03-13T17:56:06.763Z,1741888566.763 [sci2_noyo_optim:Science:HighestOilPeakReport](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:HighestOilPeakReport
2025-03-13T17:56:06.767Z,1741888566.767 [sci2_noyo_optim:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Stopped
2025-03-13T17:56:06.767Z,1741888566.767 [sci2_noyo_optim:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-03-13T17:56:06.767Z,1741888566.767 [sci2_noyo_optim:Science:PeakDetectOil] Stopped
2025-03-13T17:56:06.768Z,1741888566.768 [sci2_noyo_optim:Science:PeakDetectOil](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:PeakDetectOil
2025-03-13T17:56:06.768Z,1741888566.768 [sci2_noyo_optim:Science:PeakDetectOil:A] Stopped
2025-03-13T17:56:06.768Z,1741888566.768 [sci2_noyo_optim:Science:PeakDetectNO3] Stopped
2025-03-13T17:56:06.768Z,1741888566.768 [sci2_noyo_optim:Science:PeakDetectNO3](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:PeakDetectNO3
2025-03-13T17:56:06.768Z,1741888566.768 [sci2_noyo_optim:Science:PeakDetectNO3:A] Stopped
2025-03-13T17:56:06.768Z,1741888566.768 [sci2_noyo_optim:Science:HighestChlPeakReport] Stopped
2025-03-13T17:56:06.768Z,1741888566.768 [sci2_noyo_optim:Science:HighestChlPeakReport](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:HighestChlPeakReport
2025-03-13T17:56:06.768Z,1741888566.768 [sci2_noyo_optim:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Stopped
2025-03-13T17:56:06.768Z,1741888566.768 [sci2_noyo_optim:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-03-13T17:56:06.768Z,1741888566.768 [sci2_noyo_optim:Science:EdgeDetectChl] Stopped
2025-03-13T17:56:06.768Z,1741888566.768 [sci2_noyo_optim:Science:EdgeDetectChl](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:EdgeDetectChl
2025-03-13T17:56:06.768Z,1741888566.768 [sci2_noyo_optim:Science:EdgeDetectChl:A] Stopped
2025-03-13T17:56:06.768Z,1741888566.768 [sci2_noyo_optim:Science:PeakDetectChl] Stopped
2025-03-13T17:56:06.769Z,1741888566.769 [sci2_noyo_optim:Science:PeakDetectChl](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:PeakDetectChl
2025-03-13T17:56:06.769Z,1741888566.769 [sci2_noyo_optim:Science:PeakDetectChl:A] Stopped
2025-03-13T17:56:06.769Z,1741888566.769 [sci2_noyo_optim:Science:OceanCurrent:A.] Running Loop=1
2025-03-13T17:56:06.769Z,1741888566.769 [sci2_noyo_optim:Science:Read_Oil] Stopped
2025-03-13T17:56:06.769Z,1741888566.769 [sci2_noyo_optim:Science:F] Stopped
2025-03-13T17:56:06.769Z,1741888566.769 [sci2_noyo_optim:Science:E] Running Loop=1
2025-03-13T17:56:06.769Z,1741888566.769 [sci2_noyo_optim:Science:E](DEBUG): Initialize ReadDataComponent to sense mass_concentration_of_chlorophyll_in_sea_water
2025-03-13T17:56:06.770Z,1741888566.770 [sci2_noyo_optim:Science:D] Stopped
2025-03-13T17:56:06.770Z,1741888566.770 [sci2_noyo_optim:Science:C] Running Loop=1
2025-03-13T17:56:06.770Z,1741888566.770 [sci2_noyo_optim:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_temperature
2025-03-13T17:56:06.770Z,1741888566.770 [sci2_noyo_optim:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_salinity
2025-03-13T17:56:06.771Z,1741888566.771 [sci2_noyo_optim:Science:B] Running Loop=1
2025-03-13T17:56:06.773Z,1741888566.773 [sci2_noyo_optim:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_temperature
2025-03-13T17:56:06.773Z,1741888566.773 [sci2_noyo_optim:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_salinity
2025-03-13T17:56:06.773Z,1741888566.773 [sci2_noyo_optim:Science:A] Stopped
2025-03-13T17:56:06.791Z,1741888566.791 [BackseatComponent](INFO): Powering up
2025-03-13T17:56:06.792Z,1741888566.792 [BackseatComponent](INFO): Subscribing to LCM channels.
2025-03-13T17:56:06.837Z,1741888566.837 [WetLabsBB2FL](INFO): Powering up
2025-03-13T17:56:07.081Z,1741888567.081 [PowerOnly](INFO): Powering up loadControl
2025-03-13T17:56:07.128Z,1741888567.128 [sci2_noyo_optim:D] Stopped
2025-03-13T17:56:07.128Z,1741888567.128 [sci2_noyo_optim:E] Running Loop=1
2025-03-13T17:56:07.508Z,1741888567.508 [sci2_noyo_optim:E] Stopped
2025-03-13T17:56:07.508Z,1741888567.508 [sci2_noyo_optim:G] Running Loop=1
2025-03-13T17:56:07.916Z,1741888567.916 [sci2_noyo_optim:G] Stopped
2025-03-13T17:56:07.916Z,1741888567.916 [sci2_noyo_optim:H] Running Loop=1
2025-03-13T17:56:08.303Z,1741888568.303 [sci2_noyo_optim:H] Stopped
2025-03-13T17:56:08.304Z,1741888568.304 [sci2_noyo_optim:M] Running Loop=1
2025-03-13T17:56:08.705Z,1741888568.705 [sci2_noyo_optim:M] Stopped
2025-03-13T17:56:08.705Z,1741888568.705 [sci2_noyo_optim:StartingMission] Running Loop=1
2025-03-13T17:56:08.706Z,1741888568.706 [sci2_noyo_optim:StartingMission](DEBUG): Aggregate::initialize sci2_noyo_optim:StartingMission
2025-03-13T17:56:09.114Z,1741888569.114 [sci2_noyo_optim:SurfaceComms] Running Loop=1
2025-03-13T17:56:09.114Z,1741888569.114 [sci2_noyo_optim:SurfaceComms](DEBUG): Aggregate::initialize sci2_noyo_optim:SurfaceComms
2025-03-13T17:56:09.114Z,1741888569.114 [sci2_noyo_optim:SurfaceComms:A] Running Loop=1
2025-03-13T17:56:09.114Z,1741888569.114 [sci2_noyo_optim:SurfaceComms:A] Stopped
2025-03-13T17:56:09.115Z,1741888569.115 [sci2_noyo_optim:SurfaceComms:B] Running Loop=1
2025-03-13T17:56:09.115Z,1741888569.115 [sci2_noyo_optim:SurfaceComms:B](DEBUG): Aggregate::initialize sci2_noyo_optim:SurfaceComms:B
2025-03-13T17:56:09.393Z,1741888569.393 [CTD_Seabird](ERROR): Pressure reading out of range: -10.110000 decibar
2025-03-13T17:56:09.394Z,1741888569.394 [CTD_Seabird](INFO): some bad data, not updating bins
2025-03-13T17:56:09.543Z,1741888569.543 [sci2_noyo_optim:NeedComms] Running Loop=1
2025-03-13T17:56:09.543Z,1741888569.543 [sci2_noyo_optim:NeedComms](DEBUG): Aggregate::initialize sci2_noyo_optim:NeedComms
2025-03-13T17:56:09.543Z,1741888569.543 [sci2_noyo_optim:NeedComms:B.GoToSurface] Running Loop=1
2025-03-13T17:56:09.544Z,1741888569.544 [sci2_noyo_optim:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-03-13T17:56:09.544Z,1741888569.544 [sci2_noyo_optim:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-03-13T17:56:09.544Z,1741888569.544 [sci2_noyo_optim:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-03-13T17:56:09.545Z,1741888569.545 [sci2_noyo_optim:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-03-13T17:56:09.545Z,1741888569.545 [sci2_noyo_optim:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-03-13T17:56:09.545Z,1741888569.545 [sci2_noyo_optim:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-03-13T17:56:09.546Z,1741888569.546 [sci2_noyo_optim:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-03-13T17:56:09.546Z,1741888569.546 [sci2_noyo_optim:NeedComms:A] Running Loop=1
2025-03-13T17:56:09.547Z,1741888569.547 [sci2_noyo_optim:NeedComms:A](INFO): last time_fix was:  1741888488.000000 second since 1970/01/01T00:00:00Z 
2025-03-13T17:56:09.547Z,1741888569.547 [sci2_noyo_optim:NeedComms:A] Stopped
2025-03-13T17:56:09.952Z,1741888569.952 [sci2_noyo_optim:NeedComms:C] Running Loop=1
2025-03-13T17:56:10.332Z,1741888570.332 [sci2_noyo_optim:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-03-13T17:56:10.398Z,1741888570.398 [CTD_Seabird](ERROR): Pressure reading out of range: -49.580002 decibar
2025-03-13T17:56:10.399Z,1741888570.399 [CTD_Seabird](INFO): some bad data, not updating bins
2025-03-13T17:56:11.117Z,1741888571.117 [MultiRay](IMPORTANT): MultiRay white lights ON
2025-03-13T17:56:19.556Z,1741888579.556 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T17:56:20.414Z,1741888580.414 [NAL9602](INFO): SBD MO Status=2, MOMSN=18585, MT Status=2, MTMSN=0
2025-03-13T17:56:20.414Z,1741888580.414 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-03-13T17:56:21.631Z,1741888581.631 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,175620.00,A,3648.06609,N,12152.89181,W,0.136,357.90,130325,,,D*78
2025-03-13T17:56:21.634Z,1741888581.634 [NAL9602](INFO): GPS fix at 20250313T175620: (36.801102, -121.881530)
2025-03-13T17:56:21.647Z,1741888581.647 [sci2_noyo_optim:NeedComms:C] Stopped
2025-03-13T17:56:21.648Z,1741888581.648 [sci2_noyo_optim:NeedComms:D] Running Loop=1
2025-03-13T17:56:22.072Z,1741888582.072 [sci2_noyo_optim:NeedComms:D](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-03-13T17:56:50.680Z,1741888610.680 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T17:57:05.586Z,1741888625.586 [BackseatComponent](IMPORTANT): ikshana: running backseat application.
2025-03-13T17:57:05.587Z,1741888625.587 [BackseatComponent](INFO): Failure count cleared after critical for BackseatComponent
2025-03-13T17:57:21.812Z,1741888641.812 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T17:57:52.948Z,1741888672.948 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T17:58:24.068Z,1741888704.068 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T17:58:41.463Z,1741888721.463 [NAL9602](INFO): SBD MO Status=1, MOMSN=18585, MT Status=0, MTMSN=0
2025-03-13T17:58:41.515Z,1741888721.515 [NAL9602](INFO): Sent 72 bytes from file Logs/20250311T232940/Courier0314.lzma
2025-03-13T17:58:41.516Z,1741888721.516 [NAL9602](INFO): Packets left to send: 0
2025-03-13T17:58:53.685Z,1741888733.685 [NAL9602](INFO): SBD MO Status=1, MOMSN=18586, MT Status=0, MTMSN=0
2025-03-13T17:58:53.744Z,1741888733.744 [NAL9602](INFO): Sent 332 bytes from file Logs/20250311T232940/Express0312.lzma
2025-03-13T17:58:53.744Z,1741888733.744 [NAL9602](INFO): Packets left to send: 1
2025-03-13T17:58:55.204Z,1741888735.204 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T17:59:02.219Z,1741888742.219 [NAL9602](INFO): SBD MO Status=1, MOMSN=18587, MT Status=0, MTMSN=0
2025-03-13T17:59:02.272Z,1741888742.272 [NAL9602](INFO): Sent 242 bytes from file Logs/20250311T232940/Express0312.lzma
2025-03-13T17:59:02.272Z,1741888742.272 [NAL9602](INFO): Packets left to send: 0
2025-03-13T17:59:15.230Z,1741888755.230 [NAL9602](INFO): SBD MO Status=2, MOMSN=18588, MT Status=2, MTMSN=0
2025-03-13T17:59:15.231Z,1741888755.231 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-03-13T17:59:26.328Z,1741888766.328 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T17:59:35.906Z,1741888775.906 [NAL9602](INFO): SBD MO Status=1, MOMSN=18588, MT Status=0, MTMSN=0
2025-03-13T17:59:35.963Z,1741888775.963 [NAL9602](INFO): Sent 332 bytes from file Logs/20250311T232940/Express0315.lzma
2025-03-13T17:59:35.964Z,1741888775.964 [NAL9602](INFO): Packets left to send: 1
2025-03-13T17:59:48.074Z,1741888788.074 [NAL9602](INFO): SBD MO Status=1, MOMSN=18589, MT Status=0, MTMSN=0
2025-03-13T17:59:48.123Z,1741888788.123 [NAL9602](INFO): Sent 166 bytes from file Logs/20250311T232940/Express0315.lzma
2025-03-13T17:59:48.124Z,1741888788.124 [NAL9602](INFO): Packets left to send: 0
2025-03-13T17:59:56.214Z,1741888796.214 [NAL9602](INFO): SBD MO Status=0, MOMSN=18590, MT Status=0, MTMSN=0
2025-03-13T17:59:57.452Z,1741888797.452 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T18:00:26.118Z,1741888826.118 [NAL9602](INFO): SBD MO Status=1, MOMSN=18591, MT Status=0, MTMSN=0
2025-03-13T18:00:26.168Z,1741888826.168 [NAL9602](INFO): Sent 39 bytes from file Logs/20250311T232940/Courier0317.lzma
2025-03-13T18:00:26.168Z,1741888826.168 [NAL9602](INFO): Packets left to send: 0
2025-03-13T18:00:28.584Z,1741888828.584 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T18:00:34.304Z,1741888834.304 [NAL9602](INFO): SBD MO Status=1, MOMSN=18592, MT Status=0, MTMSN=0
2025-03-13T18:00:34.359Z,1741888834.359 [NAL9602](INFO): Sent 147 bytes from file Logs/20250311T232940/Express0318.lzma
2025-03-13T18:00:34.360Z,1741888834.360 [NAL9602](INFO): Packets left to send: 0
2025-03-13T18:00:44.404Z,1741888844.404 [NAL9602](INFO): SBD MO Status=0, MOMSN=18593, MT Status=0, MTMSN=0
2025-03-13T18:00:44.507Z,1741888844.507 [sci2_noyo_optim:NeedComms:D] Stopped
2025-03-13T18:00:44.508Z,1741888844.508 [sci2_noyo_optim:NeedComms:E] Running Loop=1
2025-03-13T18:00:44.832Z,1741888844.832 [sci2_noyo_optim:NeedComms:E](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-03-13T18:00:46.387Z,1741888846.387 [DataOverHttps](INFO): Received command: load Transport/keepstation.tl;set keepstation.MissionTimeout 6 h;set keepstation.Latitude 36.797 degree;set keepstation.Longitude -121.847 degree;run
2025-03-13T18:00:46.506Z,1741888846.506 [CommandExec](IMPORTANT): got command load ./Missions/Transport/keepstation.tl
2025-03-13T18:00:46.506Z,1741888846.506 [MissionManager](INFO): Uninitializing Mission sci2_noyo_optim
2025-03-13T18:00:46.506Z,1741888846.506 [sci2_noyo_optim] Stopped
2025-03-13T18:00:46.507Z,1741888846.507 [sci2_noyo_optim](DEBUG): Aggregate::uninitialize sci2_noyo_optim
2025-03-13T18:00:46.507Z,1741888846.507 [sci2_noyo_optim:Science] Stopped
2025-03-13T18:00:46.507Z,1741888846.507 [sci2_noyo_optim:Science](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science
2025-03-13T18:00:46.507Z,1741888846.507 [sci2_noyo_optim:Science:B] Stopped
2025-03-13T18:00:46.507Z,1741888846.507 [sci2_noyo_optim:Science:C] Stopped
2025-03-13T18:00:46.507Z,1741888846.507 [sci2_noyo_optim:Science:E] Stopped
2025-03-13T18:00:46.507Z,1741888846.507 [sci2_noyo_optim:Science:OceanCurrent] Stopped
2025-03-13T18:00:46.507Z,1741888846.507 [sci2_noyo_optim:Science:OceanCurrent](DEBUG): Aggregate::uninitialize sci2_noyo_optim:Science:OceanCurrent
2025-03-13T18:00:46.507Z,1741888846.507 [sci2_noyo_optim:Science:OceanCurrent:A.] Stopped
2025-03-13T18:00:46.507Z,1741888846.507 [sci2_noyo_optim:StandardEnvelopes] Stopped
2025-03-13T18:00:46.508Z,1741888846.508 [sci2_noyo_optim:StandardEnvelopes](DEBUG): Aggregate::uninitialize sci2_noyo_optim:StandardEnvelopes
2025-03-13T18:00:46.508Z,1741888846.508 [sci2_noyo_optim:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-03-13T18:00:46.508Z,1741888846.508 [sci2_noyo_optim:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-03-13T18:00:46.508Z,1741888846.508 [sci2_noyo_optim:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-03-13T18:00:46.508Z,1741888846.508 [sci2_noyo_optim:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-03-13T18:00:46.508Z,1741888846.508 [sci2_noyo_optim:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-03-13T18:00:46.508Z,1741888846.508 [sci2_noyo_optim:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-03-13T18:00:46.508Z,1741888846.508 [sci2_noyo_optim:NeedComms] Stopped
2025-03-13T18:00:46.508Z,1741888846.508 [sci2_noyo_optim:NeedComms](DEBUG): Aggregate::uninitialize sci2_noyo_optim:NeedComms
2025-03-13T18:00:46.508Z,1741888846.508 [sci2_noyo_optim:NeedComms:B.GoToSurface] Stopped
2025-03-13T18:00:46.508Z,1741888846.508 [sci2_noyo_optim:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-03-13T18:00:46.508Z,1741888846.508 [sci2_noyo_optim:NeedComms:E] Stopped
2025-03-13T18:00:46.508Z,1741888846.508 [sci2_noyo_optim:BackseatDriver] Stopped
2025-03-13T18:00:46.509Z,1741888846.509 [sci2_noyo_optim:BackseatDriver](DEBUG): Aggregate::uninitialize sci2_noyo_optim:BackseatDriver
2025-03-13T18:00:46.509Z,1741888846.509 [sci2_noyo_optim:BackseatDriver:A.BackseatDriver] Stopped
2025-03-13T18:00:46.509Z,1741888846.509 [sci2_noyo_optim:J] Stopped
2025-03-13T18:00:46.509Z,1741888846.509 [sci2_noyo_optim:PowerOnly] Stopped
2025-03-13T18:00:46.509Z,1741888846.509 [sci2_noyo_optim:PowerOnly](DEBUG): Aggregate::uninitialize sci2_noyo_optim:PowerOnly
2025-03-13T18:00:46.509Z,1741888846.509 [sci2_noyo_optim:PowerOnly:B] Stopped
2025-03-13T18:00:46.509Z,1741888846.509 [sci2_noyo_optim:PowerOnly:E.Wait] Stopped
2025-03-13T18:00:46.509Z,1741888846.509 [sci2_noyo_optim:PowerOnly:E.Wait](DEBUG): Uninitialize Wait Component.
2025-03-13T18:00:46.509Z,1741888846.509 [sci2_noyo_optim:L] Stopped
2025-03-13T18:00:46.509Z,1741888846.509 [sci2_noyo_optim:N] Stopped
2025-03-13T18:00:46.509Z,1741888846.509 [sci2_noyo_optim:O.Buoyancy] Stopped
2025-03-13T18:00:46.509Z,1741888846.509 [sci2_noyo_optim:O.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-03-13T18:00:46.509Z,1741888846.509 [sci2_noyo_optim:SurfaceComms] Stopped
2025-03-13T18:00:46.510Z,1741888846.510 [sci2_noyo_optim:SurfaceComms](DEBUG): Aggregate::uninitialize sci2_noyo_optim:SurfaceComms
2025-03-13T18:00:46.510Z,1741888846.510 [sci2_noyo_optim:SurfaceComms:B] Stopped
2025-03-13T18:00:46.510Z,1741888846.510 [sci2_noyo_optim:SurfaceComms:B](DEBUG): Aggregate::uninitialize sci2_noyo_optim:SurfaceComms:B
2025-03-13T18:00:46.510Z,1741888846.510 [sci2_noyo_optim:StartingMission] Stopped
2025-03-13T18:00:46.510Z,1741888846.510 [sci2_noyo_optim:StartingMission](DEBUG): Aggregate::uninitialize sci2_noyo_optim:StartingMission
2025-03-13T18:00:46.723Z,1741888846.723 [WetLabsBB2FL](INFO): Powering down
2025-03-13T18:00:46.831Z,1741888846.831 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,180045.00,A,3648.09067,N,12152.89375,W,0.214,18.09,130325,,,D*44
2025-03-13T18:00:46.833Z,1741888846.833 [NAL9602](INFO): GPS fix at 20250313T180045: (36.801511, -121.881563)
2025-03-13T18:00:46.852Z,1741888846.852 [MissionManager](INFO): Loading Mission from file: ./Missions/Transport/keepstation.tl
2025-03-13T18:00:46.852Z,1741888846.852 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Transport/keepstation.tl
2025-03-13T18:00:46.891Z,1741888846.891 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Transport/keepstation.tl
2025-03-13T18:00:47.392Z,1741888847.392 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003300
2025-03-13T18:00:47.497Z,1741888847.497 [BackseatComponent](INFO): Sent LCM shutdown request.
2025-03-13T18:00:47.497Z,1741888847.497 [BackseatComponent](INFO): Shutdown requested. Waiting (18.00 sec to power down.).
2025-03-13T18:00:47.837Z,1741888847.837 [MissionManager](DEBUG): TethyslAPI: ./Missions/Transport/keepstation.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Mission Id="keepstation">
    <DefineArg Name="MissionTimeout">
        <Units:hour />
        <Value>4</Value>
    </DefineArg>
    <DefineArg Name="NeedCommsTime">
        <Units:minute />
        <Value>45</Value>
    </DefineArg>
    <DefineArg Name="Latitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Longitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Depth">
        <Units:meter />
        <Value>30</Value>
    </DefineArg>
    <DefineArg Name="ApproachDepth">
        <Units:meter />
        <Value>15</Value>
    </DefineArg>
    <DefineArg Name="DepthDeadband">
        <Units:meter />
        <Value>4</Value>
    </DefineArg>
    <DefineArg Name="Speed">
        <Units:meter_per_second />
        <Value>0.75</Value>
    </DefineArg>
    <DefineArg Name="Radius">
        <Units:meter />
        <Value>200</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>45</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:kilometer />
        <Value>2</Value>
    </DefineArg>
    <Timeout Duration="MissionTimeout" />
    <Insert Id="NeedComms" Filename="Insert/NeedComms.tl" />
    <Assign>
        <Sequence />
        <Arg Name="NeedComms:DiveInterval" />
        <Arg Name="NeedCommsTime" />
    </Assign>
    <Insert Filename="Insert/StandardEnvelopes.tl" />
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MaxDepth" />
        <Arg Name="MaxDepth" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MinOffshore" />
        <Arg Name="MinOffshore" />
    </Assign>
    <Insert Filename="Insert/BackseatDriver.tl" />
    <Insert Filename="Insert/PowerOnly.tl" />
    <Guidance:Pitch>
        <Parallel />
        <Setting>
            <Guidance:Pitch.massPosition />
            <Control:VerticalControl.massDefault />
        </Setting>
    </Guidance:Pitch>
    <Call RefId="NeedComms" Id="StartingMission" />
    <Aggregate Id="TransitToStation">
        <Sequence />
        <Guidance:Buoyancy>
            <Parallel />
            <Setting>
                <Guidance:Buoyancy.position />
                <Control:VerticalControl.buoyancyNeutral />
            </Setting>
        </Guidance:Buoyancy>
        <Guidance:Pitch>
            <Parallel />
            <Setting>
                <Guidance:Pitch.depth />
                <Arg Name="ApproachDepth" />
            </Setting>
        </Guidance:Pitch>
        <Guidance:SetSpeed>
            <Parallel />
            <Setting>
                <Guidance:SetSpeed.speed />
                <Arg Name="Speed" />
            </Setting>
        </Guidance:SetSpeed>
        <Guidance:Waypoint Id="Wpt1">
            <Sequence />
            <Setting>
                <Guidance:Waypoint.latitude />
                <Arg Name="Latitude" />
            </Setting>
            <Setting>
                <Guidance:Waypoint.longitude />
                <Arg Name="Longitude" />
            </Setting>
        </Guidance:Waypoint>
    </Aggregate>
    <Call RefId="NeedComms" Id="OnStation" />
    <Aggregate Id="KeepStation">
        <Sequence />
        <Assign>
            <Parallel />
            <Control:VerticalControl.depthDeadband />
            <Arg Name="DepthDeadband" />
        </Assign>
        <Guidance:Pitch>
            <Parallel />
            <Setting>
                <Guidance:Pitch.depth />
                <Arg Name="Depth" />
            </Setting>
        </Guidance:Pitch>
        <Guidance:KeepStation>
            <Parallel />
            <Setting>
                <Guidance:KeepStation.latitude />
                <Arg Name="Latitude" />
            </Setting>
            <Setting>
                <Guidance:KeepStation.longitude />
                <Arg Name="Longitude" />
            </Setting>
            <Setting>
                <Guidance:KeepStation.radius />
                <Arg Name="Radius" />
            </Setting>
            <Setting>
                <Guidance:KeepStation.speed />
                <Arg Name="Speed" />
            </Setting>
        </Guidance:KeepStation>
        <Guidance:Wait>
            <Sequence />
            <Setting>
                <Guidance:Wait.duration />
                <Arg Name="MissionTimeout" />
            </Setting>
        </Guidance:Wait>
    </Aggregate>
</Mission>

2025-03-13T18:00:47.842Z,1741888847.842 [MissionManager](INFO): DefineArg keepstation.MissionTimeout = 4.000000 h
2025-03-13T18:00:47.845Z,1741888847.845 [MissionManager](INFO): DefineArg keepstation.NeedCommsTime = 45.000000 min
2025-03-13T18:00:47.847Z,1741888847.847 [MissionManager](INFO): DefineArg keepstation.Latitude = nan arcdeg
2025-03-13T18:00:47.850Z,1741888847.850 [MissionManager](INFO): DefineArg keepstation.Longitude = nan arcdeg
2025-03-13T18:00:47.852Z,1741888847.852 [MissionManager](INFO): DefineArg keepstation.Depth = 30.000000 m
2025-03-13T18:00:47.854Z,1741888847.854 [MissionManager](INFO): DefineArg keepstation.ApproachDepth = 15.000000 m
2025-03-13T18:00:47.857Z,1741888847.857 [MissionManager](INFO): DefineArg keepstation.DepthDeadband = 4.000000 m
2025-03-13T18:00:47.859Z,1741888847.859 [MissionManager](INFO): DefineArg keepstation.Speed = 0.750000 m/s
2025-03-13T18:00:47.861Z,1741888847.861 [MissionManager](INFO): DefineArg keepstation.Radius = 200.000000 m
2025-03-13T18:00:47.864Z,1741888847.864 [MissionManager](INFO): DefineArg keepstation.MaxDepth = 45.000000 m
2025-03-13T18:00:47.866Z,1741888847.866 [MissionManager](INFO): DefineArg keepstation.MinOffshore = 2.000000 km
2025-03-13T18:00:47.867Z,1741888847.867 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl
2025-03-13T18:00:47.867Z,1741888847.867 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl
2025-03-13T18:00:47.869Z,1741888847.869 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl
2025-03-13T18:00:48.222Z,1741888848.222 [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>

2025-03-13T18:00:48.227Z,1741888848.227 [MissionManager](INFO): DefineArg keepstation:NeedComms.DiveInterval = 1.000000 h
2025-03-13T18:00:48.229Z,1741888848.229 [MissionManager](INFO): DefineArg keepstation:NeedComms.WaitForPitchUp = 10.000000 min
2025-03-13T18:00:48.232Z,1741888848.232 [MissionManager](INFO): DefineArg keepstation:NeedComms.SurfacePitch = 20.000000 arcdeg
2025-03-13T18:00:48.234Z,1741888848.234 [MissionManager](INFO): DefineArg keepstation:NeedComms.SurfaceDepthRate = nan m/s
2025-03-13T18:00:48.264Z,1741888848.264 [MissionManager](INFO): DefineArg keepstation:NeedComms.SurfaceSpeed = 1.000000 m/s
2025-03-13T18:00:48.266Z,1741888848.266 [MissionManager](INFO): DefineArg keepstation:NeedComms.SurfacingTimeout = 1000.000000 s
2025-03-13T18:00:48.269Z,1741888848.269 [MissionManager](INFO): DefineArg keepstation:NeedComms.GPSTimeout = 7.000000 min
2025-03-13T18:00:48.271Z,1741888848.271 [MissionManager](INFO): DefineArg keepstation:NeedComms.CommsTimeout = 30.000000 min
2025-03-13T18:00:48.277Z,1741888848.277 [keepstation:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2025-03-13T18:00:48.322Z,1741888848.322 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-03-13T18:00:48.322Z,1741888848.322 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-03-13T18:00:48.323Z,1741888848.323 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-03-13T18:00:48.399Z,1741888848.399 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/StandardEnvelopes.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="StandardEnvelopes">
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="MaxDepthIgnore">
        <Units:meter />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>200</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:meter />
        <Value>2000</Value>
    </DefineArg>
    <Parallel />
    <Guidance:AltitudeEnvelope>
        <Parallel />
        <Setting>
            <Guidance:AltitudeEnvelope.minAltitude />
            <Arg Name="MinAltitude" />
        </Setting>
        <Setting>
            <Guidance:AltitudeEnvelope.maxDepthIgnore />
            <Arg Name="MaxDepthIgnore" />
        </Setting>
    </Guidance:AltitudeEnvelope>
    <Guidance:DepthEnvelope>
        <Parallel />
        <Setting>
            <Guidance:DepthEnvelope.maxDepth />
            <Arg Name="MaxDepth" />
        </Setting>
    </Guidance:DepthEnvelope>
    <Guidance:OffshoreEnvelope>
        <Parallel />
        <Setting>
            <Guidance:OffshoreEnvelope.minOffshore />
            <Arg Name="MinOffshore" />
        </Setting>
    </Guidance:OffshoreEnvelope>
</Aggregate>

2025-03-13T18:00:48.403Z,1741888848.403 [MissionManager](INFO): DefineArg keepstation:StandardEnvelopes.MinAltitude = 5.000000 m
2025-03-13T18:00:48.405Z,1741888848.405 [MissionManager](INFO): DefineArg keepstation:StandardEnvelopes.MaxDepthIgnore = 0.000000 m
2025-03-13T18:00:48.408Z,1741888848.408 [MissionManager](INFO): DefineArg keepstation:StandardEnvelopes.MaxDepth = 200.000000 m
2025-03-13T18:00:48.410Z,1741888848.410 [MissionManager](INFO): DefineArg keepstation:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-03-13T18:00:48.411Z,1741888848.411 [keepstation:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-03-13T18:00:48.417Z,1741888848.417 [keepstation:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-03-13T18:00:48.480Z,1741888848.480 [keepstation:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-03-13T18:00:48.505Z,1741888848.505 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2025-03-13T18:00:48.505Z,1741888848.505 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2025-03-13T18:00:48.506Z,1741888848.506 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2025-03-13T18:00:48.552Z,1741888848.552 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/BackseatDriver.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="BackseatDriver">
    <DefineArg Name="EnableBackseat">
        <False />
    </DefineArg>
    <Parallel />
    <Guidance:BackseatDriver>
        <Sequence />
        <Setting>
            <Guidance:BackseatDriver.powerBackseat />
            <Arg Name="EnableBackseat" />
        </Setting>
    </Guidance:BackseatDriver>
</Aggregate>

2025-03-13T18:00:48.558Z,1741888848.558 [MissionManager](INFO): DefineArg keepstation:BackseatDriver.EnableBackseat = 0 bool
2025-03-13T18:00:48.561Z,1741888848.561 [keepstation:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2025-03-13T18:00:48.568Z,1741888848.568 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2025-03-13T18:00:48.568Z,1741888848.568 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2025-03-13T18:00:48.569Z,1741888848.569 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2025-03-13T18:00:48.705Z,1741888848.705 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/PowerOnly.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="PowerOnly">
    <DefineArg Name="SampleAll">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad1">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad2">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad3">
        <False />
    </DefineArg>
    <DefineArg Name="EnabledPowerOnly">
        <Sensor:PowerOnly.loadAtStartup />
    </DefineArg>
    <Parallel />
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleAll" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.samplePowerOnly />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad1" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad1 />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad2" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad2 />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad3" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad3 />
    </ReadData>
    <Guidance:Wait>
        <Sequence />
        <Setting>
            <Guidance:Wait.duration />
            <Units:hour />
            <Value>99999</Value>
        </Setting>
    </Guidance:Wait>
</Aggregate>

2025-03-13T18:00:48.709Z,1741888848.709 [MissionManager](INFO): DefineArg keepstation:PowerOnly.SampleAll = 0 bool
2025-03-13T18:00:48.711Z,1741888848.711 [MissionManager](INFO): DefineArg keepstation:PowerOnly.SampleLoad1 = 0 bool
2025-03-13T18:00:48.722Z,1741888848.722 [MissionManager](INFO): DefineArg keepstation:PowerOnly.SampleLoad2 = 0 bool
2025-03-13T18:00:48.724Z,1741888848.724 [MissionManager](INFO): DefineArg keepstation:PowerOnly.SampleLoad3 = 0 bool
2025-03-13T18:00:48.727Z,1741888848.727 [MissionManager](INFO): DefineArg keepstation:PowerOnly.EnabledPowerOnly = 1 bool
2025-03-13T18:00:48.734Z,1741888848.734 [keepstation:PowerOnly:E.Wait](DEBUG): Construct Wait.
2025-03-13T18:00:48.736Z,1741888848.736 [keepstation:H.Pitch](DEBUG): Construct.
2025-03-13T18:00:48.743Z,1741888848.743 [keepstation:TransitToStation:A.Buoyancy](DEBUG): Construct Buoyancy.
2025-03-13T18:00:48.746Z,1741888848.746 [keepstation:TransitToStation:B.Pitch](DEBUG): Construct.
2025-03-13T18:00:48.751Z,1741888848.751 [keepstation:TransitToStation:C.SetSpeed](DEBUG): Construct.
2025-03-13T18:00:48.754Z,1741888848.754 [keepstation:TransitToStation:Wpt1.Waypoint](DEBUG): Construct Waypoint.
2025-03-13T18:00:48.762Z,1741888848.762 [keepstation:KeepStation:B.Pitch](DEBUG): Construct.
2025-03-13T18:00:48.783Z,1741888848.783 [keepstation:KeepStation:C.KeepStation](DEBUG): Construct KeepStation.
2025-03-13T18:00:48.796Z,1741888848.796 [keepstation:KeepStation:D.Wait](DEBUG): Construct Wait.
2025-03-13T18:00:48.822Z,1741888848.822 [MissionManager](DEBUG): 
#   Copyright (c) 2024 MBARI
#   MBARI Proprietary Information. Confidential. All Rights Reserved
#   Unauthorized copying or distribution of this file via any medium is strictly
#   prohibited.
#
#   WARNING - This file contains information whose export is restricted by the
#   Export Administration Act of 1979 (Title 50, U.S.C., App. 2401 et seq.), as
#   amended. Violations of these export laws are subject to severe civil and/or
#   criminal penalties.

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

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

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

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

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

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

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

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

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

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

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

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

  timeout duration=MissionTimeout

  insert id="NeedComms" Insert/NeedComms.tl

  assign in sequence NeedComms:DiveInterval = NeedCommsTime

  insert Insert/StandardEnvelopes.tl

  assign in sequence StandardEnvelopes:MaxDepth = MaxDepth

  assign in sequence StandardEnvelopes:MinOffshore = MinOffshore

  insert Insert/BackseatDriver.tl

  insert Insert/PowerOnly.tl

  behavior Guidance:Pitch {
    run in parallel

    set massPosition = Control:VerticalControl.massDefault
  }

  call id="StartingMission" refId="NeedComms"

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

    run in sequence

    behavior Guidance:Buoyancy {
      run in parallel

      set position = Control:VerticalControl.buoyancyNeutral
    }

    behavior Guidance:Pitch {
      run in parallel

      set depth = ApproachDepth
    }

    behavior Guidance:SetSpeed {
      run in parallel

      set speed = Speed
    }

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

      set latitude = Latitude
      set longitude = Longitude
    }
  }

  call id="OnStation" refId="NeedComms"

  aggregate KeepStation {
    run in sequence

    assign in parallel Control:VerticalControl.depthDeadband = DepthDeadband

    behavior Guidance:Pitch {
      run in parallel

      set depth = Depth
    }

    behavior Guidance:KeepStation {
      run in parallel

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

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

      run in sequence

      set duration = MissionTimeout
    }
  }
}


2025-03-13T18:00:48.822Z,1741888848.822 [CommandExec](IMPORTANT): Loaded ./Missions/Transport/keepstation.tl id=keepstation
2025-03-13T18:00:49.011Z,1741888849.011 [MissionManager](IMPORTANT): Started mission Default
2025-03-13T18:00:49.011Z,1741888849.011 [Default] Running Loop=1
2025-03-13T18:00:49.016Z,1741888849.016 [Default](DEBUG): Aggregate::initialize Default
2025-03-13T18:00:49.016Z,1741888849.016 [Default:B.GoToSurface] Running Loop=1
2025-03-13T18:00:49.016Z,1741888849.016 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-03-13T18:00:49.017Z,1741888849.017 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-03-13T18:00:49.017Z,1741888849.017 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-03-13T18:00:49.017Z,1741888849.017 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-03-13T18:00:49.017Z,1741888849.017 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-03-13T18:00:49.018Z,1741888849.018 [Default:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-03-13T18:00:49.018Z,1741888849.018 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-03-13T18:00:49.018Z,1741888849.018 [Default:A.Wait] Running Loop=1
2025-03-13T18:00:49.018Z,1741888849.018 [Default:A.Wait](DEBUG): Initialize Wait Component.
2025-03-13T18:01:02.220Z,1741888862.220 [Default:A.Wait](INFO): Done Waiting.
2025-03-13T18:01:02.220Z,1741888862.220 [Default:A.Wait] Stopped
2025-03-13T18:01:02.220Z,1741888862.220 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2025-03-13T18:01:02.745Z,1741888862.745 [Default:CheckIn] Running Loop=1
2025-03-13T18:01:02.745Z,1741888862.745 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-03-13T18:01:02.746Z,1741888862.746 [Default:CheckIn:Read_GPS] Running Loop=1
2025-03-13T18:01:04.606Z,1741888864.606 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,180103.00,A,3648.09305,N,12152.89339,W,1.263,12.69,130325,,,D*45
2025-03-13T18:01:04.609Z,1741888864.609 [NAL9602](INFO): GPS fix at 20250313T180103: (36.801551, -121.881557)
2025-03-13T18:01:04.651Z,1741888864.651 [Default:CheckIn:Read_GPS] Stopped
2025-03-13T18:01:04.651Z,1741888864.651 [Default:CheckIn:Read_Iridium] Running Loop=1
2025-03-13T18:01:05.653Z,1741888865.653 [BackseatComponent](INFO): Powering down and starting shutdown timer (18.00 sec).
2025-03-13T18:01:05.653Z,1741888865.653 [BackseatComponent](INFO): Unsubscribing from LCM channels.
2025-03-13T18:01:05.654Z,1741888865.654 [LcmUniversalReporter](INFO): Deactivating messaging.
2025-03-13T18:01:05.777Z,1741888865.777 [CommandExec](IMPORTANT): got command set keepstation.MissionTimeout 6 hour
2025-03-13T18:01:05.778Z,1741888865.778 [CommandExec](IMPORTANT): got command set keepstation.Latitude 36.797 degree
2025-03-13T18:01:05.778Z,1741888865.778 [CommandExec](IMPORTANT): got command set keepstation.Longitude -121.847 degree
2025-03-13T18:01:05.783Z,1741888865.783 [CommandExec](IMPORTANT): got command run
2025-03-13T18:01:05.785Z,1741888865.785 [CommandExec](IMPORTANT): Running 
2025-03-13T18:01:05.941Z,1741888865.941 [Default] Stopped
2025-03-13T18:01:05.941Z,1741888865.941 [Default](DEBUG): Aggregate::uninitialize Default
2025-03-13T18:01:05.941Z,1741888865.941 [Default:B.GoToSurface] Stopped
2025-03-13T18:01:05.941Z,1741888865.941 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-03-13T18:01:05.941Z,1741888865.941 [Default:CheckIn] Stopped
2025-03-13T18:01:05.942Z,1741888865.942 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-03-13T18:01:05.942Z,1741888865.942 [Default:CheckIn:Read_Iridium] Stopped
2025-03-13T18:01:05.942Z,1741888865.942 [MissionManager](IMPORTANT): Started mission keepstation
2025-03-13T18:01:05.942Z,1741888865.942 [keepstation] Running Loop=1
2025-03-13T18:01:05.942Z,1741888865.942 [keepstation](DEBUG): Aggregate::initialize keepstation
2025-03-13T18:01:05.942Z,1741888865.942 [keepstation:StandardEnvelopes] Running Loop=1
2025-03-13T18:01:05.942Z,1741888865.942 [keepstation:StandardEnvelopes](DEBUG): Aggregate::initialize keepstation:StandardEnvelopes
2025-03-13T18:01:05.942Z,1741888865.942 [keepstation:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-03-13T18:01:05.942Z,1741888865.942 [keepstation:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-03-13T18:01:05.943Z,1741888865.943 [keepstation:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-03-13T18:01:05.943Z,1741888865.943 [keepstation:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-03-13T18:01:05.951Z,1741888865.951 [keepstation:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-03-13T18:01:05.951Z,1741888865.951 [keepstation:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-03-13T18:01:05.951Z,1741888865.951 [keepstation:BackseatDriver] Running Loop=1
2025-03-13T18:01:05.951Z,1741888865.951 [keepstation:BackseatDriver](DEBUG): Aggregate::initialize keepstation:BackseatDriver
2025-03-13T18:01:05.952Z,1741888865.952 [keepstation:BackseatDriver:A.BackseatDriver] Running Loop=1
2025-03-13T18:01:05.952Z,1741888865.952 [keepstation:PowerOnly] Running Loop=1
2025-03-13T18:01:05.952Z,1741888865.952 [keepstation:PowerOnly](DEBUG): Aggregate::initialize keepstation:PowerOnly
2025-03-13T18:01:05.952Z,1741888865.952 [keepstation:PowerOnly:A] Running Loop=1
2025-03-13T18:01:05.952Z,1741888865.952 [keepstation:PowerOnly:B] Running Loop=1
2025-03-13T18:01:05.952Z,1741888865.952 [keepstation:PowerOnly:C] Running Loop=1
2025-03-13T18:01:05.952Z,1741888865.952 [keepstation:PowerOnly:D] Running Loop=1
2025-03-13T18:01:05.952Z,1741888865.952 [keepstation:PowerOnly:E.Wait] Running Loop=1
2025-03-13T18:01:05.952Z,1741888865.952 [keepstation:PowerOnly:E.Wait](DEBUG): Initialize Wait Component.
2025-03-13T18:01:05.952Z,1741888865.952 [keepstation:H.Pitch] Running Loop=1
2025-03-13T18:01:05.952Z,1741888865.952 [keepstation:H.Pitch](DEBUG): Initialize.
2025-03-13T18:01:05.953Z,1741888865.953 [keepstation:B] Running Loop=1
2025-03-13T18:01:05.953Z,1741888865.953 [keepstation:H.Pitch] Running Loop=1
2025-03-13T18:01:05.954Z,1741888865.954 [keepstation:PowerOnly] Running Loop=1
2025-03-13T18:01:05.954Z,1741888865.954 [keepstation:PowerOnly:D] Stopped
2025-03-13T18:01:05.954Z,1741888865.954 [keepstation:PowerOnly:C] Stopped
2025-03-13T18:01:05.954Z,1741888865.954 [keepstation:PowerOnly:B] Stopped
2025-03-13T18:01:05.954Z,1741888865.954 [keepstation:PowerOnly:A] Stopped
2025-03-13T18:01:05.954Z,1741888865.954 [keepstation:BackseatDriver] Running Loop=1
2025-03-13T18:01:05.954Z,1741888865.954 [keepstation:StandardEnvelopes] Running Loop=1
2025-03-13T18:01:05.954Z,1741888865.954 [keepstation:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-03-13T18:01:05.955Z,1741888865.955 [keepstation:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-03-13T18:01:05.963Z,1741888865.963 [keepstation:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-03-13T18:01:05.964Z,1741888865.964 [keepstation:B] Stopped
2025-03-13T18:01:05.964Z,1741888865.964 [keepstation:D] Running Loop=1
2025-03-13T18:01:06.319Z,1741888866.319 [ElevatorOffsetCalculator](INFO): Removing expired estimator for commanded vars: speed 0.75 m/s, pitch 20.00 deg, mass-position 6.85 mm.
2025-03-13T18:01:06.324Z,1741888866.324 [keepstation:D] Stopped
2025-03-13T18:01:06.324Z,1741888866.324 [keepstation:E] Running Loop=1
2025-03-13T18:01:06.717Z,1741888866.717 [keepstation:E] Stopped
2025-03-13T18:01:06.717Z,1741888866.717 [keepstation:StartingMission] Running Loop=1
2025-03-13T18:01:06.717Z,1741888866.717 [keepstation:StartingMission](DEBUG): Aggregate::initialize keepstation:StartingMission
2025-03-13T18:01:07.128Z,1741888867.128 [keepstation:NeedComms] Running Loop=1
2025-03-13T18:01:07.128Z,1741888867.128 [keepstation:NeedComms](DEBUG): Aggregate::initialize keepstation:NeedComms
2025-03-13T18:01:07.128Z,1741888867.128 [keepstation:NeedComms:B.GoToSurface] Running Loop=1
2025-03-13T18:01:07.128Z,1741888867.128 [keepstation:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-03-13T18:01:07.128Z,1741888867.128 [keepstation:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-03-13T18:01:07.129Z,1741888867.129 [keepstation:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-03-13T18:01:07.129Z,1741888867.129 [keepstation:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-03-13T18:01:07.129Z,1741888867.129 [keepstation:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-03-13T18:01:07.130Z,1741888867.130 [keepstation:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-03-13T18:01:07.130Z,1741888867.130 [keepstation:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-03-13T18:01:07.130Z,1741888867.130 [keepstation:NeedComms:A] Running Loop=1
2025-03-13T18:01:07.132Z,1741888867.132 [keepstation:NeedComms:A](INFO): last time_fix was:  1741888863.000000 second since 1970/01/01T00:00:00Z 
2025-03-13T18:01:07.132Z,1741888867.132 [keepstation:NeedComms:A] Stopped
2025-03-13T18:01:07.545Z,1741888867.545 [keepstation:NeedComms:C] Running Loop=1
2025-03-13T18:01:07.942Z,1741888867.942 [keepstation:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-03-13T18:01:09.554Z,1741888869.554 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,180108.00,A,3648.09346,N,12152.89282,W,0.583,26.80,130325,,,D*40
2025-03-13T18:01:09.557Z,1741888869.557 [NAL9602](INFO): GPS fix at 20250313T180108: (36.801558, -121.881547)
2025-03-13T18:01:09.569Z,1741888869.569 [keepstation:NeedComms:C] Stopped
2025-03-13T18:01:09.570Z,1741888869.570 [keepstation:NeedComms:D] Running Loop=1
2025-03-13T18:01:09.981Z,1741888869.981 [keepstation:NeedComms:D](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-03-13T18:01:14.919Z,1741888874.919 [DataOverHttps](INFO): Sending 73 bytes from file Logs/20250311T232940/Courier0320.lzma
2025-03-13T18:01:18.934Z,1741888878.934 [DataOverHttps](INFO): Moved sent file to Logs/20250311T232940/Courier0320.lzma.bak
2025-03-13T18:01:18.934Z,1741888878.934 [DataOverHttps](INFO): SBD MOMSN=24224107
2025-03-13T18:01:28.521Z,1741888888.521 [BPC1](INFO): Calculating totals. Valid battery stick count: 50. Valid reserve battery stick count: 6.
2025-03-13T18:01:28.525Z,1741888888.525 [BPC1](FAULT): Failed to receive data from 3 sticks prior to timeout. Will not retry this scan cycle. Missing stick IDs are: 17, 21, 22.
2025-03-13T18:01:36.539Z,1741888896.539 [DataOverHttps](INFO): Sending 72 bytes from file Logs/20250311T232940/Courier0326.lzma
2025-03-13T18:01:37.541Z,1741888897.541 [DataOverHttps](INFO): Moved sent file to Logs/20250311T232940/Courier0326.lzma.bak
2025-03-13T18:01:37.542Z,1741888897.542 [DataOverHttps](INFO): SBD MOMSN=24224110
2025-03-13T18:01:41.856Z,1741888901.856 [NAL9602](INFO): Not Powering down - fast GPS
2025-03-13T18:02:17.050Z,1741888937.050 [PowerOnly](INFO): Powering down loadControl
2025-03-13T18:02:37.347Z,1741888957.347 [DataOverHttps](INFO): Sending 238 bytes from file Logs/20250311T232940/Express0321.lzma
2025-03-13T18:02:40.358Z,1741888960.358 [DataOverHttps](INFO): Moved sent file to Logs/20250311T232940/Express0321.lzma.bak
2025-03-13T18:02:40.358Z,1741888960.358 [DataOverHttps](INFO): SBD MOMSN=24224119
2025-03-13T18:03:51.652Z,1741889031.652 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.902786
2025-03-13T18:04:09.026Z,1741889049.026 [NAL9602](INFO): SBD MO Status=1, MOMSN=18594, MT Status=0, MTMSN=0
2025-03-13T18:04:09.083Z,1741889049.083 [NAL9602](INFO): Sent 53 bytes from file Logs/20250311T232940/Express0324.lzma
2025-03-13T18:04:09.084Z,1741889049.084 [NAL9602](INFO): Packets left to send: 0
2025-03-13T18:04:17.971Z,1741889057.971 [NAL9602](INFO): SBD MO Status=1, MOMSN=18595, MT Status=0, MTMSN=0
2025-03-13T18:04:18.020Z,1741889058.020 [NAL9602](INFO): Sent 127 bytes from file Logs/20250311T232940/Express0325.lzma
2025-03-13T18:04:18.020Z,1741889058.020 [NAL9602](INFO): Packets left to send: 0
2025-03-13T18:04:34.590Z,1741889074.590 [NAL9602](INFO): SBD MO Status=1, MOMSN=18596, MT Status=0, MTMSN=0
2025-03-13T18:04:34.639Z,1741889074.639 [NAL9602](INFO): Sent 152 bytes from file Logs/20250311T232940/Express0328.lzma
2025-03-13T18:04:34.640Z,1741889074.640 [NAL9602](INFO): Packets left to send: 0
2025-03-13T18:04:42.274Z,1741889082.274 [NAL9602](INFO): SBD MO Status=0, MOMSN=18597, MT Status=0, MTMSN=0
2025-03-13T18:04:42.342Z,1741889082.342 [keepstation:NeedComms:D] Stopped
2025-03-13T18:04:42.343Z,1741889082.343 [keepstation:NeedComms:E] Running Loop=1
2025-03-13T18:04:42.696Z,1741889082.696 [keepstation:NeedComms:E](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-03-13T18:04:44.694Z,1741889084.694 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,180443.00,A,3648.11195,N,12152.89744,W,0.175,6.83,130325,,,A*79
2025-03-13T18:04:44.697Z,1741889084.697 [NAL9602](INFO): GPS fix at 20250313T180443: (36.801866, -121.881624)
2025-03-13T18:04:44.725Z,1741889084.725 [keepstation:NeedComms:E] Stopped
2025-03-13T18:04:44.726Z,1741889084.726 [keepstation:NeedComms](INFO): Completed keepstation:NeedComms
2025-03-13T18:04:44.726Z,1741889084.726 [keepstation:NeedComms] Stopped
2025-03-13T18:04:44.726Z,1741889084.726 [keepstation:NeedComms](DEBUG): Aggregate::uninitialize keepstation:NeedComms
2025-03-13T18:04:44.726Z,1741889084.726 [keepstation:NeedComms:B.GoToSurface] Stopped
2025-03-13T18:04:44.726Z,1741889084.726 [keepstation:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-03-13T18:04:45.137Z,1741889085.137 [keepstation:StartingMission](INFO): Completed keepstation:StartingMission
2025-03-13T18:04:45.137Z,1741889085.137 [keepstation:StartingMission] Stopped
2025-03-13T18:04:45.137Z,1741889085.137 [keepstation:StartingMission](DEBUG): Aggregate::uninitialize keepstation:StartingMission
2025-03-13T18:04:45.137Z,1741889085.137 [keepstation:TransitToStation] Running Loop=1
2025-03-13T18:04:45.137Z,1741889085.137 [keepstation:TransitToStation](DEBUG): Aggregate::initialize keepstation:TransitToStation
2025-03-13T18:04:45.137Z,1741889085.137 [keepstation:TransitToStation:A.Buoyancy] Running Loop=1
2025-03-13T18:04:45.137Z,1741889085.137 [keepstation:TransitToStation:A.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-03-13T18:04:45.137Z,1741889085.137 [keepstation:TransitToStation:B.Pitch] Running Loop=1
2025-03-13T18:04:45.138Z,1741889085.138 [keepstation:TransitToStation:B.Pitch](DEBUG): Initialize.
2025-03-13T18:04:45.138Z,1741889085.138 [keepstation:TransitToStation:C.SetSpeed] Running Loop=1
2025-03-13T18:04:45.138Z,1741889085.138 [keepstation:TransitToStation:C.SetSpeed](DEBUG): Initialize.
2025-03-13T18:04:45.138Z,1741889085.138 [keepstation:TransitToStation:Wpt1.Waypoint] Running Loop=1
2025-03-13T18:04:45.138Z,1741889085.138 [keepstation:TransitToStation:Wpt1.Waypoint](DEBUG): Initialize WaypointComponent.
2025-03-13T18:04:45.139Z,1741889085.139 [keepstation:TransitToStation:Wpt1.Waypoint](IMPORTANT): Navigating to waypoint: 36.797001,-121.847000
2025-03-13T18:04:45.516Z,1741889085.516 [keepstation:TransitToStation:Wpt1.Waypoint](INFO): Navigating to waypoint: 36.797001,-121.847000
2025-03-13T18:04:45.516Z,1741889085.516 [keepstation:TransitToStation:C.SetSpeed] Running Loop=1
2025-03-13T18:04:45.517Z,1741889085.517 [keepstation:TransitToStation:B.Pitch] Running Loop=1
2025-03-13T18:04:45.517Z,1741889085.517 [keepstation:TransitToStation:A.Buoyancy] Running Loop=1
2025-03-13T18:04:57.928Z,1741889097.928 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T18:05:16.400Z,1741889116.400 [NAL9602](INFO): Not Powering down - fast GPS
2025-03-13T18:05:26.510Z,1741889126.510 [ElevatorOffsetCalculator](INFO): New estimator for commanded vars: speed 0.75 m/s, pitch 20.00 deg, mass-position 6.85 mm (1 active estimators).
2025-03-13T18:05:33.068Z,1741889133.068 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T18:06:06.687Z,1741889166.687 [Waterlinked](ERROR): only read 0 of 1 data item for BIT error. Device response::TS,24052713023672, 0.0, +0.0,   ,       +0.00,   0.00,  0.00
2025-03-13T18:06:08.228Z,1741889168.228 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T18:06:27.031Z,1741889187.031 [Radio_Surface](INFO): Powering down
2025-03-13T18:06:43.388Z,1741889203.388 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T18:06:44.393Z,1741889204.393 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-03-13T18:17:23.420Z,1741889843.420 [Waterlinked](ERROR): only read 0 of 1 data item for BIT error. Device response::TS,24052713135381, 0.0, +0.0,   0.0,147

2025-03-13T18:39:29.582Z,1741891169.582 [Waterlinked](ERROR): only read 0 of 1 data item for altitude. Device response::BD,       +0.00,    ,       +0.00,   0.00,  0.00
2025-03-13T18:42:30.645Z,1741891350.645 [BPC1](INFO): Calculating totals. Valid battery stick count: 51. Valid reserve battery stick count: 5.
2025-03-13T18:42:30.648Z,1741891350.648 [BPC1](FAULT): Failed to receive data from 2 sticks prior to timeout. Will not retry this scan cycle. Missing stick IDs are: 21, 22.
2025-03-13T18:49:44.958Z,1741891784.958 [keepstation:NeedComms] Running Loop=1
2025-03-13T18:49:44.959Z,1741891784.959 [keepstation:NeedComms](DEBUG): Aggregate::initialize keepstation:NeedComms
2025-03-13T18:49:44.959Z,1741891784.959 [keepstation:NeedComms:B.GoToSurface] Running Loop=1
2025-03-13T18:49:44.963Z,1741891784.963 [keepstation:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-03-13T18:49:44.964Z,1741891784.964 [keepstation:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-03-13T18:49:44.966Z,1741891784.966 [keepstation:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-03-13T18:49:44.966Z,1741891784.966 [keepstation:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-03-13T18:49:44.966Z,1741891784.966 [keepstation:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-03-13T18:49:44.967Z,1741891784.967 [keepstation:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-03-13T18:49:44.971Z,1741891784.971 [keepstation:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-03-13T18:49:44.972Z,1741891784.972 [keepstation:NeedComms:A] Running Loop=1
2025-03-13T18:49:44.973Z,1741891784.973 [keepstation:NeedComms:A](INFO): last time_fix was:  1741889083.000000 second since 1970/01/01T00:00:00Z 
2025-03-13T18:49:44.974Z,1741891784.974 [keepstation:NeedComms:A] Stopped
2025-03-13T18:50:48.971Z,1741891848.971 [keepstation:NeedComms:C] Running Loop=1
2025-03-13T18:50:49.436Z,1741891849.436 [Waterlinked](INFO): Powering down
2025-03-13T18:50:49.504Z,1741891849.504 [Radio_Surface](INFO): Powering up
2025-03-13T18:50:55.484Z,1741891855.484 [DataOverHttps](INFO): Radio surface powered ON.
2025-03-13T18:51:25.608Z,1741891885.608 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T18:52:00.748Z,1741891920.748 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T18:52:35.887Z,1741891955.887 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T18:53:11.028Z,1741891991.028 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-13T18:53:22.451Z,1741892002.451 [NAL9602](IMPORTANT): SBD MO Status=0, MOMSN=18598, MT Status=1, MTMSN=1060
2025-03-13T18:53:22.451Z,1741892002.451 [NAL9602](INFO): Data available in MT queue
2025-03-13T18:53:22.936Z,1741892002.936 [NAL9602](INFO): Received command: restart app
2025-03-13T18:53:22.997Z,1741892002.997 [CommandExec](IMPORTANT): got command restart application
2025-03-13T18:53:24.007Z,1741892004.007 [Supervisor](INFO): Stop Mission called by Supervisor::terminate
2025-03-13T18:53:24.008Z,1741892004.008 [CommandExec ThreadHandler](INFO): Uninitializing protected caller thread.
2025-03-13T18:53:24.008Z,1741892004.008 [CommandExec](INFO): Uninitializing the command executive.
2025-03-13T18:53:24.008Z,1741892004.008 [CommandExec](INFO): Uninitializing the command scheduler.
2025-03-13T18:53:24.008Z,1741892004.008 [CommandExec ThreadHandler](INFO): Thread cancelled.
2025-03-13T18:53:24.078Z,1741892004.078 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,185323.00,A,3648.03911,N,12151.80093,W,1.302,59.56,130325,,,D*49
2025-03-13T18:53:24.081Z,1741892004.081 [NAL9602](INFO): GPS fix at 20250313T185323: (36.800652, -121.863349)
2025-03-13T18:53:24.104Z,1741892004.104 [UniversalFixResidualReporter](INFO): Fix residual: 21.7 %DT, over the last 2047.9 m. Residual distance 443.6 m at bearing 118.4 degrees. Fix at (36.8007, -121.8633) with 1632.7 m made good.
2025-03-13T18:53:24.108Z,1741892004.108 [keepstation:NeedComms:C] Stopped
2025-03-13T18:53:24.108Z,1741892004.108 [keepstation:NeedComms:D] Running Loop=1
2025-03-13T18:53:24.109Z,1741892004.109 [MissionManager](INFO): MissionManager is completed.
2025-03-13T18:53:24.109Z,1741892004.109 [MissionManager](INFO): Uninitializing Mission keepstation
2025-03-13T18:53:24.109Z,1741892004.109 [keepstation] Stopped
2025-03-13T18:53:24.109Z,1741892004.109 [keepstation](DEBUG): Aggregate::uninitialize keepstation
2025-03-13T18:53:24.109Z,1741892004.109 [keepstation:NeedComms] Stopped
2025-03-13T18:53:24.109Z,1741892004.109 [keepstation:NeedComms](DEBUG): Aggregate::uninitialize keepstation:NeedComms
2025-03-13T18:53:24.109Z,1741892004.109 [keepstation:NeedComms:B.GoToSurface] Stopped
2025-03-13T18:53:24.110Z,1741892004.110 [keepstation:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-03-13T18:53:24.110Z,1741892004.110 [keepstation:NeedComms:D] Stopped
2025-03-13T18:53:24.110Z,1741892004.110 [keepstation:StandardEnvelopes] Stopped
2025-03-13T18:53:24.110Z,1741892004.110 [keepstation:StandardEnvelopes](DEBUG): Aggregate::uninitialize keepstation:StandardEnvelopes
2025-03-13T18:53:24.110Z,1741892004.110 [keepstation:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-03-13T18:53:24.110Z,1741892004.110 [keepstation:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-03-13T18:53:24.110Z,1741892004.110 [keepstation:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-03-13T18:53:24.110Z,1741892004.110 [keepstation:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-03-13T18:53:24.110Z,1741892004.110 [keepstation:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-03-13T18:53:24.110Z,1741892004.110 [keepstation:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-03-13T18:53:24.110Z,1741892004.110 [keepstation:BackseatDriver] Stopped
2025-03-13T18:53:24.110Z,1741892004.110 [keepstation:BackseatDriver](DEBUG): Aggregate::uninitialize keepstation:BackseatDriver
2025-03-13T18:53:24.110Z,1741892004.110 [keepstation:BackseatDriver:A.BackseatDriver] Stopped
2025-03-13T18:53:24.110Z,1741892004.110 [keepstation:PowerOnly] Stopped
2025-03-13T18:53:24.111Z,1741892004.111 [keepstation:PowerOnly](DEBUG): Aggregate::uninitialize keepstation:PowerOnly
2025-03-13T18:53:24.111Z,1741892004.111 [keepstation:PowerOnly:E.Wait] Stopped
2025-03-13T18:53:24.111Z,1741892004.111 [keepstation:PowerOnly:E.Wait](DEBUG): Uninitialize Wait Component.
2025-03-13T18:53:24.111Z,1741892004.111 [keepstation:H.Pitch] Stopped
2025-03-13T18:53:24.111Z,1741892004.111 [keepstation:TransitToStation] Stopped
2025-03-13T18:53:24.111Z,1741892004.111 [keepstation:TransitToStation](DEBUG): Aggregate::uninitialize keepstation:TransitToStation
2025-03-13T18:53:24.111Z,1741892004.111 [keepstation:TransitToStation:A.Buoyancy] Stopped
2025-03-13T18:53:24.111Z,1741892004.111 [keepstation:TransitToStation:A.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-03-13T18:53:24.111Z,1741892004.111 [keepstation:TransitToStation:B.Pitch] Stopped
2025-03-13T18:53:24.111Z,1741892004.111 [keepstation:TransitToStation:C.SetSpeed] Stopped
2025-03-13T18:53:24.112Z,1741892004.112 [keepstation:TransitToStation:C.SetSpeed](DEBUG): Uninitialize.
2025-03-13T18:53:24.112Z,1741892004.112 [keepstation:TransitToStation:Wpt1.Waypoint] Stopped
2025-03-13T18:53:24.112Z,1741892004.112 [keepstation:TransitToStation:Wpt1.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-03-13T18:53:24.195Z,1741892004.195 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2025-03-13T18:53:24.195Z,1741892004.195 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2025-03-13T18:53:24.196Z,1741892004.196 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2025-03-13T18:53:24.196Z,1741892004.196 [NavChartDb](INFO): Join timeout helper Thread ID is 5958
2025-03-13T18:53:24.247Z,1741892004.247 [NavChartDb ThreadHandler](INFO): Uninitializing protected caller thread.
2025-03-13T18:53:24.248Z,1741892004.248 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2025-03-13T18:53:24.263Z,1741892004.263 [ComponentRegistry](INFO): Shutting down WetLabsBB2FL ThreadHandler
2025-03-13T18:53:24.263Z,1741892004.263 [WetLabsBB2FL ThreadHandler](INFO): Thread cancelled.
2025-03-13T18:53:24.264Z,1741892004.264 [WetLabsBB2FL](INFO): Join timeout helper Thread ID is 5959
2025-03-13T18:53:24.512Z,1741892004.512 [MissionManager](IMPORTANT): Started mission Default
2025-03-13T18:53:24.512Z,1741892004.512 [Default] Running Loop=1
2025-03-13T18:53:24.513Z,1741892004.513 [Default](DEBUG): Aggregate::initialize Default
2025-03-13T18:53:24.513Z,1741892004.513 [Default:B.GoToSurface] Running Loop=1
2025-03-13T18:53:24.513Z,1741892004.513 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-03-13T18:53:24.513Z,1741892004.513 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-03-13T18:53:24.513Z,1741892004.513 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-03-13T18:53:24.514Z,1741892004.514 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-03-13T18:53:24.514Z,1741892004.514 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-03-13T18:53:24.514Z,1741892004.514 [Default:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-03-13T18:53:24.514Z,1741892004.514 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-03-13T18:53:24.515Z,1741892004.515 [Default:A.Wait] Running Loop=1
2025-03-13T18:53:24.515Z,1741892004.515 [Default:A.Wait](DEBUG): Initialize Wait Component.
2025-03-13T18:53:24.667Z,1741892004.667 [WetLabsBB2FL ThreadHandler](INFO): Uninitializing protected caller thread.
2025-03-13T18:53:24.668Z,1741892004.668 [WetLabsBB2FL](INFO): Powering down
2025-03-13T18:53:24.668Z,1741892004.668 [WetLabsBB2FL ThreadHandler](INFO): Thread cancelled.
2025-03-13T18:53:24.683Z,1741892004.683 [ComponentRegistry](INFO): Shutting down CTD_Seabird ThreadHandler
2025-03-13T18:53:24.683Z,1741892004.683 [CTD_Seabird ThreadHandler](INFO): Thread cancelled.
2025-03-13T18:53:24.684Z,1741892004.684 [CTD_Seabird](INFO): Join timeout helper Thread ID is 5960
2025-03-13T18:53:24.863Z,1741892004.863 [CTD_Seabird](INFO): Powering down
2025-03-13T18:53:24.875Z,1741892004.875 [CTD_Seabird ThreadHandler](INFO): Uninitializing protected caller thread.
2025-03-13T18:53:24.876Z,1741892004.876 [CTD_Seabird](INFO): Powering down
2025-03-13T18:53:24.887Z,1741892004.887 [CTD_Seabird ThreadHandler](INFO): Thread cancelled.
2025-03-13T18:53:24.891Z,1741892004.891 [ComponentRegistry](INFO): Shutting down Radio_Surface ThreadHandler
2025-03-13T18:53:24.891Z,1741892004.891 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2025-03-13T18:53:24.892Z,1741892004.892 [Radio_Surface](INFO): Join timeout helper Thread ID is 5961
2025-03-13T18:53:25.048Z,1741892005.048 [Radio_Surface](INFO): Powering down
2025-03-13T18:53:25.048Z,1741892005.048 [Radio_Surface ThreadHandler](INFO): Uninitializing protected caller thread.
2025-03-13T18:53:25.049Z,1741892005.049 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2025-03-13T18:53:25.051Z,1741892005.051 [ComponentRegistry](INFO): Shutting down Onboard ThreadHandler
2025-03-13T18:53:25.051Z,1741892005.051 [Onboard ThreadHandler](INFO): Thread cancelled.
2025-03-13T18:53:25.052Z,1741892005.052 [Onboard](INFO): Join timeout helper Thread ID is 5962
2025-03-13T18:53:30.019Z,1741892010.019 [Onboard ThreadHandler](INFO): Uninitializing protected caller thread.
2025-03-13T18:53:30.020Z,1741892010.020 [Onboard ThreadHandler](INFO): Thread cancelled.
2025-03-13T18:53:30.032Z,1741892010.032 [ComponentRegistry](INFO): Shutting down DataOverHttps ThreadHandler
2025-03-13T18:53:30.032Z,1741892010.032 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2025-03-13T18:53:30.033Z,1741892010.033 [DataOverHttps](INFO): Join timeout helper Thread ID is 5963
2025-03-13T18:53:30.127Z,1741892010.127 [DataOverHttps ThreadHandler](INFO): Uninitializing protected caller thread.
2025-03-13T18:53:30.128Z,1741892010.128 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2025-03-13T18:53:30.152Z,1741892010.152 [ComponentRegistry](INFO): Shutting down DAT ThreadHandler
2025-03-13T18:53:30.152Z,1741892010.152 [DAT ThreadHandler](INFO): Thread cancelled.
2025-03-13T18:53:30.152Z,1741892010.152 [DAT](INFO): Join timeout helper Thread ID is 5964
2025-03-13T18:53:30.251Z,1741892010.251 [DAT](INFO): Powering down
2025-03-13T18:53:30.324Z,1741892010.324 [DAT ThreadHandler](INFO): Uninitializing protected caller thread.
2025-03-13T18:53:30.324Z,1741892010.324 [DAT](INFO): Powering down
2025-03-13T18:53:30.325Z,1741892010.325 [DAT ThreadHandler](INFO): Thread cancelled.
2025-03-13T18:53:30.332Z,1741892010.332 [ComponentRegistry](INFO): Shutting down BackseatComponent ThreadHandler
2025-03-13T18:53:30.332Z,1741892010.332 [BackseatComponent ThreadHandler](INFO): Thread cancelled.
2025-03-13T18:53:30.332Z,1741892010.332 [BackseatComponent](INFO): Join timeout helper Thread ID is 5965
2025-03-13T18:53:30.404Z,1741892010.404 [BackseatComponent ThreadHandler](INFO): Uninitializing protected caller thread.
2025-03-13T18:53:30.404Z,1741892010.404 [BackseatComponent ThreadHandler](INFO): Thread cancelled.
2025-03-13T18:53:30.424Z,1741892010.424 [ComponentRegistry](INFO): Shutting down logger ThreadHandler
2025-03-13T18:53:30.424Z,1741892010.424 [logger ThreadHandler](INFO): Thread cancelled.
2025-03-13T18:53:30.424Z,1741892010.424 [logger](INFO): Join timeout helper Thread ID is 5966
2025-03-13T18:53:30.455Z,1741892010.455 [logger ThreadHandler](INFO): Uninitializing protected caller thread.
2025-03-13T18:53:30.456Z,1741892010.456 [logger ThreadHandler](INFO): Thread cancelled.
2025-03-13T18:53:30.464Z,1741892010.464 [ComponentRegistry](INFO): Shutting down CommandLine ThreadHandler
2025-03-13T18:53:30.464Z,1741892010.464 [CommandLine ThreadHandler](INFO): Thread cancelled.
2025-03-13T18:53:30.464Z,1741892010.464 [CommandLine](INFO): Join timeout helper Thread ID is 5967
2025-03-13T18:53:30.483Z,1741892010.483 [CommandLine ThreadHandler](INFO): Uninitializing protected caller thread.
2025-03-13T18:53:30.484Z,1741892010.484 [CommandLine ThreadHandler](INFO): Thread cancelled.
2025-03-13T18:53:30.504Z,1741892010.504 [ComponentRegistry](INFO): Shutting down CommandExec ThreadHandler
2025-03-13T18:53:30.504Z,1741892010.504 [CommandExec ThreadHandler](INFO): Thread cancelled.
2025-03-13T18:53:30.504Z,1741892010.504 [CommandExec](INFO): Join timeout helper Thread ID is 5968
2025-03-13T18:53:30.505Z,1741892010.505 [ComponentRegistry](INFO): Shutting down controlThread ThreadHandler
2025-03-13T18:53:30.506Z,1741892010.506 [controlThread ThreadHandler](INFO): Thread cancelled.
2025-03-13T18:53:30.506Z,1741892010.506 [controlThread](INFO): Join timeout helper Thread ID is 5969
2025-03-13T18:53:30.511Z,1741892010.511 [controlThread ThreadHandler](INFO): Uninitializing protected caller thread.
2025-03-13T18:53:30.512Z,1741892010.512 [controlThread](DEBUG): Uninitializing ControlThread
2025-03-13T18:53:30.512Z,1741892010.512 [AHRS_M2](INFO): Powering down
2025-03-13T18:53:30.584Z,1741892010.584 [MultiRay](INFO): Powering down.
2025-03-13T18:53:30.585Z,1741892010.585 [NAL9602](INFO): Powering down
2025-03-13T18:53:30.587Z,1741892010.587 [Waterlinked](INFO): Powering down
2025-03-13T18:53:30.588Z,1741892010.588 [DepthRateCalculator](DEBUG): Uninitializing DepthRateCalculator.
2025-03-13T18:53:30.589Z,1741892010.589 [ElevatorOffsetCalculator](DEBUG): Uninitializing ElevatorOffsetCalculator.
2025-03-13T18:53:30.589Z,1741892010.589 [NavChart](DEBUG): Uninitialize NavChart Navigation.
2025-03-13T18:53:30.590Z,1741892010.590 [MissionManager](INFO): Uninitializing Mission Default
2025-03-13T18:53:30.590Z,1741892010.590 [Default] Stopped
2025-03-13T18:53:30.590Z,1741892010.590 [Default](DEBUG): Aggregate::uninitialize Default
2025-03-13T18:53:30.590Z,1741892010.590 [Default:A.Wait] Stopped
2025-03-13T18:53:30.590Z,1741892010.590 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2025-03-13T18:53:30.590Z,1741892010.590 [Default:B.GoToSurface] Stopped
2025-03-13T18:53:30.590Z,1741892010.590 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-03-13T18:53:30.594Z,1741892010.594 [VerticalControl](DEBUG): Uninitialize VerticalControlComponent.
2025-03-13T18:53:30.594Z,1741892010.594 [HorizontalControl](DEBUG): Uninitialize HorizontalControlComponent.
2025-03-13T18:53:30.594Z,1741892010.594 [SpeedControl](DEBUG): Uninitialize SpeedControlComponent.
2025-03-13T18:53:30.594Z,1741892010.594 [LoopControl](DEBUG): Uninitialize LoopControlComponent.
2025-03-13T18:53:30.595Z,1741892010.595 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2025-03-13T18:53:30.595Z,1741892010.595 [BuoyancyServo](INFO): Powering down
2025-03-13T18:53:30.607Z,1741892010.607 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2025-03-13T18:53:30.607Z,1741892010.607 [ElevatorServo](INFO): Powering down
2025-03-13T18:53:30.608Z,1741892010.608 [MassServo](DEBUG): Uninitialize Mass Servo.
2025-03-13T18:53:30.608Z,1741892010.608 [MassServo](INFO): Powering down
2025-03-13T18:53:30.609Z,1741892010.609 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2025-03-13T18:53:30.609Z,1741892010.609 [RudderServo](INFO): Powering down
2025-03-13T18:53:30.610Z,1741892010.610 [ThrusterHE](DEBUG): Uninitialize Thruster Servo.
2025-03-13T18:53:30.610Z,1741892010.610 [ThrusterHE](INFO): Powering down
2025-03-13T18:53:30.611Z,1741892010.611 [SBIT](DEBUG): Uninitialize SBIT Component.
2025-03-13T18:53:30.611Z,1741892010.611 [IBIT](DEBUG): Uninitialize IBIT Component.
2025-03-13T18:53:30.612Z,1741892010.612 [CBIT](DEBUG): Uninitialize CBIT Component.
2025-03-13T18:53:30.612Z,1741892010.612 [CBIT](DEBUG): Powering off loads.
2025-03-13T18:53:30.623Z,1741892010.623 [CBIT](DEBUG): Disabling WDT.
2025-03-13T18:53:30.635Z,1741892010.635 [GFScanner](DEBUG): Uninitialize GFScanner component.
2025-03-13T18:53:30.635Z,1741892010.635 [GFScanner](DEBUG): Opening all GF detection circuits.
2025-03-13T18:53:30.637Z,1741892010.637 [controlThread ThreadHandler](INFO): Thread cancelled.
2025-03-13T18:53:30.674Z,1741892010.674 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2025-03-13T18:53:30.678Z,1741892010.678 [Onboard ThreadHandler](INFO): Thread cancelled.
2025-03-13T18:53:30.685Z,1741892010.685 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2025-03-13T18:53:30.692Z,1741892010.692 [DAT ThreadHandler](INFO): Thread cancelled.
2025-03-13T18:53:30.733Z,1741892010.733 [BackseatComponent ThreadHandler](INFO): Thread cancelled.
2025-03-13T18:53:30.776Z,1741892010.776 [GFScanner](DEBUG): Uninitialize GFScanner component.
2025-03-13T18:53:30.776Z,1741892010.776 [GFScanner](DEBUG): Opening all GF detection circuits.
2025-03-13T18:53:30.794Z,1741892010.794 [WetLabsBB2FL ThreadHandler](INFO): Thread cancelled.
2025-03-13T18:53:30.799Z,1741892010.799 [CTD_Seabird ThreadHandler](INFO): Thread cancelled.
2025-03-13T18:53:30.868Z,1741892010.868 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2025-03-13T18:53:30.918Z,1741892010.918 [logger ThreadHandler](INFO): Thread cancelled.