2025-03-12T04:01:37.336Z,1741752097.336 [Supervisor](DEBUG): Initializing supervisor.
2025-03-12T04:01:37.352Z,1741752097.352 [SyncHandler](DEBUG): Created PCaller Thread at 404514E0
2025-03-12T04:01:37.352Z,1741752097.352 [SyncHandler](INFO): Protected caller Thread ID is 830
2025-03-12T04:01:37.353Z,1741752097.353 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2025-03-12T04:01:37.364Z,1741752097.364 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 404814E0
2025-03-12T04:01:37.364Z,1741752097.364 [controlThread ThreadHandler](INFO): Protected caller Thread ID is 831
2025-03-12T04:01:37.368Z,1741752097.368 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2025-03-12T04:01:37.412Z,1741752097.412 [ComponentRegistry](DEBUG): Component "CommandExec" handled in its own thread.
2025-03-12T04:01:37.424Z,1741752097.424 [CommandExec ThreadHandler](DEBUG): Created PCaller Thread at 404B14E0
2025-03-12T04:01:37.424Z,1741752097.424 [CommandExec ThreadHandler](INFO): Protected caller Thread ID is 832
2025-03-12T04:01:37.440Z,1741752097.440 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2025-03-12T04:01:37.452Z,1741752097.452 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 404E14E0
2025-03-12T04:01:37.452Z,1741752097.452 [CommandLine ThreadHandler](INFO): Protected caller Thread ID is 833
2025-03-12T04:01:37.454Z,1741752097.454 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2025-03-12T04:01:37.464Z,1741752097.464 [logger ThreadHandler](DEBUG): Created PCaller Thread at 405114E0
2025-03-12T04:01:37.464Z,1741752097.464 [logger ThreadHandler](INFO): Protected caller Thread ID is 834
2025-03-12T04:01:37.468Z,1741752097.468 [ComponentRegistry](DEBUG): SyncComponent "LogSplitter" handled in the control thread.
2025-03-12T04:01:37.469Z,1741752097.469 [Supervisor](INFO): Looking for Config files in directory: Config/
2025-03-12T04:01:37.484Z,1741752097.484 [Supervisor](INFO): Opening Config file at: Config/secure.cfg
2025-03-12T04:01:37.698Z,1741752097.698 [ComponentRegistry](DEBUG): Loaded Config Component "Config/secure
2025-03-12T04:01:37.700Z,1741752097.700 [Supervisor](INFO): Opening Config file at: Config/Dock.cfg
2025-03-12T04:01:38.134Z,1741752098.134 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Dock
2025-03-12T04:01:38.136Z,1741752098.136 [Supervisor](INFO): Opening Config file at: Config/Navigation.cfg
2025-03-12T04:01:38.701Z,1741752098.701 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Navigation
2025-03-12T04:01:38.703Z,1741752098.703 [Supervisor](INFO): Opening Config file at: Config/Estimation.cfg
2025-03-12T04:01:38.930Z,1741752098.930 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Estimation
2025-03-12T04:01:38.931Z,1741752098.931 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2025-03-12T04:01:39.853Z,1741752099.853 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2025-03-12T04:01:40.198Z,1741752100.198 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2025-03-12T04:01:40.735Z,1741752100.735 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2025-03-12T04:01:40.735Z,1741752100.735 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2025-03-12T04:01:41.294Z,1741752101.294 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2025-03-12T04:01:41.295Z,1741752101.295 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2025-03-12T04:01:41.744Z,1741752101.744 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2025-03-12T04:01:41.746Z,1741752101.746 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2025-03-12T04:01:42.110Z,1741752102.110 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2025-03-12T04:01:42.110Z,1741752102.110 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2025-03-12T04:01:42.503Z,1741752102.503 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2025-03-12T04:01:42.504Z,1741752102.504 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2025-03-12T04:01:42.743Z,1741752102.743 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2025-03-12T04:01:42.745Z,1741752102.745 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2025-03-12T04:01:42.898Z,1741752102.898 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2025-03-12T04:01:42.899Z,1741752102.899 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2025-03-12T04:01:42.991Z,1741752102.991 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2025-03-12T04:01:43.081Z,1741752103.081 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2025-03-12T04:01:43.279Z,1741752103.279 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2025-03-12T04:01:43.281Z,1741752103.281 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2025-03-12T04:01:43.539Z,1741752103.539 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2025-03-12T04:01:43.541Z,1741752103.541 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-makai/
2025-03-12T04:01:43.543Z,1741752103.543 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/secure.cfg
2025-03-12T04:01:43.637Z,1741752103.637 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Battery.cfg
2025-03-12T04:01:43.918Z,1741752103.918 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Battery
2025-03-12T04:01:43.918Z,1741752103.918 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Navigation.cfg
2025-03-12T04:01:44.014Z,1741752104.014 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Sensor.cfg
2025-03-12T04:01:44.197Z,1741752104.197 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/vehicle.cfg
2025-03-12T04:01:44.308Z,1741752104.308 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Simulator.cfg
2025-03-12T04:01:44.430Z,1741752104.430 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Servo.cfg
2025-03-12T04:01:44.555Z,1741752104.555 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Control.cfg
2025-03-12T04:01:44.660Z,1741752104.660 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Science.cfg
2025-03-12T04:01:44.834Z,1741752104.834 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Derivation.cfg
2025-03-12T04:01:44.958Z,1741752104.958 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/workSite.cfg
2025-03-12T04:01:45.955Z,1741752105.955 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/logger.cfg
2025-03-12T04:01:46.068Z,1741752106.068 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/BIT.cfg
2025-03-12T04:01:46.167Z,1741752106.167 [Supervisor](FAULT): Ignoring configuration overrides from Data/persisted.cfg
2025-03-12T04:01:46.171Z,1741752106.171 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2025-03-12T04:01:46.401Z,1741752106.401 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2025-03-12T04:01:46.402Z,1741752106.402 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2025-03-12T04:01:46.602Z,1741752106.602 [BuoyancyServo] Loaded
2025-03-12T04:01:46.602Z,1741752106.602 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2025-03-12T04:01:46.626Z,1741752106.626 [ElevatorServo] Loaded
2025-03-12T04:01:46.626Z,1741752106.626 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2025-03-12T04:01:46.649Z,1741752106.649 [MassServo] Loaded
2025-03-12T04:01:46.649Z,1741752106.649 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2025-03-12T04:01:46.672Z,1741752106.672 [RudderServo] Loaded
2025-03-12T04:01:46.672Z,1741752106.672 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2025-03-12T04:01:46.691Z,1741752106.691 [ThrusterHE] Loaded
2025-03-12T04:01:46.691Z,1741752106.691 [ComponentRegistry](DEBUG): SyncComponent "ThrusterHE" handled in the control thread.
2025-03-12T04:01:46.691Z,1741752106.691 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2025-03-12T04:01:46.693Z,1741752106.693 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2025-03-12T04:01:46.898Z,1741752106.898 [SBIT](DEBUG): Construct Startup Built In Test.
2025-03-12T04:01:46.914Z,1741752106.914 [SBIT] Loaded
2025-03-12T04:01:46.914Z,1741752106.914 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2025-03-12T04:01:46.917Z,1741752106.917 [IBIT](DEBUG): Construct Initiated Built In Test.
2025-03-12T04:01:46.938Z,1741752106.938 [IBIT] Loaded
2025-03-12T04:01:46.939Z,1741752106.939 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2025-03-12T04:01:46.944Z,1741752106.944 [CBIT](DEBUG): Construct Continuous Built In Test.
2025-03-12T04:01:47.141Z,1741752107.141 [CBIT] Loaded
2025-03-12T04:01:47.141Z,1741752107.141 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2025-03-12T04:01:47.173Z,1741752107.173 [GFScanner] Loaded
2025-03-12T04:01:47.173Z,1741752107.173 [ComponentRegistry](DEBUG): SyncComponent "GFScanner" handled in the control thread.
2025-03-12T04:01:47.174Z,1741752107.174 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2025-03-12T04:01:47.174Z,1741752107.174 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2025-03-12T04:01:47.396Z,1741752107.396 [CTD_Seabird] Loaded
2025-03-12T04:01:47.397Z,1741752107.397 [ComponentRegistry](DEBUG): Component "CTD_Seabird" handled in its own thread.
2025-03-12T04:01:47.398Z,1741752107.398 [CTD_Seabird ThreadHandler](DEBUG): Created PCaller Thread at 406834E0
2025-03-12T04:01:47.398Z,1741752107.398 [CTD_Seabird ThreadHandler](INFO): Protected caller Thread ID is 922
2025-03-12T04:01:47.434Z,1741752107.434 [ESPComponent] Loaded
2025-03-12T04:01:47.434Z,1741752107.434 [ComponentRegistry](DEBUG): SyncComponent "ESPComponent" handled in the control thread.
2025-03-12T04:01:47.456Z,1741752107.456 [PAR_Licor] Loaded
2025-03-12T04:01:47.457Z,1741752107.457 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2025-03-12T04:01:47.503Z,1741752107.503 [WetLabsBB2FL] Loaded
2025-03-12T04:01:47.504Z,1741752107.504 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2025-03-12T04:01:47.505Z,1741752107.505 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 406B34E0
2025-03-12T04:01:47.505Z,1741752107.505 [WetLabsBB2FL ThreadHandler](INFO): Protected caller Thread ID is 923
2025-03-12T04:01:47.506Z,1741752107.506 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2025-03-12T04:01:47.507Z,1741752107.507 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2025-03-12T04:01:47.580Z,1741752107.580 [DepthRateCalculator] Loaded
2025-03-12T04:01:47.580Z,1741752107.580 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2025-03-12T04:01:47.586Z,1741752107.586 [PitchRateCalculator] Loaded
2025-03-12T04:01:47.586Z,1741752107.586 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2025-03-12T04:01:47.596Z,1741752107.596 [SpeedCalculator] Loaded
2025-03-12T04:01:47.597Z,1741752107.597 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2025-03-12T04:01:47.602Z,1741752107.602 [YawRateCalculator] Loaded
2025-03-12T04:01:47.602Z,1741752107.602 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2025-03-12T04:01:47.623Z,1741752107.623 [ElevatorOffsetCalculator] Loaded
2025-03-12T04:01:47.623Z,1741752107.623 [ComponentRegistry](DEBUG): SyncComponent "ElevatorOffsetCalculator" handled in the control thread.
2025-03-12T04:01:47.623Z,1741752107.623 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2025-03-12T04:01:47.624Z,1741752107.624 [Module Loader](DEBUG): Loading Module at Modules/Dock.so
2025-03-12T04:01:47.796Z,1741752107.796 [Module Loader](DEBUG): Loaded Module: Dock (Contains behaviors and commands for docking)
2025-03-12T04:01:47.796Z,1741752107.796 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2025-03-12T04:01:47.845Z,1741752107.845 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2025-03-12T04:01:47.846Z,1741752107.846 [Module Loader](DEBUG): Loading Module at Modules/Navigation.so
2025-03-12T04:01:47.992Z,1741752107.992 [DeadReckonUsingMultipleVelocitySources] Loaded
2025-03-12T04:01:47.992Z,1741752107.992 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonUsingMultipleVelocitySources" handled in the control thread.
2025-03-12T04:01:48.007Z,1741752108.007 [NavChart] Loaded
2025-03-12T04:01:48.007Z,1741752108.007 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2025-03-12T04:01:48.013Z,1741752108.013 [UniversalFixResidualReporter] Loaded
2025-03-12T04:01:48.013Z,1741752108.013 [ComponentRegistry](DEBUG): SyncComponent "UniversalFixResidualReporter" handled in the control thread.
2025-03-12T04:01:48.014Z,1741752108.014 [Module Loader](DEBUG): Loaded Module: Navigation (Contains the base navigation components)
2025-03-12T04:01:48.014Z,1741752108.014 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2025-03-12T04:01:48.912Z,1741752108.912 [AHRS_M2] Loaded
2025-03-12T04:01:48.913Z,1741752108.913 [ComponentRegistry](DEBUG): SyncComponent "AHRS_M2" handled in the control thread.
2025-03-12T04:01:49.166Z,1741752109.166 [BackseatComponent] Loaded
2025-03-12T04:01:49.166Z,1741752109.166 [ComponentRegistry](DEBUG): Component "BackseatComponent" handled in its own thread.
2025-03-12T04:01:49.167Z,1741752109.167 [BackseatComponent ThreadHandler](DEBUG): Created PCaller Thread at 40A7F4E0
2025-03-12T04:01:49.168Z,1741752109.168 [BackseatComponent ThreadHandler](INFO): Protected caller Thread ID is 924
2025-03-12T04:01:49.171Z,1741752109.171 [LcmUniversalReporter] Loaded
2025-03-12T04:01:49.171Z,1741752109.171 [ComponentRegistry](DEBUG): SyncComponent "LcmUniversalReporter" handled in the control thread.
2025-03-12T04:01:49.935Z,1741752109.935 [BPC1] Loaded
2025-03-12T04:01:49.935Z,1741752109.935 [ComponentRegistry](DEBUG): SyncComponent "BPC1" handled in the control thread.
2025-03-12T04:01:50.038Z,1741752110.038 [DAT] Loaded
2025-03-12T04:01:50.039Z,1741752110.039 [ComponentRegistry](DEBUG): Component "DAT" handled in its own thread.
2025-03-12T04:01:50.040Z,1741752110.040 [DAT ThreadHandler](DEBUG): Created PCaller Thread at 40AAF4E0
2025-03-12T04:01:50.040Z,1741752110.040 [DAT ThreadHandler](INFO): Protected caller Thread ID is 925
2025-03-12T04:01:50.183Z,1741752110.183 [DataOverHttps] Loaded
2025-03-12T04:01:50.183Z,1741752110.183 [ComponentRegistry](DEBUG): Component "DataOverHttps" handled in its own thread.
2025-03-12T04:01:50.185Z,1741752110.185 [DataOverHttps ThreadHandler](DEBUG): Created PCaller Thread at 40ADF4E0
2025-03-12T04:01:50.185Z,1741752110.185 [DataOverHttps ThreadHandler](INFO): Protected caller Thread ID is 926
2025-03-12T04:01:50.209Z,1741752110.209 [Depth_Keller] Loaded
2025-03-12T04:01:50.209Z,1741752110.209 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2025-03-12T04:01:50.214Z,1741752110.214 [DropWeight] Loaded
2025-03-12T04:01:50.214Z,1741752110.214 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2025-03-12T04:01:50.348Z,1741752110.348 [DVL_micro] Loaded
2025-03-12T04:01:50.348Z,1741752110.348 [ComponentRegistry](DEBUG): SyncComponent "DVL_micro" handled in the control thread.
2025-03-12T04:01:50.480Z,1741752110.480 [NAL9602] Loaded
2025-03-12T04:01:50.481Z,1741752110.481 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2025-03-12T04:01:50.539Z,1741752110.539 [Onboard] Loaded
2025-03-12T04:01:50.540Z,1741752110.540 [ComponentRegistry](DEBUG): Component "Onboard" handled in its own thread.
2025-03-12T04:01:50.541Z,1741752110.541 [Onboard ThreadHandler](DEBUG): Created PCaller Thread at 40B0F4E0
2025-03-12T04:01:50.541Z,1741752110.541 [Onboard ThreadHandler](INFO): Protected caller Thread ID is 927
2025-03-12T04:01:50.547Z,1741752110.547 [PowerOnly](INFO): Adding load control power supply at /dev/loadB1
2025-03-12T04:01:50.561Z,1741752110.561 [PowerOnly] Loaded
2025-03-12T04:01:50.562Z,1741752110.562 [ComponentRegistry](DEBUG): SyncComponent "PowerOnly" handled in the control thread.
2025-03-12T04:01:50.576Z,1741752110.576 [Power24vConverter] Loaded
2025-03-12T04:01:50.576Z,1741752110.576 [ComponentRegistry](DEBUG): SyncComponent "Power24vConverter" handled in the control thread.
2025-03-12T04:01:50.593Z,1741752110.593 [Radio_Surface] Loaded
2025-03-12T04:01:50.593Z,1741752110.593 [ComponentRegistry](DEBUG): Component "Radio_Surface" handled in its own thread.
2025-03-12T04:01:50.594Z,1741752110.594 [Radio_Surface ThreadHandler](DEBUG): Created PCaller Thread at 40B3F4E0
2025-03-12T04:01:50.594Z,1741752110.594 [Radio_Surface ThreadHandler](INFO): Protected caller Thread ID is 928
2025-03-12T04:01:50.611Z,1741752110.611 [Sonardyne_Nano] Loaded
2025-03-12T04:01:50.611Z,1741752110.611 [ComponentRegistry](DEBUG): SyncComponent "Sonardyne_Nano" handled in the control thread.
2025-03-12T04:01:50.612Z,1741752110.612 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2025-03-12T04:01:50.612Z,1741752110.612 [Module Loader](DEBUG): Loading Module at Modules/Estimation.so
2025-03-12T04:01:50.702Z,1741752110.702 [Module Loader](DEBUG): Loaded Module: Estimation (Contains the base estimation components)
2025-03-12T04:01:50.703Z,1741752110.703 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2025-03-12T04:01:50.777Z,1741752110.777 [VerticalControl](DEBUG): Construct VerticalControl.
2025-03-12T04:01:50.830Z,1741752110.830 [VerticalControl] Loaded
2025-03-12T04:01:50.831Z,1741752110.831 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2025-03-12T04:01:50.834Z,1741752110.834 [HorizontalControl](DEBUG): Construct HorizontalControl.
2025-03-12T04:01:50.879Z,1741752110.879 [HorizontalControl] Loaded
2025-03-12T04:01:50.879Z,1741752110.879 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2025-03-12T04:01:50.882Z,1741752110.882 [SpeedControl](DEBUG): Construct SpeedControl.
2025-03-12T04:01:50.883Z,1741752110.883 [SpeedControl] Loaded
2025-03-12T04:01:50.884Z,1741752110.884 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2025-03-12T04:01:50.887Z,1741752110.887 [LoopControl](DEBUG): Construct LoopControl.
2025-03-12T04:01:50.887Z,1741752110.887 [LoopControl] Loaded
2025-03-12T04:01:50.887Z,1741752110.887 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2025-03-12T04:01:50.888Z,1741752110.888 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2025-03-12T04:01:50.889Z,1741752110.889 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2025-03-12T04:01:50.904Z,1741752110.904 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2025-03-12T04:01:50.905Z,1741752110.905 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2025-03-12T04:01:51.332Z,1741752111.332 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2025-03-12T04:01:51.339Z,1741752111.339 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2025-03-12T04:01:51.342Z,1741752111.342 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2025-03-12T04:01:51.353Z,1741752111.353 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2025-03-12T04:01:51.354Z,1741752111.354 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 40C654E0
2025-03-12T04:01:51.355Z,1741752111.355 [NavChartDb ThreadHandler](INFO): Protected caller Thread ID is 929
2025-03-12T04:01:51.359Z,1741752111.359 [Supervisor](INFO): Main Thread ID is 823
2025-03-12T04:01:51.359Z,1741752111.359 [Supervisor](DEBUG): Running supervisor.
2025-03-12T04:01:51.360Z,1741752111.360 [CommandExec ThreadHandler](INFO): Handler Thread ID is 930
2025-03-12T04:01:51.360Z,1741752111.360 [CommandExec](INFO): Initializing the command executive.
2025-03-12T04:01:51.362Z,1741752111.362 [CommandLine ThreadHandler](INFO): Handler Thread ID is 931
2025-03-12T04:01:51.364Z,1741752111.364 [controlThread ThreadHandler](INFO): Handler Thread ID is 932
2025-03-12T04:01:51.364Z,1741752111.364 [controlThread](DEBUG): Initializing ControlThread
2025-03-12T04:01:51.366Z,1741752111.366 [SBIT](INFO): Initialize SBIT Component.
2025-03-12T04:01:51.367Z,1741752111.367 [SBIT](IMPORTANT): git: 2025-03-10_A-1-g5ec0fbcf5
2025-03-12T04:01:51.367Z,1741752111.367 [SBIT](INFO): git hash: 5ec0fbcf5a93e8cd2bab2c372387092fa703e510
2025-03-12T04:01:51.367Z,1741752111.367 [SBIT](IMPORTANT): Kernel Release: 2.6.27.8
2025-03-12T04:01:51.369Z,1741752111.369 [SBIT](INFO): Kernel Reporting Different Version From Configuration.
Kernel Expected: #2 PREEMPT Thu Jan 11 20:13:48 PST 2018
Kernel Reported: #1 PREEMPT Wed Mar 17 08:23:48 PDT 2021
2025-03-12T04:01:51.370Z,1741752111.370 [SBIT](INFO): Beginning SBIT in 107.000000 seconds.
2025-03-12T04:01:51.370Z,1741752111.370 [IBIT](INFO): Initialize IBIT Component.
2025-03-12T04:01:51.371Z,1741752111.371 [CBIT](DEBUG): Initialize CBIT Component.
2025-03-12T04:01:51.372Z,1741752111.372 [logger ThreadHandler](INFO): Handler Thread ID is 933
2025-03-12T04:01:51.384Z,1741752111.384 [CBIT](DEBUG): Initialized mux pins.
2025-03-12T04:01:51.384Z,1741752111.384 [CBIT](FAULT): LAST RESTART WAS UNINTENTIONAL.
2025-03-12T04:01:51.384Z,1741752111.384 [CBIT](DEBUG): Initializing the watchdog timer.
2025-03-12T04:01:51.392Z,1741752111.392 [CTD_Seabird ThreadHandler](INFO): Handler Thread ID is 934
2025-03-12T04:01:51.393Z,1741752111.393 [CTD_Seabird](DEBUG): Initializing CTD_Seabird.
2025-03-12T04:01:51.398Z,1741752111.398 [WetLabsBB2FL ThreadHandler](INFO): Handler Thread ID is 936
2025-03-12T04:01:51.400Z,1741752111.400 [WetLabsBB2FL](INFO): Powering up
2025-03-12T04:01:51.401Z,1741752111.401 [BackseatComponent ThreadHandler](INFO): Handler Thread ID is 938
2025-03-12T04:01:51.408Z,1741752111.408 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2025-03-12T04:01:51.411Z,1741752111.411 [CBIT](FAULT): Found backtrace file:
1741751212.141977 [CommandExec]: SIGSEGV: address not mapped to object
1741751212.141977 [CommandExec]: Backtrace:
./bin/LRAUV(_ZN7PCaller20DefaultSignalHandlerEiP7siginfoPv+0x20) [0x1b4014]
./bin/LRAUV(_ZN6Config23LoadPersistedConfigSetsER6Loggerbb+0x1d8) [0x1ad8bc]
./bin/LRAUV(_ZN11CommandExec16commandConfigSetEP13ParsedCommandNS_13ConfigSetModeE+0xe8) [0x1c3a28]
./bin/LRAUV(_ZN13ParsedCommand7executeER6Logger+0x38) [0x1b8bd4]
./bin/LRAUV(_ZN11CommandExec19processCommandQueueERK8Timespan+0x84) [0x1bc104]
./bin/LRAUV(_ZN11CommandExec3runEv+0x35c) [0x1c4ca4]
./bin/LRAUV(_ZN9Component15executeRunStateEv+0x5c) [0xef234]
./bin/LRAUV(_ZN7PCaller10PThreadRunEPv+0xc8) [0x1b3a60]


2025-03-12T04:01:51.412Z,1741752111.412 [DAT ThreadHandler](INFO): Handler Thread ID is 939
2025-03-12T04:01:51.413Z,1741752111.413 [DAT](INFO): Powering up
2025-03-12T04:01:51.413Z,1741752111.413 [DAT](DEBUG): Initializing DAT.
2025-03-12T04:01:51.420Z,1741752111.420 [CBIT](FAULT): Renaming backtrace file to Data/backtrace5
2025-03-12T04:01:51.421Z,1741752111.421 [CBIT](DEBUG): Initializing heartbeat.
2025-03-12T04:01:51.422Z,1741752111.422 [DataOverHttps ThreadHandler](INFO): Handler Thread ID is 941
2025-03-12T04:01:51.423Z,1741752111.423 [DataOverHttps](DEBUG): dashIP=134.89.2.23 starts with a digit so assuming it is a numeric IP
2025-03-12T04:01:51.440Z,1741752111.440 [Onboard ThreadHandler](INFO): Handler Thread ID is 942
2025-03-12T04:01:51.457Z,1741752111.457 [Radio_Surface ThreadHandler](INFO): Handler Thread ID is 943
2025-03-12T04:01:51.477Z,1741752111.477 [NavChartDb ThreadHandler](INFO): Handler Thread ID is 944
2025-03-12T04:01:51.484Z,1741752111.484 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US1WC07M.000
2025-03-12T04:01:51.485Z,1741752111.485 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2025-03-12T04:01:51.485Z,1741752111.485 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US2WC11M.000
2025-03-12T04:01:51.485Z,1741752111.485 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2025-03-12T04:01:51.485Z,1741752111.485 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US3CA52M.000
2025-03-12T04:01:51.485Z,1741752111.485 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2025-03-12T04:01:51.485Z,1741752111.485 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA50M.000
2025-03-12T04:01:51.486Z,1741752111.486 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2025-03-12T04:01:51.492Z,1741752111.492 [CBIT](DEBUG): Deactivating emergency mode.
2025-03-12T04:01:51.532Z,1741752111.532 [CBIT](DEBUG): Backplane powered.
2025-03-12T04:01:51.532Z,1741752111.532 [GFScanner](DEBUG): Initializing GFScanner
2025-03-12T04:01:51.536Z,1741752111.536 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2025-03-12T04:01:51.537Z,1741752111.537 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2025-03-12T04:01:51.537Z,1741752111.537 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2025-03-12T04:01:51.537Z,1741752111.537 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2025-03-12T04:01:51.538Z,1741752111.538 [ElevatorOffsetCalculator](DEBUG): Initializing ElevatorOffsetCalculator.
2025-03-12T04:01:51.539Z,1741752111.539 [NavChart](DEBUG): Initialize NavChart Navigation.
2025-03-12T04:01:51.539Z,1741752111.539 [UniversalFixResidualReporter](DEBUG): Initializing UniversalFixResidualReporter component.
2025-03-12T04:01:51.547Z,1741752111.547 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2025-03-12T04:01:51.561Z,1741752111.561 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2025-03-12T04:01:51.562Z,1741752111.562 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2025-03-12T04:01:51.562Z,1741752111.562 [LoopControl](DEBUG): Initialize LoopControlComponent.
2025-03-12T04:01:51.563Z,1741752111.563 [MissionManager](IMPORTANT): Using TethysL tl-to-tx parser
2025-03-12T04:01:51.572Z,1741752111.572 [MissionManager](INFO): Loading Mission from file: Missions/Startup.tl
2025-03-12T04:01:51.572Z,1741752111.572 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Startup.tl
2025-03-12T04:01:51.577Z,1741752111.577 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Startup.tl
2025-03-12T04:01:51.673Z,1741752111.673 [MissionManager](DEBUG): TethyslAPI: Missions/Startup.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Mission Id="Startup">
    <Guidance:GoToSurface>
        <Progression />
    </Guidance:GoToSurface>
    <Aggregate Id="StartupSatComms">
        <Sequence />
        <ReadDatum>
            <Timeout Duration="P1M" />
            <Universal:latitude_fix />
        </ReadDatum>
        <ReadDatum>
            <Timeout Duration="P1M" />
            <Universal:platform_communications />
        </ReadDatum>
    </Aggregate>
</Mission>

2025-03-12T04:01:51.678Z,1741752111.678 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2025-03-12T04:01:51.719Z,1741752111.719 [MissionManager](DEBUG): 
#   Copyright (c) 2024 MBARI
#   MBARI Proprietary Information. Confidential. All Rights Reserved
#   Unauthorized copying or distribution of this file via any medium is strictly
#   prohibited.
#
#   WARNING - This file contains information whose export is restricted by the
#   Export Administration Act of 1979 (Title 50, U.S.C., App. 2401 et seq.), as
#   amended. Violations of these export laws are subject to severe civil and/or
#   criminal penalties.

mission Startup {
  behavior Guidance:GoToSurface {
    run in progression
  }

  aggregate StartupSatComms {
    run in sequence

    readDatum {
      timeout duration=P1M

      Universal:latitude_fix
    }

    readDatum {
      timeout duration=P1M

      Universal:platform_communications
    }
  }
}


2025-03-12T04:01:51.720Z,1741752111.720 [MissionManager](INFO): Loading Mission from file: Missions/Default.tl
2025-03-12T04:01:51.720Z,1741752111.720 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Default.tl
2025-03-12T04:01:51.725Z,1741752111.725 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Default.tl
2025-03-12T04:01:51.864Z,1741752111.864 [Radio_Surface](INFO): Powering up
2025-03-12T04:01:52.039Z,1741752112.039 [MissionManager](DEBUG): TethyslAPI: Missions/Default.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Mission Id="Default">
    <DefineArg Name="ElapsedSinceDefaultStarted">
        <Units:minute />
        <Value>0</Value>
    </DefineArg>
    <Guidance:Wait>
        <Sequence />
        <Setting>
            <Guidance:Wait.duration />
            <Units:second />
            <Value>13</Value>
        </Setting>
    </Guidance:Wait>
    <Guidance:GoToSurface>
        <Progression />
    </Guidance:GoToSurface>
    <Aggregate Id="CheckIn">
        <Sequence Repeat="288" />
        <ReadDatum Id="Read_GPS">
            <Timeout Duration="P5M" />
            <Universal:time_fix />
        </ReadDatum>
        <ReadDatum Id="Read_Iridium">
            <Timeout Duration="P4H">
                <Guidance:Execute>
                    <Sequence />
                    <Setting>
                        <Guidance:Execute.command />
                        <String>Burn on</String>
                    </Setting>
                </Guidance:Execute>
                <Syslog Severity="Critical">Dropped weight due to communications timeout.</Syslog>
            </Timeout>
            <Universal:platform_communications />
        </ReadDatum>
        <Guidance:Wait>
            <Sequence />
            <Setting>
                <Guidance:Wait.duration />
                <Units:minute />
                <Value>5</Value>
            </Setting>
        </Guidance:Wait>
        <Assign>
            <Sequence />
            <Arg Name="ElapsedSinceDefaultStarted" />
            <Elapsed>
                <Universal:mission_started />
            </Elapsed>
        </Assign>
        <Syslog Severity="Important">
            Default mission has been running for 
            <Arg Name="ElapsedSinceDefaultStarted" />
            <Units:minute />
        </Syslog>
    </Aggregate>
    <Syslog Severity="Important">Restarting logs and Default mission.</Syslog>
    <Guidance:Execute>
        <Sequence />
        <Setting>
            <Guidance:Execute.command />
            <String>restart logs</String>
        </Setting>
    </Guidance:Execute>
</Mission>

2025-03-12T04:01:52.061Z,1741752112.061 [MissionManager](INFO): DefineArg Default.ElapsedSinceDefaultStarted = 0.000000 min
2025-03-12T04:01:52.062Z,1741752112.062 [Default:A.Wait](DEBUG): Construct Wait.
2025-03-12T04:01:52.080Z,1741752112.080 [Default:B.GoToSurface](DEBUG): Construct GoToSurface.
2025-03-12T04:01:52.097Z,1741752112.097 [Default:CheckIn:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2025-03-12T04:01:52.124Z,1741752112.124 [Default:CheckIn:C.Wait](DEBUG): Construct Wait.
2025-03-12T04:01:52.139Z,1741752112.139 [Default:E.Execute](DEBUG): Construct Execute.
2025-03-12T04:01:52.158Z,1741752112.158 [MissionManager](DEBUG): 
#   Copyright (c) 2024 MBARI
#   MBARI Proprietary Information. Confidential. All Rights Reserved
#   Unauthorized copying or distribution of this file via any medium is strictly
#   prohibited.
#
#   WARNING - This file contains information whose export is restricted by the
#   Export Administration Act of 1979 (Title 50, U.S.C., App. 2401 et seq.), as
#   amended. Violations of these export laws are subject to severe civil and/or
#   criminal penalties.

mission Default {
  arguments {
    ElapsedSinceDefaultStarted = 0 minute
  }

  behavior Guidance:Wait {
    """
    Wait a moment to see if the scheduler starts a new mission before
    starting to actually run Default.
    """

    run in sequence

    set duration = 13 second
  }

  behavior Guidance:GoToSurface {
    run in progression
  }

  aggregate CheckIn {
    run in sequence repeat=288

    readDatum id="Read_GPS" {
      timeout duration=P5M

      Universal:time_fix
    }

    readDatum id="Read_Iridium" {
      timeout duration=P4H {
        behavior Guidance:Execute {
          run in sequence

          set command = "Burn on"
        }

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

      Universal:platform_communications
    }

    behavior Guidance:Wait {
      run in sequence

      set duration = 5 minute
    }

    assign in sequence ElapsedSinceDefaultStarted = elapsed ( Universal:mission_started )

    syslog important "Default mission has been running for " + ElapsedSinceDefaultStarted~minute
  }

  syslog important "Restarting logs and Default mission."

  behavior Guidance:Execute {
    run in sequence

    set command = "restart logs"
  }
}


2025-03-12T04:01:52.163Z,1741752112.163 [controlThread](DEBUG): Component order: CycleStarter,ESPComponent,PAR_Licor,AHRS_M2,BPC1,Depth_Keller,DropWeight,DVL_micro,NAL9602,PowerOnly,Power24vConverter,Sonardyne_Nano,PAR_Licor,Depth_Keller,DepthRateCalculator,PitchRateCalculator,SpeedCalculator,YawRateCalculator,ElevatorOffsetCalculator,DeadReckonUsingMultipleVelocitySources,NavChart,UniversalFixResidualReporter,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,BuoyancyServo,ElevatorServo,MassServo,RudderServo,ThrusterHE,SBIT,IBIT,CBIT,GFScanner,LcmUniversalReporter,Reporter,LogSplitter,
2025-03-12T04:01:52.201Z,1741752112.201 [AHRS_M2](DEBUG): Initializing AHRS_M2.
2025-03-12T04:01:52.325Z,1741752112.325 [Depth_Keller](ERROR): Pressure or depth reading out of range: 1895.444336 decibar, 0.000000 m
2025-03-12T04:01:52.334Z,1741752112.334 [Power24vConverter](INFO): Powering up.
2025-03-12T04:01:52.334Z,1741752112.334 [Sonardyne_Nano](INFO): Initializing.
2025-03-12T04:01:52.360Z,1741752112.360 [DepthRateCalculator](ERROR): Depth measurement is not active
2025-03-12T04:01:52.409Z,1741752112.409 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2025-03-12T04:01:52.416Z,1741752112.416 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2025-03-12T04:01:52.417Z,1741752112.417 [ElevatorServo](DEBUG): Initializing EZServoServo.
2025-03-12T04:01:52.425Z,1741752112.425 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2025-03-12T04:01:52.426Z,1741752112.426 [MassServo](DEBUG): Initializing EZServoServo.
2025-03-12T04:01:52.432Z,1741752112.432 [MassServo](DEBUG): Initializing MassServo.
2025-03-12T04:01:52.433Z,1741752112.433 [RudderServo](DEBUG): Initializing EZServoServo.
2025-03-12T04:01:52.440Z,1741752112.440 [RudderServo](DEBUG): Initializing RudderServo.
2025-03-12T04:01:52.441Z,1741752112.441 [ThrusterHE](DEBUG): Initializing EZServoServo.
2025-03-12T04:01:52.448Z,1741752112.448 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2025-03-12T04:01:54.012Z,1741752114.012 [WetLabsBB2FL](INFO): Powering down
2025-03-12T04:01:54.599Z,1741752114.599 [Sonardyne_Nano](ERROR): Failed to get valid response or reached max queue size, flushing UART
2025-03-12T04:01:55.847Z,1741752115.847 [Sonardyne_Nano](IMPORTANT): Found beacon with acoustic ID 2213
2025-03-12T04:01:57.929Z,1741752117.929 [ThrusterHE](ERROR): Zero Speed Commanded.
2025-03-12T04:02:04.521Z,1741752124.521 [DAT](INFO): DAT read: 

2025-03-12T04:02:04.522Z,1741752124.522 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series

2025-03-12T04:02:06.288Z,1741752126.288 [DAT](INFO): DAT read: MF Frequency Band

2025-03-12T04:02:06.290Z,1741752126.290 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.15.0

2025-03-12T04:02:06.291Z,1741752126.291 [DAT](INFO): DAT read: Mar 12 2025 04:00:31 

2025-03-12T04:02:07.293Z,1741752127.293 [DAT](INFO): DAT read: Features enabled [Bearing]

2025-03-12T04:02:07.294Z,1741752127.294 [DAT](INFO): DAT read: CONNECT 01200 bits/sec 1 of 4, Rate 1/2 CC

2025-03-12T04:02:07.294Z,1741752127.294 [DAT](INFO): commRate: 1200
2025-03-12T04:02:09.360Z,1741752129.360 [DAT](INFO): entering command mode
2025-03-12T04:02:09.560Z,1741752129.560 [DAT](INFO): DAT read: 

2025-03-12T04:02:09.561Z,1741752129.561 [DAT](INFO): DAT read: user:1>

2025-03-12T04:02:09.561Z,1741752129.561 [DAT](INFO): setting verbose to 3
2025-03-12T04:02:09.813Z,1741752129.813 [DAT](INFO): DAT read: user:1>

2025-03-12T04:02:09.814Z,1741752129.814 [DAT](INFO): DAT read: Verbose         | 3           

2025-03-12T04:02:09.814Z,1741752129.814 [DAT](INFO): set verbose to 3
2025-03-12T04:02:09.814Z,1741752129.814 [DAT](INFO): setting DatVerbose to 27440
2025-03-12T04:02:10.065Z,1741752130.065 [DAT](INFO): DAT read: user:2>

2025-03-12T04:02:10.065Z,1741752130.065 [DAT](INFO): DAT read: DatVerbose      | 27440       

2025-03-12T04:02:10.066Z,1741752130.066 [DAT](INFO): set DatVerbose to 27440
2025-03-12T04:02:10.066Z,1741752130.066 [DAT](INFO): setting transmit power to 8
2025-03-12T04:02:10.316Z,1741752130.316 [DAT](INFO): DAT read: user:3>

2025-03-12T04:02:10.317Z,1741752130.317 [DAT](INFO): DAT read: TxPower         | 8 (Max)     

2025-03-12T04:02:10.318Z,1741752130.318 [DAT](INFO): set transmit power to 8
2025-03-12T04:02:10.318Z,1741752130.318 [DAT](INFO): setting local address to 5
2025-03-12T04:02:10.569Z,1741752130.569 [DAT](INFO): DAT read: user:4>

2025-03-12T04:02:10.569Z,1741752130.569 [DAT](INFO): DAT read: LocalAddr       | 5           

2025-03-12T04:02:10.570Z,1741752130.570 [DAT](INFO): set local address to 5
2025-03-12T04:02:10.571Z,1741752130.571 [DAT](INFO): Setting time to: 4:2:10 And date to:3/12/2025
2025-03-12T04:02:10.821Z,1741752130.821 [DAT](INFO): DAT read: user:5>

2025-03-12T04:02:10.822Z,1741752130.822 [DAT](INFO): DAT read: Wed Mar 12, 2025  04:02:10  

2025-03-12T04:02:10.822Z,1741752130.822 [DAT](INFO): Local DAT time set to Wed Mar 12, 2025  04:02:10  

2025-03-12T04:02:20.881Z,1741752140.881 [NAL9602](INFO): Powering up NAL9602
2025-03-12T04:02:31.774Z,1741752151.774 [NAL9602](INFO): NAL9602 initialized
2025-03-12T04:02:42.802Z,1741752162.802 [NAL9602](INFO): SBD MO Status=0, MOMSN=18939, MT Status=0, MTMSN=0
2025-03-12T04:02:42.802Z,1741752162.802 [NAL9602](INFO): No messages in MT queue
2025-03-12T04:03:38.853Z,1741752218.853 [SBIT](IMPORTANT): Beginning Startup BIT
2025-03-12T04:03:53.530Z,1741752233.530 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.004819
2025-03-12T04:04:08.017Z,1741752248.017 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,040400.00,A,3647.85927,N,12150.89861,W,0.991,235.53,120325,,,A*76
2025-03-12T04:04:08.021Z,1741752248.021 [NAL9602](INFO): GPS fix at 20250312T040400: (36.797655, -121.848310)
2025-03-12T04:04:32.989Z,1741752272.989 [SBIT](IMPORTANT): SBIT PASSED
2025-03-12T04:04:32.989Z,1741752272.989 [SBIT](FAULT): Ignoring configuration overrides from Data/persisted.cfg
2025-03-12T04:04:33.376Z,1741752273.376 [MissionManager](IMPORTANT): Started mission Startup
2025-03-12T04:04:33.377Z,1741752273.377 [Startup] Running Loop=1
2025-03-12T04:04:33.377Z,1741752273.377 [Startup](DEBUG): Aggregate::initialize Startup
2025-03-12T04:04:33.377Z,1741752273.377 [Startup:A.GoToSurface] Running Loop=1
2025-03-12T04:04:33.377Z,1741752273.377 [Startup:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-03-12T04:04:33.377Z,1741752273.377 [Startup:A.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-03-12T04:04:33.378Z,1741752273.378 [Startup:A.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-03-12T04:04:33.378Z,1741752273.378 [Startup:A.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-03-12T04:04:33.378Z,1741752273.378 [Startup:A.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-03-12T04:04:33.379Z,1741752273.379 [Startup:A.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-03-12T04:04:33.379Z,1741752273.379 [Startup:A.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-03-12T04:04:33.381Z,1741752273.381 [Startup:StartupSatComms] Running Loop=1
2025-03-12T04:04:33.382Z,1741752273.382 [Startup:StartupSatComms](DEBUG): Aggregate::initialize Startup:StartupSatComms
2025-03-12T04:04:33.382Z,1741752273.382 [Startup:StartupSatComms:A] Running Loop=1
2025-03-12T04:04:33.776Z,1741752273.776 [Startup:StartupSatComms:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2025-03-12T04:04:35.390Z,1741752275.390 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,040427.00,A,3647.85997,N,12150.90147,W,0.525,260.14,120325,,,A*7D
2025-03-12T04:04:35.392Z,1741752275.392 [NAL9602](INFO): GPS fix at 20250312T040427: (36.797666, -121.848358)
2025-03-12T04:04:35.403Z,1741752275.403 [Startup:StartupSatComms:A] Stopped
2025-03-12T04:04:35.403Z,1741752275.403 [Startup:StartupSatComms:B] Running Loop=1
2025-03-12T04:04:35.817Z,1741752275.817 [Startup:StartupSatComms:B](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-03-12T04:04:44.497Z,1741752284.497 [DataOverHttps](INFO): Sending 40 bytes from file Logs/20250312T031505/Courier0015.lzma
2025-03-12T04:04:45.498Z,1741752285.498 [DataOverHttps](INFO): Moved sent file to Logs/20250312T031505/Courier0015.lzma.bak
2025-03-12T04:04:45.498Z,1741752285.498 [DataOverHttps](INFO): SBD MOMSN=24182092
2025-03-12T04:05:01.932Z,1741752301.932 [DataOverHttps](INFO): Sending 273 bytes from file Logs/20250312T040137/Courier0000.lzma
2025-03-12T04:05:03.014Z,1741752303.014 [DataOverHttps](INFO): Moved sent file to Logs/20250312T040137/Courier0000.lzma.bak
2025-03-12T04:05:03.014Z,1741752303.014 [DataOverHttps](INFO): SBD MOMSN=24182094
2025-03-12T04:05:07.377Z,1741752307.377 [NAL9602](INFO): Not Powering down - fast GPS
2025-03-12T04:05:20.005Z,1741752320.005 [DataOverHttps](INFO): Sending 238 bytes from file Logs/20250312T031505/Express0017.lzma
2025-03-12T04:05:21.006Z,1741752321.006 [DataOverHttps](INFO): Moved sent file to Logs/20250312T031505/Express0017.lzma.bak
2025-03-12T04:05:21.006Z,1741752321.006 [DataOverHttps](INFO): SBD MOMSN=24182098
2025-03-12T04:05:35.679Z,1741752335.679 [Startup:StartupSatComms:B](INFO): Timed out from 2025-03-12T04:04:35.4Z
2025-03-12T04:05:35.679Z,1741752335.679 [Startup:StartupSatComms:B] Stopped
2025-03-12T04:05:35.679Z,1741752335.679 [Startup:StartupSatComms](INFO): Completed Startup:StartupSatComms
2025-03-12T04:05:35.679Z,1741752335.679 [Startup:StartupSatComms] Stopped
2025-03-12T04:05:35.679Z,1741752335.679 [Startup:StartupSatComms](DEBUG): Aggregate::uninitialize Startup:StartupSatComms
2025-03-12T04:05:35.684Z,1741752335.684 [Startup](INFO): Completed Startup
2025-03-12T04:05:35.685Z,1741752335.685 [MissionManager](INFO): Startup is completed.
2025-03-12T04:05:35.685Z,1741752335.685 [MissionManager](INFO): Uninitializing Mission Startup
2025-03-12T04:05:35.685Z,1741752335.685 [Startup] Stopped
2025-03-12T04:05:35.685Z,1741752335.685 [Startup](DEBUG): Aggregate::uninitialize Startup
2025-03-12T04:05:35.685Z,1741752335.685 [Startup:A.GoToSurface] Stopped
2025-03-12T04:05:35.685Z,1741752335.685 [Startup:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-03-12T04:05:36.261Z,1741752336.261 [MissionManager](IMPORTANT): Started mission Default
2025-03-12T04:05:36.261Z,1741752336.261 [Default] Running Loop=1
2025-03-12T04:05:36.261Z,1741752336.261 [Default](DEBUG): Aggregate::initialize Default
2025-03-12T04:05:36.261Z,1741752336.261 [Default:B.GoToSurface] Running Loop=1
2025-03-12T04:05:36.261Z,1741752336.261 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-03-12T04:05:36.261Z,1741752336.261 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-03-12T04:05:36.262Z,1741752336.262 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-03-12T04:05:36.262Z,1741752336.262 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-03-12T04:05:36.262Z,1741752336.262 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-03-12T04:05:36.263Z,1741752336.263 [Default:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-03-12T04:05:36.263Z,1741752336.263 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-03-12T04:05:36.263Z,1741752336.263 [Default:A.Wait] Running Loop=1
2025-03-12T04:05:36.263Z,1741752336.263 [Default:A.Wait](DEBUG): Initialize Wait Component.
2025-03-12T04:05:38.518Z,1741752338.518 [DataOverHttps](INFO): Sending 1105 bytes from file Logs/20250312T040137/Express0001.lzma
2025-03-12T04:05:39.518Z,1741752339.518 [DataOverHttps](INFO): Moved sent file to Logs/20250312T040137/Express0001.lzma.bak
2025-03-12T04:05:39.518Z,1741752339.518 [DataOverHttps](INFO): SBD MOMSN=24182111
2025-03-12T04:05:49.531Z,1741752349.531 [Default:A.Wait](INFO): Done Waiting.
2025-03-12T04:05:49.531Z,1741752349.531 [Default:A.Wait] Stopped
2025-03-12T04:05:49.536Z,1741752349.536 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2025-03-12T04:05:49.804Z,1741752349.804 [Default:CheckIn] Running Loop=1
2025-03-12T04:05:49.804Z,1741752349.804 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-03-12T04:05:49.804Z,1741752349.804 [Default:CheckIn:Read_GPS] Running Loop=1
2025-03-12T04:05:50.231Z,1741752350.231 [Default:CheckIn:Read_GPS](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-03-12T04:05:51.837Z,1741752351.837 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,040544.00,A,3647.85887,N,12150.90725,W,0.486,268.74,120325,,,A*7D
2025-03-12T04:05:51.839Z,1741752351.839 [NAL9602](INFO): GPS fix at 20250312T040544: (36.797648, -121.848454)
2025-03-12T04:05:51.865Z,1741752351.865 [Default:CheckIn:Read_GPS] Stopped
2025-03-12T04:05:51.865Z,1741752351.865 [Default:CheckIn:Read_Iridium] Running Loop=1
2025-03-12T04:05:52.248Z,1741752352.248 [Default:CheckIn:Read_Iridium](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-03-12T04:06:00.928Z,1741752360.928 [DataOverHttps](INFO): Sending 75 bytes from file Logs/20250312T040137/Courier0004.lzma
2025-03-12T04:06:01.930Z,1741752361.930 [DataOverHttps](INFO): Moved sent file to Logs/20250312T040137/Courier0004.lzma.bak
2025-03-12T04:06:01.930Z,1741752361.930 [DataOverHttps](INFO): SBD MOMSN=24182126
2025-03-12T04:06:18.440Z,1741752378.440 [DataOverHttps](INFO): Sending 172 bytes from file Logs/20250312T040137/Express0005.lzma
2025-03-12T04:06:19.442Z,1741752379.442 [DataOverHttps](INFO): Moved sent file to Logs/20250312T040137/Express0005.lzma.bak
2025-03-12T04:06:19.442Z,1741752379.442 [DataOverHttps](INFO): SBD MOMSN=24182129
2025-03-12T04:06:20.508Z,1741752380.508 [NAL9602](INFO): SBD MO Status=0, MOMSN=18940, MT Status=0, MTMSN=0
2025-03-12T04:06:20.508Z,1741752380.508 [NAL9602](INFO): No messages in MT queue
2025-03-12T04:06:20.923Z,1741752380.923 [Default:CheckIn:Read_Iridium] Stopped
2025-03-12T04:06:20.923Z,1741752380.923 [Default:CheckIn:C.Wait] Running Loop=1
2025-03-12T04:06:20.923Z,1741752380.923 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2025-03-12T04:06:51.194Z,1741752411.194 [NAL9602](INFO): Not Powering down - fast GPS
2025-03-12T04:07:30.226Z,1741752450.226 [DataOverHttps](IMPORTANT): SBD MTMSN=20250312T040725
2025-03-12T04:07:39.012Z,1741752459.012 [DataOverHttps](INFO): Received command: sched asap "load Science/sci2_flat_and_level.tl;set sci2_flat_and_level.MissionTimeout 0.5 h;set sci2_flat_and_level.Depth1 30 m;set sci2_flat_and_level.Lat1 36.797 degree;set sci2_flat_and_level.Lon1 -121.857 degree" 31ks5 1 2
2025-03-12T04:07:39.081Z,1741752459.081 [CommandExec](IMPORTANT): got command schedule asap "load Science/sci2_flat_and_level.tl;set sci2_flat_and_level.MissionTimeout 0.5 h;set sci2_flat_and_level.Depth1 30 m;set sci2_flat_and_level.Lat1 36.797 degree;set sci2_flat_and_level.Lon1 -121.857 degree" 31ks5 1 2.000000
2025-03-12T04:07:39.081Z,1741752459.081 [CommandExec](IMPORTANT): Scheduling command #1 of 2 with id=31ks5
2025-03-12T04:07:39.082Z,1741752459.082 [CommandExec](IMPORTANT): Scheduled #1 (#1 of 2 with id='31ks5'): "load Science/sci2_flat_and_level.tl;set sci2_flat_and_level.MissionTimeout 0.5 h;set sci2_flat_and_level.Depth1 30 m;set sci2_flat_and_level.Lat1 36.797 degree;set sci2_flat_and_level.Lon1 -121.857 degree", ASAP
2025-03-12T04:07:40.014Z,1741752460.014 [DataOverHttps](IMPORTANT): SBD MTMSN=20250312T040734
2025-03-12T04:07:47.836Z,1741752467.836 [DataOverHttps](INFO): Received command: sched asap "set sci2_flat_and_level.MaxDepth 40 m;run" 31ks5 2 2
2025-03-12T04:07:47.855Z,1741752467.855 [CommandExec](IMPORTANT): got command schedule asap "set sci2_flat_and_level.MaxDepth 40 m;run" 31ks5 2 2.000000
2025-03-12T04:07:47.855Z,1741752467.855 [CommandExec](IMPORTANT): Scheduling command #2 of 2 with id=31ks5
2025-03-12T04:07:47.856Z,1741752467.856 [CommandExec](IMPORTANT): Scheduled #2 (#2 of 2 with id='31ks5'): "set sci2_flat_and_level.MaxDepth 40 m;run", ASAP
2025-03-12T04:07:48.008Z,1741752468.008 [CommandExec](IMPORTANT): got command load ./Missions/Science/sci2_flat_and_level.tl
2025-03-12T04:07:48.008Z,1741752468.008 [MissionManager](INFO): Loading Mission from file: ./Missions/Science/sci2_flat_and_level.tl
2025-03-12T04:07:48.008Z,1741752468.008 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Science/sci2_flat_and_level.tl
2025-03-12T04:07:48.013Z,1741752468.013 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Science/sci2_flat_and_level.tl
2025-03-12T04:07:53.508Z,1741752473.508 [MissionManager](DEBUG): TethyslAPI: ./Missions/Science/sci2_flat_and_level.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Mission Id="sci2_flat_and_level">
    <DefineArg Name="MissionTimeout">
        <Units:hour />
        <Value>2</Value>
    </DefineArg>
    <DefineArg Name="NeedCommsTime">
        <Units:minute />
        <Value>60</Value>
    </DefineArg>
    <DefineArg Name="Depth1">
        <Units:meter />
        <Value>3</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="Depth9">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Depth10">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Repeat">
        <Units:count />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="DepthPerLeg">
        <False />
    </DefineArg>
    <DefineArg Name="Lat1">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lat2">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lat3">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lat4">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lat5">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lat6">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lat7">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lon1">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lon2">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lon3">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lon4">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lon5">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lon6">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lon7">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Speed">
        <Units:meter_per_second />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="RollOptimizeSpeed">
        <False />
    </DefineArg>
    <DefineArg Name="TargetRollAngle">
        <Units:degree />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="RollError">
        <Units:degree />
        <Value>2</Value>
    </DefineArg>
    <DefineArg Name="MaxRollSpeed">
        <Units:meter_per_second />
        <Value>1.1</Value>
    </DefineArg>
    <DefineArg Name="MinRollSpeed">
        <Units:meter_per_second />
        <Value>0.6</Value>
    </DefineArg>
    <DefineArg Name="RollWindowLen">
        <Units:minute />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="RollInitStep">
        <Units:degree />
        <Value>0.1</Value>
    </DefineArg>
    <DefineArg Name="RollMinStep">
        <Units:degree />
        <Value>0.025</Value>
    </DefineArg>
    <DefineArg Name="RollVerbose">
        <True />
    </DefineArg>
    <DefineArg Name="ApproachDepth">
        <Units:meter />
        <Value>2</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="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>15</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" />
    <Insert Filename="Insert/PowerOnly.tl" />
    <Aggregate Id="SurfaceComms">
        <When>
            <Called />
            <Or>
                <Elapsed>
                    <Universal:time_fix />
                </Elapsed>
                <Gt>
                    <Arg Name="NeedCommsTime" />
                </Gt>
            </Or>
        </When>
        <Assign>
            <Sequence />
            <Arg Name="DiveMode" />
            <Arg Name="DoingComms" />
        </Assign>
        <Call RefId="NeedComms" />
        <Assign>
            <Sequence />
            <Arg Name="DiveMode" />
            <Arg Name="InitialDive" />
        </Assign>
    </Aggregate>
    <Assign>
        <Sequence />
        <Arg Name="LegDepth" />
        <Arg Name="Depth1" />
    </Assign>
    <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>
                <Guidance:Buoyancy>
                    <Parallel />
                    <Setting>
                        <Guidance:Buoyancy.position />
                        <Arg Name="BuoyancyNeutral" />
                    </Setting>
                </Guidance:Buoyancy>
                <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="ApproachDepth" />
                    </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>
            </While>
            <Aggregate Id="dive">
                <Parallel />
                <Aggregate Id="ThrusterDive">
                    <While>
                        <Arg Name="Speed" />
                        <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:Buoyancy>
                        <Parallel />
                        <Setting>
                            <Guidance:Buoyancy.position />
                            <Arg Name="BuoyancyNeutral" />
                        </Setting>
                    </Guidance:Buoyancy>
                </Aggregate>
                <Aggregate Id="SetSpeed">
                    <Sequence />
                    <Break>
                        <Arg Name="RollOptimizeSpeed" />
                    </Break>
                    <Guidance:SetSpeed>
                        <Parallel />
                        <Setting>
                            <Guidance:SetSpeed.speed />
                            <Arg Name="Speed" />
                        </Setting>
                    </Guidance:SetSpeed>
                </Aggregate>
                <Aggregate Id="SetRollSpeed">
                    <Sequence />
                    <Break>
                        <Not>
                            <Arg Name="RollOptimizeSpeed" />
                        </Not>
                    </Break>
                    <Guidance:SetRollSpeed>
                        <Parallel />
                        <Setting>
                            <Guidance:SetRollSpeed.targetRoll />
                            <Arg Name="TargetRollAngle" />
                        </Setting>
                        <Setting>
                            <Guidance:SetRollSpeed.rollError />
                            <Arg Name="RollError" />
                        </Setting>
                        <Setting>
                            <Guidance:SetRollSpeed.maxSpeed />
                            <Arg Name="MaxRollSpeed" />
                        </Setting>
                        <Setting>
                            <Guidance:SetRollSpeed.startSpeed />
                            <Arg Name="Speed" />
                        </Setting>
                        <Setting>
                            <Guidance:SetRollSpeed.minSpeed />
                            <Arg Name="MinRollSpeed" />
                        </Setting>
                        <Setting>
                            <Guidance:SetRollSpeed.estimationWindow />
                            <Arg Name="RollWindowLen" />
                        </Setting>
                        <Setting>
                            <Guidance:SetRollSpeed.initStep />
                            <Arg Name="RollInitStep" />
                        </Setting>
                        <Setting>
                            <Guidance:SetRollSpeed.minStep />
                            <Arg Name="RollMinStep" />
                        </Setting>
                        <Setting>
                            <Guidance:SetRollSpeed.verbose />
                            <Arg Name="RollVerbose" />
                        </Setting>
                    </Guidance:SetRollSpeed>
                </Aggregate>
                <Guidance:Pitch>
                    <Parallel />
                    <Setting>
                        <Guidance:Pitch.depth />
                        <Arg Name="LegDepth" />
                    </Setting>
                </Guidance:Pitch>
            </Aggregate>
        </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>
            <Aggregate Id="Leg1">
                <Sequence />
                <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>
            <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>
            <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>
            <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>
            <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>
            <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>
            <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>
            <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>
            <Aggregate Id="Leg9">
                <Sequence />
                <Break>
                    <IsNaN>
                        <Arg Name="Depth9" />
                    </IsNaN>
                </Break>
                <Syslog Severity="Important">
                    Transiting waypoints at depth
                    <Arg Name="Depth9" />
                    <Units:meter />
                </Syslog>
                <Assign>
                    <Sequence />
                    <Arg Name="LegDepth" />
                    <Arg Name="Depth9" />
                </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>
            <Aggregate Id="Leg10">
                <Sequence />
                <Break>
                    <IsNaN>
                        <Arg Name="Depth10" />
                    </IsNaN>
                </Break>
                <Syslog Severity="Important">
                    Transiting waypoints at depth
                    <Arg Name="Depth10" />
                    <Units:meter />
                </Syslog>
                <Assign>
                    <Sequence />
                    <Arg Name="LegDepth" />
                    <Arg Name="Depth10" />
                </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>
        </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>
    </Aggregate>
</Mission>

2025-03-12T04:07:53.548Z,1741752473.548 [MissionManager](INFO): DefineArg sci2_flat_and_level.MissionTimeout = 2.000000 h
2025-03-12T04:07:53.551Z,1741752473.551 [MissionManager](INFO): DefineArg sci2_flat_and_level.NeedCommsTime = 60.000000 min
2025-03-12T04:07:53.554Z,1741752473.554 [MissionManager](INFO): DefineArg sci2_flat_and_level.Depth1 = 3.000000 m
2025-03-12T04:07:53.557Z,1741752473.557 [MissionManager](INFO): DefineArg sci2_flat_and_level.Depth2 = nan m
2025-03-12T04:07:53.559Z,1741752473.559 [MissionManager](INFO): DefineArg sci2_flat_and_level.Depth3 = nan m
2025-03-12T04:07:53.564Z,1741752473.564 [MissionManager](INFO): DefineArg sci2_flat_and_level.Depth4 = nan m
2025-03-12T04:07:53.567Z,1741752473.567 [MissionManager](INFO): DefineArg sci2_flat_and_level.Depth5 = nan m
2025-03-12T04:07:53.571Z,1741752473.571 [MissionManager](INFO): DefineArg sci2_flat_and_level.Depth6 = nan m
2025-03-12T04:07:53.574Z,1741752473.574 [MissionManager](INFO): DefineArg sci2_flat_and_level.Depth7 = nan m
2025-03-12T04:07:53.577Z,1741752473.577 [MissionManager](INFO): DefineArg sci2_flat_and_level.Depth8 = nan m
2025-03-12T04:07:53.579Z,1741752473.579 [MissionManager](INFO): DefineArg sci2_flat_and_level.Depth9 = nan m
2025-03-12T04:07:53.583Z,1741752473.583 [MissionManager](INFO): DefineArg sci2_flat_and_level.Depth10 = nan m
2025-03-12T04:07:53.610Z,1741752473.610 [MissionManager](INFO): DefineArg sci2_flat_and_level.Repeat = 1.000000 count
2025-03-12T04:07:53.616Z,1741752473.616 [MissionManager](INFO): DefineArg sci2_flat_and_level.DepthPerLeg = 0 bool
2025-03-12T04:07:53.619Z,1741752473.619 [MissionManager](INFO): DefineArg sci2_flat_and_level.Lat1 = nan arcdeg
2025-03-12T04:07:53.626Z,1741752473.626 [MissionManager](INFO): DefineArg sci2_flat_and_level.Lat2 = nan arcdeg
2025-03-12T04:07:53.637Z,1741752473.637 [MissionManager](INFO): DefineArg sci2_flat_and_level.Lat3 = nan arcdeg
2025-03-12T04:07:53.647Z,1741752473.647 [MissionManager](INFO): DefineArg sci2_flat_and_level.Lat4 = nan arcdeg
2025-03-12T04:07:53.655Z,1741752473.655 [MissionManager](INFO): DefineArg sci2_flat_and_level.Lat5 = nan arcdeg
2025-03-12T04:07:53.658Z,1741752473.658 [MissionManager](INFO): DefineArg sci2_flat_and_level.Lat6 = nan arcdeg
2025-03-12T04:07:53.661Z,1741752473.661 [MissionManager](INFO): DefineArg sci2_flat_and_level.Lat7 = nan arcdeg
2025-03-12T04:07:53.673Z,1741752473.673 [MissionManager](INFO): DefineArg sci2_flat_and_level.Lon1 = nan arcdeg
2025-03-12T04:07:53.680Z,1741752473.680 [MissionManager](INFO): DefineArg sci2_flat_and_level.Lon2 = nan arcdeg
2025-03-12T04:07:53.683Z,1741752473.683 [MissionManager](INFO): DefineArg sci2_flat_and_level.Lon3 = nan arcdeg
2025-03-12T04:07:53.690Z,1741752473.690 [MissionManager](INFO): DefineArg sci2_flat_and_level.Lon4 = nan arcdeg
2025-03-12T04:07:53.705Z,1741752473.705 [MissionManager](INFO): DefineArg sci2_flat_and_level.Lon5 = nan arcdeg
2025-03-12T04:07:53.728Z,1741752473.728 [MissionManager](INFO): DefineArg sci2_flat_and_level.Lon6 = nan arcdeg
2025-03-12T04:07:53.737Z,1741752473.737 [MissionManager](INFO): DefineArg sci2_flat_and_level.Lon7 = nan arcdeg
2025-03-12T04:07:53.742Z,1741752473.742 [MissionManager](INFO): DefineArg sci2_flat_and_level.Speed = 1.000000 m/s
2025-03-12T04:07:53.755Z,1741752473.755 [MissionManager](INFO): DefineArg sci2_flat_and_level.RollOptimizeSpeed = 0 bool
2025-03-12T04:07:53.763Z,1741752473.763 [MissionManager](INFO): DefineArg sci2_flat_and_level.TargetRollAngle = 0.000000 arcdeg
2025-03-12T04:07:53.776Z,1741752473.776 [MissionManager](INFO): DefineArg sci2_flat_and_level.RollError = 2.000000 arcdeg
2025-03-12T04:07:53.781Z,1741752473.781 [MissionManager](INFO): DefineArg sci2_flat_and_level.MaxRollSpeed = 1.100000 m/s
2025-03-12T04:07:53.834Z,1741752473.834 [MissionManager](INFO): DefineArg sci2_flat_and_level.MinRollSpeed = 0.600000 m/s
2025-03-12T04:07:53.837Z,1741752473.837 [MissionManager](INFO): DefineArg sci2_flat_and_level.RollWindowLen = 5.000000 min
2025-03-12T04:07:53.852Z,1741752473.852 [MissionManager](INFO): DefineArg sci2_flat_and_level.RollInitStep = 0.100000 arcdeg
2025-03-12T04:07:53.855Z,1741752473.855 [MissionManager](INFO): DefineArg sci2_flat_and_level.RollMinStep = 0.025000 arcdeg
2025-03-12T04:07:53.862Z,1741752473.862 [MissionManager](INFO): DefineArg sci2_flat_and_level.RollVerbose = 1 bool
2025-03-12T04:07:53.886Z,1741752473.886 [MissionManager](INFO): DefineArg sci2_flat_and_level.ApproachDepth = 2.000000 m
2025-03-12T04:07:53.893Z,1741752473.893 [MissionManager](INFO): DefineArg sci2_flat_and_level.ApproachSpeed = 0.700000 m/s
2025-03-12T04:07:53.912Z,1741752473.912 [MissionManager](INFO): DefineArg sci2_flat_and_level.ApproachDepthRate = 0.050000 m/s
2025-03-12T04:07:53.915Z,1741752473.915 [MissionManager](INFO): DefineArg sci2_flat_and_level.ApproachPitchLimit = 20.000000 arcdeg
2025-03-12T04:07:53.926Z,1741752473.926 [MissionManager](INFO): DefineArg sci2_flat_and_level.ApproachDepthTimeout = 15.000000 min
2025-03-12T04:07:53.934Z,1741752473.934 [MissionManager](INFO): DefineArg sci2_flat_and_level.ApproachSettleTimePreDive = 1.000000 min
2025-03-12T04:07:53.953Z,1741752473.953 [MissionManager](INFO): DefineArg sci2_flat_and_level.ApproachSettleTimePostDive = 3.000000 min
2025-03-12T04:07:53.960Z,1741752473.960 [MissionManager](INFO): DefineArg sci2_flat_and_level.kpDepth = 0.070000 rad/m
2025-03-12T04:07:53.973Z,1741752473.973 [MissionManager](INFO): DefineArg sci2_flat_and_level.BuoyancyNeutral = 200.000000 cc
2025-03-12T04:07:53.978Z,1741752473.978 [MissionManager](INFO): DefineArg sci2_flat_and_level.MassDefault = 2.200000 cm
2025-03-12T04:07:53.993Z,1741752473.993 [MissionManager](INFO): DefineArg sci2_flat_and_level.MinAltitude = 2.000000 m
2025-03-12T04:07:54.000Z,1741752474.000 [MissionManager](INFO): DefineArg sci2_flat_and_level.MaxDepth = 15.000000 m
2025-03-12T04:07:54.003Z,1741752474.003 [MissionManager](INFO): DefineArg sci2_flat_and_level.MinOffshore = 2.000000 km
2025-03-12T04:07:54.011Z,1741752474.011 [MissionManager](INFO): DefineOutput sci2_flat_and_level.DiveMode = 0.000000 count
2025-03-12T04:07:54.026Z,1741752474.026 [MissionManager](INFO): DefineOutput sci2_flat_and_level.DoingComms = 0.000000 count
2025-03-12T04:07:54.041Z,1741752474.041 [MissionManager](INFO): DefineOutput sci2_flat_and_level.InitialDive = 1.000000 count
2025-03-12T04:07:54.050Z,1741752474.050 [MissionManager](INFO): DefineOutput sci2_flat_and_level.SettleAtDepth = 2.000000 count
2025-03-12T04:07:54.057Z,1741752474.057 [MissionManager](INFO): DefineOutput sci2_flat_and_level.MaintainDepth = 3.000000 count
2025-03-12T04:07:54.061Z,1741752474.061 [MissionManager](INFO): DefineOutput sci2_flat_and_level.LegDepth = 3.000000 m
2025-03-12T04:07:54.061Z,1741752474.061 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/Science.tl
2025-03-12T04:07:54.061Z,1741752474.061 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/Science.tl
2025-03-12T04:07:54.069Z,1741752474.069 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/Science.tl
2025-03-12T04:07:57.316Z,1741752477.316 [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>

2025-03-12T04:07:57.338Z,1741752477.338 [MissionManager](INFO): DefineArg sci2_flat_and_level:Science.PeakDetectChlActive = 0 bool
2025-03-12T04:07:57.340Z,1741752477.340 [MissionManager](INFO): DefineArg sci2_flat_and_level:Science.EdgeDetectChlActive = 0 bool
2025-03-12T04:07:57.343Z,1741752477.343 [MissionManager](INFO): DefineArg sci2_flat_and_level:Science.TimeWindowPeakReport = nan min
2025-03-12T04:07:57.346Z,1741752477.346 [MissionManager](INFO): DefineArg sci2_flat_and_level:Science.HighestChlPeakReportActive = 0 bool
2025-03-12T04:07:57.369Z,1741752477.369 [MissionManager](INFO): DefineArg sci2_flat_and_level:Science.HighestSaltPeakReportActive = 0 bool
2025-03-12T04:07:57.376Z,1741752477.376 [MissionManager](INFO): DefineArg sci2_flat_and_level:Science.HighestOilPeakReportActive = 0 bool
2025-03-12T04:07:57.379Z,1741752477.379 [MissionManager](INFO): DefineArg sci2_flat_and_level:Science.PatchTracking = 0 bool
2025-03-12T04:07:57.382Z,1741752477.382 [MissionManager](INFO): DefineArg sci2_flat_and_level:Science.FilterWidthHorizontal = 3.000000 count
2025-03-12T04:07:57.397Z,1741752477.397 [MissionManager](INFO): DefineArg sci2_flat_and_level:Science.NumProfilesSlidingwindow = 100.000000 count
2025-03-12T04:07:57.404Z,1741752477.404 [MissionManager](INFO): DefineArg sci2_flat_and_level:Science.OffPeakFractionHorizontal = 80.000000 %
2025-03-12T04:07:57.407Z,1741752477.407 [MissionManager](INFO): DefineArg sci2_flat_and_level:Science.PeakDetectNO3Active = 0 bool
2025-03-12T04:07:57.414Z,1741752477.414 [MissionManager](INFO): DefineArg sci2_flat_and_level:Science.PeakDetectOilActive = 0 bool
2025-03-12T04:07:57.429Z,1741752477.429 [MissionManager](INFO): DefineArg sci2_flat_and_level:Science.PeakDetectFDOMActive = 0 bool
2025-03-12T04:07:57.464Z,1741752477.464 [MissionManager](INFO): DefineArg sci2_flat_and_level:Science.PeakDetectSalinityActive = 0 bool
2025-03-12T04:07:57.467Z,1741752477.467 [MissionManager](INFO): DefineArg sci2_flat_and_level:Science.PeakDetectPlanktivoreLMavgROIActive = 0 bool
2025-03-12T04:07:57.478Z,1741752477.478 [MissionManager](INFO): DefineArg sci2_flat_and_level:Science.EdgeDetectPlanktivoreLMavgROIActive = 0 bool
2025-03-12T04:07:57.485Z,1741752477.485 [MissionManager](INFO): DefineArg sci2_flat_and_level:Science.PeakDetectPlanktivoreHMavgROIActive = 0 bool
2025-03-12T04:07:57.500Z,1741752477.500 [MissionManager](INFO): DefineArg sci2_flat_and_level:Science.PeakDetectPlanktivoreDiatomsActive = 0 bool
2025-03-12T04:07:57.503Z,1741752477.503 [MissionManager](INFO): DefineArg sci2_flat_and_level:Science.PeakDetectPlanktivoreDinoflagellatesActive = 0 bool
2025-03-12T04:07:57.513Z,1741752477.513 [MissionManager](INFO): DefineArg sci2_flat_and_level:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2025-03-12T04:07:57.521Z,1741752477.521 [MissionManager](INFO): DefineArg sci2_flat_and_level:Science.EnabledAanderaaO2 = 0 bool
2025-03-12T04:07:57.525Z,1741752477.525 [MissionManager](INFO): DefineArg sci2_flat_and_level:Science.EnabledNeilBrown = 0 bool
2025-03-12T04:07:57.537Z,1741752477.537 [MissionManager](INFO): DefineArg sci2_flat_and_level:Science.EnabledSeabird = 1 bool
2025-03-12T04:07:57.545Z,1741752477.545 [MissionManager](INFO): DefineArg sci2_flat_and_level:Science.EnabledWetLabsBB2FL = 1 bool
2025-03-12T04:07:57.551Z,1741752477.551 [MissionManager](INFO): DefineArg sci2_flat_and_level:Science.EnabledWetLabsSeaOWL_UV_A = 0 bool
2025-03-12T04:07:57.562Z,1741752477.562 [MissionManager](INFO): DefineArg sci2_flat_and_level:Science.EnabledWetLabsUBAT = 0 bool
2025-03-12T04:07:57.566Z,1741752477.566 [MissionManager](INFO): DefineArg sci2_flat_and_level:Science.LowPassWindowLength = 20.000000 count
2025-03-12T04:07:57.581Z,1741752477.581 [MissionManager](INFO): DefineArg sci2_flat_and_level:Science.MedianFilterLen = 5.000000 count
2025-03-12T04:07:57.583Z,1741752477.583 [MissionManager](INFO): DefineArg sci2_flat_and_level:Science.ShallowBound = nan m
2025-03-12T04:07:57.591Z,1741752477.591 [MissionManager](INFO): DefineArg sci2_flat_and_level:Science.DeepBound = nan m
2025-03-12T04:07:57.628Z,1741752477.628 [MissionManager](INFO): DefineArg sci2_flat_and_level:Science.DepChangeThreshForAttitudeFlip = 2.000000 m
2025-03-12T04:07:57.631Z,1741752477.631 [MissionManager](INFO): DefineArg sci2_flat_and_level:Science.OffPeakFractionVertical = nan %
2025-03-12T04:07:57.642Z,1741752477.642 [MissionManager](INFO): DefineArg sci2_flat_and_level:Science.ChlPeakThresh = 0.000000 ug/l
2025-03-12T04:07:57.649Z,1741752477.649 [MissionManager](INFO): DefineArg sci2_flat_and_level:Science.ChlThreshTriggerActive = 0 bool
2025-03-12T04:07:57.665Z,1741752477.665 [MissionManager](INFO): DefineArg sci2_flat_and_level:Science.ChlLowerThresh = nan ug/l
2025-03-12T04:07:57.672Z,1741752477.672 [MissionManager](INFO): DefineArg sci2_flat_and_level:Science.ChlUpperThresh = nan ug/l
2025-03-12T04:07:57.675Z,1741752477.675 [MissionManager](INFO): DefineArg sci2_flat_and_level:Science.NumProfilesThresh = 5.000000 count
2025-03-12T04:07:57.682Z,1741752477.682 [MissionManager](INFO): DefineArg sci2_flat_and_level:Science.PlanktivoreLMavgROIPeakThresh = 0.000000 count/s
2025-03-12T04:07:57.697Z,1741752477.697 [MissionManager](INFO): DefineOutput sci2_flat_and_level:Science.GoDown = 1 bool
2025-03-12T04:07:57.708Z,1741752477.708 [MissionManager](INFO): DefineOutput sci2_flat_and_level:Science.PeakChl = nan ug/l
2025-03-12T04:07:57.711Z,1741752477.711 [MissionManager](INFO): DefineOutput sci2_flat_and_level:Science.PeakChlDepth = nan m
2025-03-12T04:07:57.719Z,1741752477.719 [MissionManager](INFO): DefineOutput sci2_flat_and_level:Science.PeakChlTemperature = nan degC
2025-03-12T04:07:57.726Z,1741752477.726 [MissionManager](INFO): DefineOutput sci2_flat_and_level:Science.PeakChlLatitude = nan arcdeg
2025-03-12T04:07:57.733Z,1741752477.733 [MissionManager](INFO): DefineOutput sci2_flat_and_level:Science.PeakChlLongitude = nan arcdeg
2025-03-12T04:07:57.737Z,1741752477.737 [MissionManager](INFO): DefineOutput sci2_flat_and_level:Science.EdgeChl = nan ug/l
2025-03-12T04:07:57.748Z,1741752477.748 [MissionManager](INFO): DefineOutput sci2_flat_and_level:Science.EdgeChlDepth = nan m
2025-03-12T04:07:57.751Z,1741752477.751 [MissionManager](INFO): DefineOutput sci2_flat_and_level:Science.EdgeChlTemperature = nan degC
2025-03-12T04:07:57.763Z,1741752477.763 [MissionManager](INFO): DefineOutput sci2_flat_and_level:Science.EdgeChlLatitude = nan arcdeg
2025-03-12T04:07:57.770Z,1741752477.770 [MissionManager](INFO): DefineOutput sci2_flat_and_level:Science.EdgeChlLongitude = nan arcdeg
2025-03-12T04:07:57.777Z,1741752477.777 [MissionManager](INFO): DefineOutput sci2_flat_and_level:Science.PeakNO3 = nan umol/l
2025-03-12T04:07:57.785Z,1741752477.785 [MissionManager](INFO): DefineOutput sci2_flat_and_level:Science.PeakNO3Depth = nan m
2025-03-12T04:07:57.792Z,1741752477.792 [MissionManager](INFO): DefineOutput sci2_flat_and_level:Science.PeakNO3Latitude = nan arcdeg
2025-03-12T04:07:57.795Z,1741752477.795 [MissionManager](INFO): DefineOutput sci2_flat_and_level:Science.PeakNO3Longitude = nan arcdeg
2025-03-12T04:07:57.803Z,1741752477.803 [MissionManager](INFO): DefineOutput sci2_flat_and_level:Science.PeakOil = nan kg/m3
2025-03-12T04:07:57.807Z,1741752477.807 [MissionManager](INFO): DefineOutput sci2_flat_and_level:Science.PeakOilDepth = nan m
2025-03-12T04:07:57.822Z,1741752477.822 [MissionManager](INFO): DefineOutput sci2_flat_and_level:Science.PeakOilLatitude = nan arcdeg
2025-03-12T04:07:57.826Z,1741752477.826 [MissionManager](INFO): DefineOutput sci2_flat_and_level:Science.PeakOilLongitude = nan arcdeg
2025-03-12T04:07:57.871Z,1741752477.871 [MissionManager](INFO): DefineOutput sci2_flat_and_level:Science.PeakFDOM = nan ppb
2025-03-12T04:07:57.879Z,1741752477.879 [MissionManager](INFO): DefineOutput sci2_flat_and_level:Science.PeakFDOMDepth = nan m
2025-03-12T04:07:57.907Z,1741752477.907 [MissionManager](INFO): DefineOutput sci2_flat_and_level:Science.PeakFDOMTemperature = nan degC
2025-03-12T04:07:57.919Z,1741752477.919 [MissionManager](INFO): DefineOutput sci2_flat_and_level:Science.PeakFDOMLatitude = nan arcdeg
2025-03-12T04:07:57.937Z,1741752477.937 [MissionManager](INFO): DefineOutput sci2_flat_and_level:Science.PeakFDOMLongitude = nan arcdeg
2025-03-12T04:07:57.950Z,1741752477.950 [MissionManager](INFO): DefineOutput sci2_flat_and_level:Science.PeakSalt = nan psu
2025-03-12T04:07:57.968Z,1741752477.968 [MissionManager](INFO): DefineOutput sci2_flat_and_level:Science.PeakSaltDepth = nan m
2025-03-12T04:07:57.984Z,1741752477.984 [MissionManager](INFO): DefineOutput sci2_flat_and_level:Science.PeakSaltTemperature = nan degC
2025-03-12T04:07:57.987Z,1741752477.987 [MissionManager](INFO): DefineOutput sci2_flat_and_level:Science.PeakSaltLatitude = nan arcdeg
2025-03-12T04:07:57.994Z,1741752477.994 [MissionManager](INFO): DefineOutput sci2_flat_and_level:Science.PeakSaltLongitude = nan arcdeg
2025-03-12T04:07:57.998Z,1741752477.998 [MissionManager](INFO): DefineOutput sci2_flat_and_level:Science.PeakPlanktivoreLMavgROI = nan count/s
2025-03-12T04:07:58.009Z,1741752478.009 [MissionManager](INFO): DefineOutput sci2_flat_and_level:Science.PeakPlanktivoreLMavgROIDepth = nan m
2025-03-12T04:07:58.020Z,1741752478.020 [MissionManager](INFO): DefineOutput sci2_flat_and_level:Science.PeakPlanktivoreLMavgROITemperature = nan degC
2025-03-12T04:07:58.023Z,1741752478.023 [MissionManager](INFO): DefineOutput sci2_flat_and_level:Science.PeakPlanktivoreLMavgROILatitude = nan arcdeg
2025-03-12T04:07:58.031Z,1741752478.031 [MissionManager](INFO): DefineOutput sci2_flat_and_level:Science.PeakPlanktivoreLMavgROILongitude = nan arcdeg
2025-03-12T04:07:58.038Z,1741752478.038 [MissionManager](INFO): DefineOutput sci2_flat_and_level:Science.EdgePlanktivoreLMavgROI = nan count/s
2025-03-12T04:07:58.042Z,1741752478.042 [MissionManager](INFO): DefineOutput sci2_flat_and_level:Science.EdgePlanktivoreLMavgROIDepth = nan m
2025-03-12T04:07:58.053Z,1741752478.053 [MissionManager](INFO): DefineOutput sci2_flat_and_level:Science.EdgePlanktivoreLMavgROITemperature = nan degC
2025-03-12T04:07:58.073Z,1741752478.073 [MissionManager](INFO): DefineOutput sci2_flat_and_level:Science.EdgePlanktivoreLMavgROILatitude = nan arcdeg
2025-03-12T04:07:58.081Z,1741752478.081 [MissionManager](INFO): DefineOutput sci2_flat_and_level:Science.EdgePlanktivoreLMavgROILongitude = nan arcdeg
2025-03-12T04:07:58.085Z,1741752478.085 [MissionManager](INFO): DefineOutput sci2_flat_and_level:Science.PeakPlanktivoreHMavgROI = nan count/s
2025-03-12T04:07:58.089Z,1741752478.089 [MissionManager](INFO): DefineOutput sci2_flat_and_level:Science.PeakPlanktivoreHMavgROIDepth = nan m
2025-03-12T04:07:58.096Z,1741752478.096 [MissionManager](INFO): DefineOutput sci2_flat_and_level:Science.PeakPlanktivoreHMavgROITemperature = nan degC
2025-03-12T04:07:58.099Z,1741752478.099 [MissionManager](INFO): DefineOutput sci2_flat_and_level:Science.PeakPlanktivoreHMavgROILatitude = nan arcdeg
2025-03-12T04:07:58.106Z,1741752478.106 [MissionManager](INFO): DefineOutput sci2_flat_and_level:Science.PeakPlanktivoreHMavgROILongitude = nan arcdeg
2025-03-12T04:07:58.110Z,1741752478.110 [MissionManager](INFO): DefineOutput sci2_flat_and_level:Science.PeakPlanktivoreDiatoms = nan count/ml
2025-03-12T04:07:58.121Z,1741752478.121 [MissionManager](INFO): DefineOutput sci2_flat_and_level:Science.PeakPlanktivoreDiatomsDepth = nan m
2025-03-12T04:07:58.129Z,1741752478.129 [MissionManager](INFO): DefineOutput sci2_flat_and_level:Science.PeakPlanktivoreDiatomsTemperature = nan degC
2025-03-12T04:07:58.136Z,1741752478.136 [MissionManager](INFO): DefineOutput sci2_flat_and_level:Science.PeakPlanktivoreDiatomsLatitude = nan arcdeg
2025-03-12T04:07:58.139Z,1741752478.139 [MissionManager](INFO): DefineOutput sci2_flat_and_level:Science.PeakPlanktivoreDiatomsLongitude = nan arcdeg
2025-03-12T04:07:58.151Z,1741752478.151 [MissionManager](INFO): DefineOutput sci2_flat_and_level:Science.PeakPlanktivoreDinoflagellates = nan count/ml
2025-03-12T04:07:58.155Z,1741752478.155 [MissionManager](INFO): DefineOutput sci2_flat_and_level:Science.PeakPlanktivoreDinoflagellatesDepth = nan m
2025-03-12T04:07:58.170Z,1741752478.170 [MissionManager](INFO): DefineOutput sci2_flat_and_level:Science.PeakPlanktivoreDinoflagellatesTemperature = nan degC
2025-03-12T04:07:58.189Z,1741752478.189 [MissionManager](INFO): DefineOutput sci2_flat_and_level:Science.PeakPlanktivoreDinoflagellatesLatitude = nan arcdeg
2025-03-12T04:07:58.196Z,1741752478.196 [MissionManager](INFO): DefineOutput sci2_flat_and_level:Science.PeakPlanktivoreDinoflagellatesLongitude = nan arcdeg
2025-03-12T04:07:58.199Z,1741752478.199 [MissionManager](INFO): DefineOutput sci2_flat_and_level:Science.PatchChl = nan ug/l
2025-03-12T04:07:58.206Z,1741752478.206 [MissionManager](INFO): DefineOutput sci2_flat_and_level:Science.PatchChlDepth = nan m
2025-03-12T04:07:58.210Z,1741752478.210 [MissionManager](INFO): DefineOutput sci2_flat_and_level:Science.PatchChlLatitude = nan arcdeg
2025-03-12T04:07:58.226Z,1741752478.226 [MissionManager](INFO): DefineOutput sci2_flat_and_level:Science.PatchChlLongitude = nan arcdeg
2025-03-12T04:07:58.230Z,1741752478.230 [MissionManager](INFO): DefineOutput sci2_flat_and_level:Science.PatchChlDistance = nan m
2025-03-12T04:07:58.273Z,1741752478.273 [MissionManager](INFO): DefineOutput sci2_flat_and_level:Science.PatchSalt = nan psu
2025-03-12T04:07:58.284Z,1741752478.284 [MissionManager](INFO): DefineOutput sci2_flat_and_level:Science.PatchSaltDepth = nan m
2025-03-12T04:07:58.296Z,1741752478.296 [MissionManager](INFO): DefineOutput sci2_flat_and_level:Science.PatchSaltLatitude = nan arcdeg
2025-03-12T04:07:58.309Z,1741752478.309 [MissionManager](INFO): DefineOutput sci2_flat_and_level:Science.PatchSaltLongitude = nan arcdeg
2025-03-12T04:07:58.333Z,1741752478.333 [MissionManager](INFO): DefineOutput sci2_flat_and_level:Science.PatchSaltDistance = nan m
2025-03-12T04:07:58.340Z,1741752478.340 [MissionManager](INFO): DefineOutput sci2_flat_and_level:Science.PatchOil = nan psu
2025-03-12T04:07:58.343Z,1741752478.343 [MissionManager](INFO): DefineOutput sci2_flat_and_level:Science.PatchOilDepth = nan m
2025-03-12T04:07:58.355Z,1741752478.355 [MissionManager](INFO): DefineOutput sci2_flat_and_level:Science.PatchOilLatitude = nan arcdeg
2025-03-12T04:07:58.362Z,1741752478.362 [MissionManager](INFO): DefineOutput sci2_flat_and_level:Science.PatchOilLongitude = nan arcdeg
2025-03-12T04:07:58.370Z,1741752478.370 [MissionManager](INFO): DefineOutput sci2_flat_and_level:Science.PatchOilDistance = nan m
2025-03-12T04:07:58.373Z,1741752478.373 [MissionManager](INFO): DefineOutput sci2_flat_and_level:Science.TriggeredOnChl = 0 bool
2025-03-12T04:07:58.389Z,1741752478.389 [MissionManager](INFO): DefineOutput sci2_flat_and_level:Science.ChlTriggering = nan ug/l
2025-03-12T04:07:58.482Z,1741752478.482 [sci2_flat_and_level:Science:PeakDetectChl:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-03-12T04:07:58.525Z,1741752478.525 [sci2_flat_and_level:Science:EdgeDetectChl:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-03-12T04:07:58.577Z,1741752478.577 [sci2_flat_and_level:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-03-12T04:07:58.627Z,1741752478.627 [sci2_flat_and_level:Science:PeakDetectNO3:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-03-12T04:07:58.679Z,1741752478.679 [sci2_flat_and_level:Science:PeakDetectOil:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-03-12T04:07:58.715Z,1741752478.715 [sci2_flat_and_level:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-03-12T04:07:58.757Z,1741752478.757 [sci2_flat_and_level:Science:PeakDetectFDOM:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-03-12T04:07:58.787Z,1741752478.787 [sci2_flat_and_level:Science:PeakDetectSalinity:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-03-12T04:07:58.833Z,1741752478.833 [sci2_flat_and_level:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-03-12T04:07:58.866Z,1741752478.866 [sci2_flat_and_level:Science:PeakDetectPlanktivoreLMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-03-12T04:07:58.896Z,1741752478.896 [sci2_flat_and_level:Science:EdgeDetectPlanktivoreLMavgROI:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-03-12T04:07:58.964Z,1741752478.964 [sci2_flat_and_level:Science:PeakDetectPlanktivoreHMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-03-12T04:07:59.011Z,1741752479.011 [sci2_flat_and_level:Science:PeakDetectPlanktivoreDiatoms:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-03-12T04:07:59.078Z,1741752479.078 [sci2_flat_and_level:Science:PeakDetectPlanktivoreDinoflagellates:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-03-12T04:07:59.126Z,1741752479.126 [sci2_flat_and_level:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Construct ValueDetect.
2025-03-12T04:07:59.157Z,1741752479.157 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-03-12T04:07:59.157Z,1741752479.157 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-03-12T04:07:59.158Z,1741752479.158 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-03-12T04:07:59.363Z,1741752479.363 [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>

2025-03-12T04:07:59.375Z,1741752479.375 [MissionManager](INFO): DefineArg sci2_flat_and_level:StandardEnvelopes.MinAltitude = 5.000000 m
2025-03-12T04:07:59.378Z,1741752479.378 [MissionManager](INFO): DefineArg sci2_flat_and_level:StandardEnvelopes.MaxDepthIgnore = 0.000000 m
2025-03-12T04:07:59.382Z,1741752479.382 [MissionManager](INFO): DefineArg sci2_flat_and_level:StandardEnvelopes.MaxDepth = 200.000000 m
2025-03-12T04:07:59.397Z,1741752479.397 [MissionManager](INFO): DefineArg sci2_flat_and_level:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-03-12T04:07:59.398Z,1741752479.398 [sci2_flat_and_level:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-03-12T04:07:59.421Z,1741752479.421 [sci2_flat_and_level:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-03-12T04:07:59.444Z,1741752479.444 [sci2_flat_and_level:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-03-12T04:07:59.501Z,1741752479.501 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl
2025-03-12T04:07:59.501Z,1741752479.501 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl
2025-03-12T04:07:59.502Z,1741752479.502 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl
2025-03-12T04:07:59.983Z,1741752479.983 [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>

2025-03-12T04:08:00.005Z,1741752480.005 [MissionManager](INFO): DefineArg sci2_flat_and_level:NeedComms.DiveInterval = 1.000000 h
2025-03-12T04:08:00.010Z,1741752480.010 [MissionManager](INFO): DefineArg sci2_flat_and_level:NeedComms.WaitForPitchUp = 10.000000 min
2025-03-12T04:08:00.023Z,1741752480.023 [MissionManager](INFO): DefineArg sci2_flat_and_level:NeedComms.SurfacePitch = 20.000000 arcdeg
2025-03-12T04:08:00.048Z,1741752480.048 [MissionManager](INFO): DefineArg sci2_flat_and_level:NeedComms.SurfaceDepthRate = nan m/s
2025-03-12T04:08:00.057Z,1741752480.057 [MissionManager](INFO): DefineArg sci2_flat_and_level:NeedComms.SurfaceSpeed = 1.000000 m/s
2025-03-12T04:08:00.072Z,1741752480.072 [MissionManager](INFO): DefineArg sci2_flat_and_level:NeedComms.SurfacingTimeout = 1000.000000 s
2025-03-12T04:08:00.075Z,1741752480.075 [MissionManager](INFO): DefineArg sci2_flat_and_level:NeedComms.GPSTimeout = 7.000000 min
2025-03-12T04:08:00.082Z,1741752480.082 [MissionManager](INFO): DefineArg sci2_flat_and_level:NeedComms.CommsTimeout = 30.000000 min
2025-03-12T04:08:00.094Z,1741752480.094 [sci2_flat_and_level:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2025-03-12T04:08:00.149Z,1741752480.149 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2025-03-12T04:08:00.149Z,1741752480.149 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2025-03-12T04:08:00.150Z,1741752480.150 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2025-03-12T04:08:00.186Z,1741752480.186 [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>

2025-03-12T04:08:00.194Z,1741752480.194 [MissionManager](INFO): DefineArg sci2_flat_and_level:BackseatDriver.EnableBackseat = 0 bool
2025-03-12T04:08:00.201Z,1741752480.201 [sci2_flat_and_level:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2025-03-12T04:08:00.209Z,1741752480.209 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2025-03-12T04:08:00.209Z,1741752480.209 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2025-03-12T04:08:00.210Z,1741752480.210 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2025-03-12T04:08:00.474Z,1741752480.474 [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>

2025-03-12T04:08:00.483Z,1741752480.483 [MissionManager](INFO): DefineArg sci2_flat_and_level:PowerOnly.SampleAll = 0 bool
2025-03-12T04:08:00.490Z,1741752480.490 [MissionManager](INFO): DefineArg sci2_flat_and_level:PowerOnly.SampleLoad1 = 0 bool
2025-03-12T04:08:00.493Z,1741752480.493 [MissionManager](INFO): DefineArg sci2_flat_and_level:PowerOnly.SampleLoad2 = 0 bool
2025-03-12T04:08:00.504Z,1741752480.504 [MissionManager](INFO): DefineArg sci2_flat_and_level:PowerOnly.SampleLoad3 = 0 bool
2025-03-12T04:08:00.512Z,1741752480.512 [MissionManager](INFO): DefineArg sci2_flat_and_level:PowerOnly.EnabledPowerOnly = 1 bool
2025-03-12T04:08:00.528Z,1741752480.528 [sci2_flat_and_level:PowerOnly:E.Wait](DEBUG): Construct Wait.
2025-03-12T04:08:00.561Z,1741752480.561 [sci2_flat_and_level:DiveCmd:InitialDive:dive:C.Mass](DEBUG): Construct.
2025-03-12T04:08:00.569Z,1741752480.569 [sci2_flat_and_level:DiveCmd:InitialDive:dive:D.Buoyancy](DEBUG): Construct Buoyancy.
2025-03-12T04:08:00.578Z,1741752480.578 [sci2_flat_and_level:DiveCmd:InitialDive:dive:F.Wait](DEBUG): Construct Wait.
2025-03-12T04:08:00.586Z,1741752480.586 [sci2_flat_and_level:DiveCmd:InitialDive:dive:ApproachDepth:A.SetSpeed](DEBUG): Construct.
2025-03-12T04:08:00.594Z,1741752480.594 [sci2_flat_and_level:DiveCmd:InitialDive:dive:ApproachDepth:B.Pitch](DEBUG): Construct.
2025-03-12T04:08:00.611Z,1741752480.611 [sci2_flat_and_level:DiveCmd:InitialDive:dive:ApproachDepth:B.Pitch:A_Timeout:B.Execute](DEBUG): Construct Execute.
2025-03-12T04:08:00.637Z,1741752480.637 [sci2_flat_and_level:DiveCmd:SettleAtDepth:dive:B.Pitch](DEBUG): Construct.
2025-03-12T04:08:00.643Z,1741752480.643 [sci2_flat_and_level:DiveCmd:SettleAtDepth:dive:C.Wait](DEBUG): Construct Wait.
2025-03-12T04:08:00.663Z,1741752480.663 [sci2_flat_and_level:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass](DEBUG): Construct.
2025-03-12T04:08:00.708Z,1741752480.708 [sci2_flat_and_level:DiveCmd:MaintainDepth:dive:ThrusterDive:B.Buoyancy](DEBUG): Construct Buoyancy.
2025-03-12T04:08:00.721Z,1741752480.721 [sci2_flat_and_level:DiveCmd:MaintainDepth:dive:SetSpeed:A.SetSpeed](DEBUG): Construct.
2025-03-12T04:08:00.737Z,1741752480.737 [sci2_flat_and_level:DiveCmd:MaintainDepth:dive:SetRollSpeed:A.SetRollSpeed](DEBUG): Construct.
2025-03-12T04:08:00.755Z,1741752480.755 [sci2_flat_and_level:DiveCmd:MaintainDepth:dive:D.Pitch](DEBUG): Construct.
2025-03-12T04:08:00.792Z,1741752480.792 [sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt1:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:08:00.809Z,1741752480.809 [sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt2:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:08:00.825Z,1741752480.825 [sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt3:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:08:00.845Z,1741752480.845 [sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt4:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:08:00.861Z,1741752480.861 [sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt5:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:08:00.886Z,1741752480.886 [sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt6:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:08:00.902Z,1741752480.902 [sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt7:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:08:00.926Z,1741752480.926 [sci2_flat_and_level:Lap:DepthByLap:Leg2:Wpt1:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:08:00.942Z,1741752480.942 [sci2_flat_and_level:Lap:DepthByLap:Leg2:Wpt2:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:08:00.962Z,1741752480.962 [sci2_flat_and_level:Lap:DepthByLap:Leg2:Wpt3:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:08:00.973Z,1741752480.973 [sci2_flat_and_level:Lap:DepthByLap:Leg2:Wpt4:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:08:01.005Z,1741752481.005 [sci2_flat_and_level:Lap:DepthByLap:Leg2:Wpt5:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:08:01.020Z,1741752481.020 [sci2_flat_and_level:Lap:DepthByLap:Leg2:Wpt6:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:08:01.051Z,1741752481.051 [sci2_flat_and_level:Lap:DepthByLap:Leg2:Wpt7:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:08:01.119Z,1741752481.119 [sci2_flat_and_level:Lap:DepthByLap:Leg3:Wpt1:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:08:01.143Z,1741752481.143 [sci2_flat_and_level:Lap:DepthByLap:Leg3:Wpt2:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:08:01.188Z,1741752481.188 [sci2_flat_and_level:Lap:DepthByLap:Leg3:Wpt3:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:08:01.199Z,1741752481.199 [sci2_flat_and_level:Lap:DepthByLap:Leg3:Wpt4:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:08:01.211Z,1741752481.211 [sci2_flat_and_level:Lap:DepthByLap:Leg3:Wpt5:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:08:01.231Z,1741752481.231 [sci2_flat_and_level:Lap:DepthByLap:Leg3:Wpt6:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:08:01.254Z,1741752481.254 [sci2_flat_and_level:Lap:DepthByLap:Leg3:Wpt7:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:08:01.279Z,1741752481.279 [sci2_flat_and_level:Lap:DepthByLap:Leg4:Wpt1:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:08:01.291Z,1741752481.291 [sci2_flat_and_level:Lap:DepthByLap:Leg4:Wpt2:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:08:01.307Z,1741752481.307 [sci2_flat_and_level:Lap:DepthByLap:Leg4:Wpt3:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:08:01.331Z,1741752481.331 [sci2_flat_and_level:Lap:DepthByLap:Leg4:Wpt4:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:08:01.343Z,1741752481.343 [sci2_flat_and_level:Lap:DepthByLap:Leg4:Wpt5:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:08:01.369Z,1741752481.369 [sci2_flat_and_level:Lap:DepthByLap:Leg4:Wpt6:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:08:01.392Z,1741752481.392 [sci2_flat_and_level:Lap:DepthByLap:Leg4:Wpt7:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:08:01.411Z,1741752481.411 [sci2_flat_and_level:Lap:DepthByLap:Leg5:Wpt1:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:08:01.433Z,1741752481.433 [sci2_flat_and_level:Lap:DepthByLap:Leg5:Wpt2:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:08:01.465Z,1741752481.465 [sci2_flat_and_level:Lap:DepthByLap:Leg5:Wpt3:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:08:01.520Z,1741752481.520 [sci2_flat_and_level:Lap:DepthByLap:Leg5:Wpt4:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:08:01.555Z,1741752481.555 [sci2_flat_and_level:Lap:DepthByLap:Leg5:Wpt5:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:08:01.577Z,1741752481.577 [sci2_flat_and_level:Lap:DepthByLap:Leg5:Wpt6:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:08:01.589Z,1741752481.589 [sci2_flat_and_level:Lap:DepthByLap:Leg5:Wpt7:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:08:01.620Z,1741752481.620 [sci2_flat_and_level:Lap:DepthByLap:Leg6:Wpt1:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:08:01.637Z,1741752481.637 [sci2_flat_and_level:Lap:DepthByLap:Leg6:Wpt2:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:08:01.652Z,1741752481.652 [sci2_flat_and_level:Lap:DepthByLap:Leg6:Wpt3:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:08:01.670Z,1741752481.670 [sci2_flat_and_level:Lap:DepthByLap:Leg6:Wpt4:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:08:01.686Z,1741752481.686 [sci2_flat_and_level:Lap:DepthByLap:Leg6:Wpt5:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:08:01.702Z,1741752481.702 [sci2_flat_and_level:Lap:DepthByLap:Leg6:Wpt6:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:08:01.721Z,1741752481.721 [sci2_flat_and_level:Lap:DepthByLap:Leg6:Wpt7:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:08:01.746Z,1741752481.746 [sci2_flat_and_level:Lap:DepthByLap:Leg7:Wpt1:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:08:01.761Z,1741752481.761 [sci2_flat_and_level:Lap:DepthByLap:Leg7:Wpt2:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:08:01.777Z,1741752481.777 [sci2_flat_and_level:Lap:DepthByLap:Leg7:Wpt3:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:08:01.793Z,1741752481.793 [sci2_flat_and_level:Lap:DepthByLap:Leg7:Wpt4:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:08:01.830Z,1741752481.830 [sci2_flat_and_level:Lap:DepthByLap:Leg7:Wpt5:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:08:01.845Z,1741752481.845 [sci2_flat_and_level:Lap:DepthByLap:Leg7:Wpt6:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:08:01.861Z,1741752481.861 [sci2_flat_and_level:Lap:DepthByLap:Leg7:Wpt7:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:08:01.917Z,1741752481.917 [sci2_flat_and_level:Lap:DepthByLap:Leg8:Wpt1:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:08:01.947Z,1741752481.947 [sci2_flat_and_level:Lap:DepthByLap:Leg8:Wpt2:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:08:01.963Z,1741752481.963 [sci2_flat_and_level:Lap:DepthByLap:Leg8:Wpt3:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:08:01.978Z,1741752481.978 [sci2_flat_and_level:Lap:DepthByLap:Leg8:Wpt4:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:08:01.994Z,1741752481.994 [sci2_flat_and_level:Lap:DepthByLap:Leg8:Wpt5:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:08:02.010Z,1741752482.010 [sci2_flat_and_level:Lap:DepthByLap:Leg8:Wpt6:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:08:02.026Z,1741752482.026 [sci2_flat_and_level:Lap:DepthByLap:Leg8:Wpt7:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:08:02.074Z,1741752482.074 [sci2_flat_and_level:Lap:DepthByLap:Leg9:Wpt1:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:08:02.095Z,1741752482.095 [sci2_flat_and_level:Lap:DepthByLap:Leg9:Wpt2:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:08:02.118Z,1741752482.118 [sci2_flat_and_level:Lap:DepthByLap:Leg9:Wpt3:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:08:02.143Z,1741752482.143 [sci2_flat_and_level:Lap:DepthByLap:Leg9:Wpt4:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:08:02.155Z,1741752482.155 [sci2_flat_and_level:Lap:DepthByLap:Leg9:Wpt5:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:08:02.170Z,1741752482.170 [sci2_flat_and_level:Lap:DepthByLap:Leg9:Wpt6:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:08:02.185Z,1741752482.185 [sci2_flat_and_level:Lap:DepthByLap:Leg9:Wpt7:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:08:02.209Z,1741752482.209 [sci2_flat_and_level:Lap:DepthByLap:Leg10:Wpt1:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:08:02.225Z,1741752482.225 [sci2_flat_and_level:Lap:DepthByLap:Leg10:Wpt2:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:08:02.241Z,1741752482.241 [sci2_flat_and_level:Lap:DepthByLap:Leg10:Wpt3:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:08:02.257Z,1741752482.257 [sci2_flat_and_level:Lap:DepthByLap:Leg10:Wpt4:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:08:02.273Z,1741752482.273 [sci2_flat_and_level:Lap:DepthByLap:Leg10:Wpt5:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:08:02.329Z,1741752482.329 [sci2_flat_and_level:Lap:DepthByLap:Leg10:Wpt6:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:08:02.352Z,1741752482.352 [sci2_flat_and_level:Lap:DepthByLap:Leg10:Wpt7:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:08:02.378Z,1741752482.378 [sci2_flat_and_level:Lap:DepthByLeg:Leg1:B.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:08:02.399Z,1741752482.399 [sci2_flat_and_level:Lap:DepthByLeg:Leg2:Wpt2:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:08:02.430Z,1741752482.430 [sci2_flat_and_level:Lap:DepthByLeg:Leg3:Wpt3:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:08:02.445Z,1741752482.445 [sci2_flat_and_level:Lap:DepthByLeg:Leg4:Wpt4:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:08:02.474Z,1741752482.474 [sci2_flat_and_level:Lap:DepthByLeg:Leg5:Wpt5:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:08:02.502Z,1741752482.502 [sci2_flat_and_level:Lap:DepthByLeg:Leg6:Wpt6:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:08:02.526Z,1741752482.526 [sci2_flat_and_level:Lap:DepthByLeg:Leg7:Wpt7:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:08:02.679Z,1741752482.679 [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_flat_and_level {
  """
  Vehicle transits to the specified waypoints at the commanded depth
  (flat-and-level) with science turned on.
  """

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

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

    Depth1 = 3 meter
      """
      Depth of flat and level flight during the mission for the first transit leg or lap
      """

    Depth[2..10] = NaN meter
      """
      Depth of flat and level flight during the mission for subsequent transit legs or laps
      Skipped if NaN.
      """

    Repeat = 1 count
      """
      Number of times the vehicle should try to cycle through waypoints and depths.
      By default, one run of all waypoints at all target depths is one repetition.
      Set DepthPerLeg to true to change depths between waypoints instead.
      """

    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).
      Note: cannot use depths 7-10 in depth-per-leg mode (yes, it's weird, sorry)
      """

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

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

    Speed = 1 meter_per_second
      """
      Speed while transiting to waypoints. Used as starting speed if RollOptimizeSpeed is true.
      """

    RollOptimizeSpeed = false
      """
      If true, optimize speed based on roll angle.
      """

    TargetRollAngle = 0 degree
      """
      Target roll angle for roll speed optimization.
      """

    RollError = 2 degree
      """
      Error tolerance for roll angle during speed optimization.
      """

    MaxRollSpeed = 1.1 meter_per_second
      """
      Maximum speed for roll speed optimization.
      """

    MinRollSpeed = 0.6 meter_per_second
      """
      Minimum speed for roll speed optimization.
      """

    RollWindowLen = 5 minute
      """
      Time window for roll speed optimization.
      """

    RollInitStep = 0.1 degree
      """
      Initial step size for roll speed optimization.
      """

    RollMinStep = 0.025 degree
      """
      Minimum step size for roll speed optimization.
      """

    RollVerbose = true
      """
      Enable verbose logging for roll speed optimization.
      """

    ApproachDepth = 2 meter
      """
      Depth for initial descent form the surface.
      """

    ApproachSpeed = 0.7 meter_per_second
      """
      Speed while descending to target depth. Used regardless of RollOptimizeSpeed.
      """

    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).
      """

    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 = 15 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 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

  insert Insert/PowerOnly.tl

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

    assign in sequence DiveMode = DoingComms

    call refId="NeedComms"

    assign in sequence DiveMode = InitialDive
  }

  assign in sequence LegDepth = Depth1

  aggregate DiveCmd {
    """
    Called when the vehicle should be underwater. Arbitrates between 3
    dive modes: 1) descend from the surface to initial depth. 2) settle
    at target depth using the VB. 3) cruise at target depth.
    """

    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 vechile 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 = ApproachDepth
        }

        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 )

      aggregate dive {
        run in parallel

        aggregate ThrusterDive {
          run while ( Speed > 0.0 meter_per_second )

          behavior Guidance:Mass {
            run in parallel

            set position = MassDefault
          }

          behavior Guidance:Buoyancy {
            run in parallel

            set position = BuoyancyNeutral
          }
        }

        aggregate SetSpeed {
          run in sequence

          break if ( RollOptimizeSpeed )

          behavior Guidance:SetSpeed {
            run in parallel

            set speed = Speed
          }
        }

        aggregate SetRollSpeed {
          run in sequence

          break if ( not RollOptimizeSpeed )

          behavior Guidance:SetRollSpeed {
            run in parallel

            set targetRoll = TargetRollAngle
            set rollError = RollError
            set maxSpeed = MaxRollSpeed
            set startSpeed = Speed
            set minSpeed = MinRollSpeed
            set estimationWindow = RollWindowLen
            set initStep = RollInitStep
            set minStep = RollMinStep
            set verbose = RollVerbose
          }
        }

        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 )

      aggregate Leg1 {
        run in sequence

        assign in sequence LegDepth = Depth1

        macro $i = 1..7 {
          aggregate Wpt$i {
            run in sequence

            behavior Guidance:Waypoint {
              run in sequence

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

      macro $j = 2..10 {
        aggregate Leg$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 $i = 1..7 {
            aggregate Wpt$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 $i = 2..7 {
        aggregate Leg$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]
            }
          }
        }
      }
    }
  }
}


2025-03-12T04:08:02.679Z,1741752482.679 [CommandExec](IMPORTANT): Loaded ./Missions/Science/sci2_flat_and_level.tl id=sci2_flat_and_level
2025-03-12T04:08:28.039Z,1741752508.039 [CommandExec](IMPORTANT): got command set sci2_flat_and_level.MissionTimeout 0.5 hour
2025-03-12T04:08:28.041Z,1741752508.041 [CommandExec](IMPORTANT): got command set sci2_flat_and_level.Depth1 30 meter
2025-03-12T04:08:28.041Z,1741752508.041 [CommandExec](IMPORTANT): got command set sci2_flat_and_level.Lat1 36.797 degree
2025-03-12T04:08:28.042Z,1741752508.042 [CommandExec](IMPORTANT): got command set sci2_flat_and_level.Lon1 -121.857 degree
2025-03-12T04:08:33.261Z,1741752513.261 [CommandExec](IMPORTANT): got command set sci2_flat_and_level.MaxDepth 40 meter
2025-03-12T04:08:33.262Z,1741752513.262 [CommandExec](IMPORTANT): got command run
2025-03-12T04:08:33.272Z,1741752513.272 [CommandExec](IMPORTANT): Running 
2025-03-12T04:08:33.445Z,1741752513.445 [Default] Stopped
2025-03-12T04:08:33.445Z,1741752513.445 [Default](DEBUG): Aggregate::uninitialize Default
2025-03-12T04:08:33.445Z,1741752513.445 [Default:B.GoToSurface] Stopped
2025-03-12T04:08:33.445Z,1741752513.445 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-03-12T04:08:33.446Z,1741752513.446 [Default:CheckIn] Stopped
2025-03-12T04:08:33.446Z,1741752513.446 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-03-12T04:08:33.446Z,1741752513.446 [Default:CheckIn:C.Wait] Stopped
2025-03-12T04:08:33.446Z,1741752513.446 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2025-03-12T04:08:33.446Z,1741752513.446 [MissionManager](IMPORTANT): Started mission sci2_flat_and_level
2025-03-12T04:08:33.446Z,1741752513.446 [sci2_flat_and_level] Running Loop=1
2025-03-12T04:08:33.446Z,1741752513.446 [sci2_flat_and_level](DEBUG): Aggregate::initialize sci2_flat_and_level
2025-03-12T04:08:33.446Z,1741752513.446 [sci2_flat_and_level:Science] Running Loop=1
2025-03-12T04:08:33.446Z,1741752513.446 [sci2_flat_and_level:Science](DEBUG): Aggregate::initialize sci2_flat_and_level:Science
2025-03-12T04:08:33.447Z,1741752513.447 [sci2_flat_and_level:Science:A] Running Loop=1
2025-03-12T04:08:33.447Z,1741752513.447 [sci2_flat_and_level:Science:B] Running Loop=1
2025-03-12T04:08:33.447Z,1741752513.447 [sci2_flat_and_level:Science:C] Running Loop=1
2025-03-12T04:08:33.447Z,1741752513.447 [sci2_flat_and_level:Science:D] Running Loop=1
2025-03-12T04:08:33.447Z,1741752513.447 [sci2_flat_and_level:Science:E] Running Loop=1
2025-03-12T04:08:33.447Z,1741752513.447 [sci2_flat_and_level:Science:F] Running Loop=1
2025-03-12T04:08:33.447Z,1741752513.447 [sci2_flat_and_level:Science:Read_Oil] Running Loop=1
2025-03-12T04:08:33.447Z,1741752513.447 [sci2_flat_and_level:Science:PeakDetectChl] Running Loop=1
2025-03-12T04:08:33.447Z,1741752513.447 [sci2_flat_and_level:Science:PeakDetectChl](DEBUG): Aggregate::initialize sci2_flat_and_level:Science:PeakDetectChl
2025-03-12T04:08:33.447Z,1741752513.447 [sci2_flat_and_level:Science:PeakDetectChl:A] Running Loop=1
2025-03-12T04:08:33.447Z,1741752513.447 [sci2_flat_and_level:Science:EdgeDetectChl] Running Loop=1
2025-03-12T04:08:33.447Z,1741752513.447 [sci2_flat_and_level:Science:EdgeDetectChl](DEBUG): Aggregate::initialize sci2_flat_and_level:Science:EdgeDetectChl
2025-03-12T04:08:33.448Z,1741752513.448 [sci2_flat_and_level:Science:EdgeDetectChl:A] Running Loop=1
2025-03-12T04:08:33.448Z,1741752513.448 [sci2_flat_and_level:Science:HighestChlPeakReport] Running Loop=1
2025-03-12T04:08:33.448Z,1741752513.448 [sci2_flat_and_level:Science:HighestChlPeakReport](DEBUG): Aggregate::initialize sci2_flat_and_level:Science:HighestChlPeakReport
2025-03-12T04:08:33.448Z,1741752513.448 [sci2_flat_and_level:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-03-12T04:08:33.448Z,1741752513.448 [sci2_flat_and_level:Science:HighestChlPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-03-12T04:08:33.449Z,1741752513.449 [sci2_flat_and_level:Science:PeakDetectNO3] Running Loop=1
2025-03-12T04:08:33.449Z,1741752513.449 [sci2_flat_and_level:Science:PeakDetectNO3](DEBUG): Aggregate::initialize sci2_flat_and_level:Science:PeakDetectNO3
2025-03-12T04:08:33.449Z,1741752513.449 [sci2_flat_and_level:Science:PeakDetectNO3:A] Running Loop=1
2025-03-12T04:08:33.449Z,1741752513.449 [sci2_flat_and_level:Science:PeakDetectOil] Running Loop=1
2025-03-12T04:08:33.449Z,1741752513.449 [sci2_flat_and_level:Science:PeakDetectOil](DEBUG): Aggregate::initialize sci2_flat_and_level:Science:PeakDetectOil
2025-03-12T04:08:33.449Z,1741752513.449 [sci2_flat_and_level:Science:PeakDetectOil:A] Running Loop=1
2025-03-12T04:08:33.449Z,1741752513.449 [sci2_flat_and_level:Science:HighestOilPeakReport] Running Loop=1
2025-03-12T04:08:33.450Z,1741752513.450 [sci2_flat_and_level:Science:HighestOilPeakReport](DEBUG): Aggregate::initialize sci2_flat_and_level:Science:HighestOilPeakReport
2025-03-12T04:08:33.450Z,1741752513.450 [sci2_flat_and_level:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-03-12T04:08:33.450Z,1741752513.450 [sci2_flat_and_level:Science:HighestOilPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-03-12T04:08:33.450Z,1741752513.450 [sci2_flat_and_level:Science:PeakDetectFDOM] Running Loop=1
2025-03-12T04:08:33.450Z,1741752513.450 [sci2_flat_and_level:Science:PeakDetectFDOM](DEBUG): Aggregate::initialize sci2_flat_and_level:Science:PeakDetectFDOM
2025-03-12T04:08:33.450Z,1741752513.450 [sci2_flat_and_level:Science:PeakDetectFDOM:A] Running Loop=1
2025-03-12T04:08:33.451Z,1741752513.451 [sci2_flat_and_level:Science:PeakDetectSalinity] Running Loop=1
2025-03-12T04:08:33.451Z,1741752513.451 [sci2_flat_and_level:Science:PeakDetectSalinity](DEBUG): Aggregate::initialize sci2_flat_and_level:Science:PeakDetectSalinity
2025-03-12T04:08:33.451Z,1741752513.451 [sci2_flat_and_level:Science:PeakDetectSalinity:A] Running Loop=1
2025-03-12T04:08:33.451Z,1741752513.451 [sci2_flat_and_level:Science:HighestSaltPeakReport] Running Loop=1
2025-03-12T04:08:33.451Z,1741752513.451 [sci2_flat_and_level:Science:HighestSaltPeakReport](DEBUG): Aggregate::initialize sci2_flat_and_level:Science:HighestSaltPeakReport
2025-03-12T04:08:33.451Z,1741752513.451 [sci2_flat_and_level:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-03-12T04:08:33.451Z,1741752513.451 [sci2_flat_and_level:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-03-12T04:08:33.452Z,1741752513.452 [sci2_flat_and_level:Science:PeakDetectPlanktivoreLMavgROI] Running Loop=1
2025-03-12T04:08:33.452Z,1741752513.452 [sci2_flat_and_level:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::initialize sci2_flat_and_level:Science:PeakDetectPlanktivoreLMavgROI
2025-03-12T04:08:33.452Z,1741752513.452 [sci2_flat_and_level:Science:PeakDetectPlanktivoreLMavgROI:A] Running Loop=1
2025-03-12T04:08:33.452Z,1741752513.452 [sci2_flat_and_level:Science:EdgeDetectPlanktivoreLMavgROI] Running Loop=1
2025-03-12T04:08:33.453Z,1741752513.453 [sci2_flat_and_level:Science:EdgeDetectPlanktivoreLMavgROI](DEBUG): Aggregate::initialize sci2_flat_and_level:Science:EdgeDetectPlanktivoreLMavgROI
2025-03-12T04:08:33.453Z,1741752513.453 [sci2_flat_and_level:Science:EdgeDetectPlanktivoreLMavgROI:A] Running Loop=1
2025-03-12T04:08:33.453Z,1741752513.453 [sci2_flat_and_level:Science:PeakDetectPlanktivoreHMavgROI] Running Loop=1
2025-03-12T04:08:33.453Z,1741752513.453 [sci2_flat_and_level:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::initialize sci2_flat_and_level:Science:PeakDetectPlanktivoreHMavgROI
2025-03-12T04:08:33.453Z,1741752513.453 [sci2_flat_and_level:Science:PeakDetectPlanktivoreHMavgROI:A] Running Loop=1
2025-03-12T04:08:33.453Z,1741752513.453 [sci2_flat_and_level:Science:PeakDetectPlanktivoreDiatoms] Running Loop=1
2025-03-12T04:08:33.453Z,1741752513.453 [sci2_flat_and_level:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::initialize sci2_flat_and_level:Science:PeakDetectPlanktivoreDiatoms
2025-03-12T04:08:33.453Z,1741752513.453 [sci2_flat_and_level:Science:PeakDetectPlanktivoreDiatoms:A] Running Loop=1
2025-03-12T04:08:33.453Z,1741752513.453 [sci2_flat_and_level:Science:PeakDetectPlanktivoreDinoflagellates] Running Loop=1
2025-03-12T04:08:33.454Z,1741752513.454 [sci2_flat_and_level:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::initialize sci2_flat_and_level:Science:PeakDetectPlanktivoreDinoflagellates
2025-03-12T04:08:33.454Z,1741752513.454 [sci2_flat_and_level:Science:PeakDetectPlanktivoreDinoflagellates:A] Running Loop=1
2025-03-12T04:08:33.454Z,1741752513.454 [sci2_flat_and_level:Science:ChlThreshTrigger] Running Loop=1
2025-03-12T04:08:33.454Z,1741752513.454 [sci2_flat_and_level:Science:ChlThreshTrigger](DEBUG): Aggregate::initialize sci2_flat_and_level:Science:ChlThreshTrigger
2025-03-12T04:08:33.454Z,1741752513.454 [sci2_flat_and_level:Science:ChlThreshTrigger:A.ValueDetect] Running Loop=1
2025-03-12T04:08:33.454Z,1741752513.454 [sci2_flat_and_level:Science:ChlThreshTrigger:A.ValueDetect](INFO): Initialize.
2025-03-12T04:08:33.455Z,1741752513.455 [sci2_flat_and_level:Science:OceanCurrent] Running Loop=1
2025-03-12T04:08:33.455Z,1741752513.455 [sci2_flat_and_level:Science:OceanCurrent](DEBUG): Aggregate::initialize sci2_flat_and_level:Science:OceanCurrent
2025-03-12T04:08:33.455Z,1741752513.455 [sci2_flat_and_level:Science:OceanCurrent:A.] Running Loop=1
2025-03-12T04:08:33.455Z,1741752513.455 [sci2_flat_and_level:Science:OceanCurrent:A.](INFO): Initializing CurrentEstimator.
2025-03-12T04:08:33.455Z,1741752513.455 [sci2_flat_and_level:StandardEnvelopes] Running Loop=1
2025-03-12T04:08:33.455Z,1741752513.455 [sci2_flat_and_level:StandardEnvelopes](DEBUG): Aggregate::initialize sci2_flat_and_level:StandardEnvelopes
2025-03-12T04:08:33.455Z,1741752513.455 [sci2_flat_and_level:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-03-12T04:08:33.455Z,1741752513.455 [sci2_flat_and_level:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-03-12T04:08:33.456Z,1741752513.456 [sci2_flat_and_level:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-03-12T04:08:33.456Z,1741752513.456 [sci2_flat_and_level:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-03-12T04:08:33.456Z,1741752513.456 [sci2_flat_and_level:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-03-12T04:08:33.456Z,1741752513.456 [sci2_flat_and_level:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-03-12T04:08:33.456Z,1741752513.456 [sci2_flat_and_level:BackseatDriver] Running Loop=1
2025-03-12T04:08:33.456Z,1741752513.456 [sci2_flat_and_level:BackseatDriver](DEBUG): Aggregate::initialize sci2_flat_and_level:BackseatDriver
2025-03-12T04:08:33.457Z,1741752513.457 [sci2_flat_and_level:BackseatDriver:A.BackseatDriver] Running Loop=1
2025-03-12T04:08:33.457Z,1741752513.457 [sci2_flat_and_level:PowerOnly] Running Loop=1
2025-03-12T04:08:33.457Z,1741752513.457 [sci2_flat_and_level:PowerOnly](DEBUG): Aggregate::initialize sci2_flat_and_level:PowerOnly
2025-03-12T04:08:33.457Z,1741752513.457 [sci2_flat_and_level:PowerOnly:A] Running Loop=1
2025-03-12T04:08:33.457Z,1741752513.457 [sci2_flat_and_level:PowerOnly:B] Running Loop=1
2025-03-12T04:08:33.457Z,1741752513.457 [sci2_flat_and_level:PowerOnly:C] Running Loop=1
2025-03-12T04:08:33.457Z,1741752513.457 [sci2_flat_and_level:PowerOnly:D] Running Loop=1
2025-03-12T04:08:33.457Z,1741752513.457 [sci2_flat_and_level:PowerOnly:E.Wait] Running Loop=1
2025-03-12T04:08:33.457Z,1741752513.457 [sci2_flat_and_level:PowerOnly:E.Wait](DEBUG): Initialize Wait Component.
2025-03-12T04:08:33.457Z,1741752513.457 [sci2_flat_and_level:C] Running Loop=1
2025-03-12T04:08:33.458Z,1741752513.458 [sci2_flat_and_level:PowerOnly] Running Loop=1
2025-03-12T04:08:33.459Z,1741752513.459 [sci2_flat_and_level:PowerOnly:D] Stopped
2025-03-12T04:08:33.459Z,1741752513.459 [sci2_flat_and_level:PowerOnly:C] Stopped
2025-03-12T04:08:33.459Z,1741752513.459 [sci2_flat_and_level:PowerOnly:B] Stopped
2025-03-12T04:08:33.459Z,1741752513.459 [sci2_flat_and_level:PowerOnly:A] Stopped
2025-03-12T04:08:33.459Z,1741752513.459 [sci2_flat_and_level:BackseatDriver] Running Loop=1
2025-03-12T04:08:33.460Z,1741752513.460 [sci2_flat_and_level:C] Stopped
2025-03-12T04:08:33.460Z,1741752513.460 [sci2_flat_and_level:D] Running Loop=1
2025-03-12T04:08:33.460Z,1741752513.460 [sci2_flat_and_level:StandardEnvelopes] Running Loop=1
2025-03-12T04:08:33.460Z,1741752513.460 [sci2_flat_and_level:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-03-12T04:08:33.461Z,1741752513.461 [sci2_flat_and_level:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-03-12T04:08:33.461Z,1741752513.461 [sci2_flat_and_level:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-03-12T04:08:33.462Z,1741752513.462 [sci2_flat_and_level:Science] Running Loop=1
2025-03-12T04:08:33.463Z,1741752513.463 [sci2_flat_and_level:Science:ChlThreshTrigger] Stopped
2025-03-12T04:08:33.463Z,1741752513.463 [sci2_flat_and_level:Science:ChlThreshTrigger](DEBUG): Aggregate::uninitialize sci2_flat_and_level:Science:ChlThreshTrigger
2025-03-12T04:08:33.463Z,1741752513.463 [sci2_flat_and_level:Science:ChlThreshTrigger:A.ValueDetect] Stopped
2025-03-12T04:08:33.463Z,1741752513.463 [sci2_flat_and_level:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Uninitialize.
2025-03-12T04:08:33.464Z,1741752513.464 [sci2_flat_and_level:Science:PeakDetectPlanktivoreDinoflagellates] Stopped
2025-03-12T04:08:33.464Z,1741752513.464 [sci2_flat_and_level:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::uninitialize sci2_flat_and_level:Science:PeakDetectPlanktivoreDinoflagellates
2025-03-12T04:08:33.464Z,1741752513.464 [sci2_flat_and_level:Science:PeakDetectPlanktivoreDinoflagellates:A] Stopped
2025-03-12T04:08:33.464Z,1741752513.464 [sci2_flat_and_level:Science:PeakDetectPlanktivoreDiatoms] Stopped
2025-03-12T04:08:33.464Z,1741752513.464 [sci2_flat_and_level:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::uninitialize sci2_flat_and_level:Science:PeakDetectPlanktivoreDiatoms
2025-03-12T04:08:33.464Z,1741752513.464 [sci2_flat_and_level:Science:PeakDetectPlanktivoreDiatoms:A] Stopped
2025-03-12T04:08:33.464Z,1741752513.464 [sci2_flat_and_level:Science:PeakDetectPlanktivoreHMavgROI] Stopped
2025-03-12T04:08:33.464Z,1741752513.464 [sci2_flat_and_level:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::uninitialize sci2_flat_and_level:Science:PeakDetectPlanktivoreHMavgROI
2025-03-12T04:08:33.464Z,1741752513.464 [sci2_flat_and_level:Science:PeakDetectPlanktivoreHMavgROI:A] Stopped
2025-03-12T04:08:33.464Z,1741752513.464 [sci2_flat_and_level:Science:EdgeDetectPlanktivoreLMavgROI] Stopped
2025-03-12T04:08:33.465Z,1741752513.465 [sci2_flat_and_level:Science:EdgeDetectPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize sci2_flat_and_level:Science:EdgeDetectPlanktivoreLMavgROI
2025-03-12T04:08:33.465Z,1741752513.465 [sci2_flat_and_level:Science:EdgeDetectPlanktivoreLMavgROI:A] Stopped
2025-03-12T04:08:33.465Z,1741752513.465 [sci2_flat_and_level:Science:PeakDetectPlanktivoreLMavgROI] Stopped
2025-03-12T04:08:33.465Z,1741752513.465 [sci2_flat_and_level:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize sci2_flat_and_level:Science:PeakDetectPlanktivoreLMavgROI
2025-03-12T04:08:33.465Z,1741752513.465 [sci2_flat_and_level:Science:PeakDetectPlanktivoreLMavgROI:A] Stopped
2025-03-12T04:08:33.465Z,1741752513.465 [sci2_flat_and_level:Science:HighestSaltPeakReport] Stopped
2025-03-12T04:08:33.465Z,1741752513.465 [sci2_flat_and_level:Science:HighestSaltPeakReport](DEBUG): Aggregate::uninitialize sci2_flat_and_level:Science:HighestSaltPeakReport
2025-03-12T04:08:33.465Z,1741752513.465 [sci2_flat_and_level:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Stopped
2025-03-12T04:08:33.465Z,1741752513.465 [sci2_flat_and_level:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-03-12T04:08:33.465Z,1741752513.465 [sci2_flat_and_level:Science:PeakDetectSalinity] Stopped
2025-03-12T04:08:33.465Z,1741752513.465 [sci2_flat_and_level:Science:PeakDetectSalinity](DEBUG): Aggregate::uninitialize sci2_flat_and_level:Science:PeakDetectSalinity
2025-03-12T04:08:33.465Z,1741752513.465 [sci2_flat_and_level:Science:PeakDetectSalinity:A] Stopped
2025-03-12T04:08:33.465Z,1741752513.465 [sci2_flat_and_level:Science:PeakDetectFDOM] Stopped
2025-03-12T04:08:33.466Z,1741752513.466 [sci2_flat_and_level:Science:PeakDetectFDOM](DEBUG): Aggregate::uninitialize sci2_flat_and_level:Science:PeakDetectFDOM
2025-03-12T04:08:33.466Z,1741752513.466 [sci2_flat_and_level:Science:PeakDetectFDOM:A] Stopped
2025-03-12T04:08:33.466Z,1741752513.466 [sci2_flat_and_level:Science:HighestOilPeakReport] Stopped
2025-03-12T04:08:33.466Z,1741752513.466 [sci2_flat_and_level:Science:HighestOilPeakReport](DEBUG): Aggregate::uninitialize sci2_flat_and_level:Science:HighestOilPeakReport
2025-03-12T04:08:33.466Z,1741752513.466 [sci2_flat_and_level:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Stopped
2025-03-12T04:08:33.466Z,1741752513.466 [sci2_flat_and_level:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-03-12T04:08:33.466Z,1741752513.466 [sci2_flat_and_level:Science:PeakDetectOil] Stopped
2025-03-12T04:08:33.466Z,1741752513.466 [sci2_flat_and_level:Science:PeakDetectOil](DEBUG): Aggregate::uninitialize sci2_flat_and_level:Science:PeakDetectOil
2025-03-12T04:08:33.466Z,1741752513.466 [sci2_flat_and_level:Science:PeakDetectOil:A] Stopped
2025-03-12T04:08:33.466Z,1741752513.466 [sci2_flat_and_level:Science:PeakDetectNO3] Stopped
2025-03-12T04:08:33.466Z,1741752513.466 [sci2_flat_and_level:Science:PeakDetectNO3](DEBUG): Aggregate::uninitialize sci2_flat_and_level:Science:PeakDetectNO3
2025-03-12T04:08:33.466Z,1741752513.466 [sci2_flat_and_level:Science:PeakDetectNO3:A] Stopped
2025-03-12T04:08:33.466Z,1741752513.466 [sci2_flat_and_level:Science:HighestChlPeakReport] Stopped
2025-03-12T04:08:33.467Z,1741752513.467 [sci2_flat_and_level:Science:HighestChlPeakReport](DEBUG): Aggregate::uninitialize sci2_flat_and_level:Science:HighestChlPeakReport
2025-03-12T04:08:33.467Z,1741752513.467 [sci2_flat_and_level:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Stopped
2025-03-12T04:08:33.467Z,1741752513.467 [sci2_flat_and_level:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-03-12T04:08:33.467Z,1741752513.467 [sci2_flat_and_level:Science:EdgeDetectChl] Stopped
2025-03-12T04:08:33.467Z,1741752513.467 [sci2_flat_and_level:Science:EdgeDetectChl](DEBUG): Aggregate::uninitialize sci2_flat_and_level:Science:EdgeDetectChl
2025-03-12T04:08:33.467Z,1741752513.467 [sci2_flat_and_level:Science:EdgeDetectChl:A] Stopped
2025-03-12T04:08:33.467Z,1741752513.467 [sci2_flat_and_level:Science:PeakDetectChl] Stopped
2025-03-12T04:08:33.467Z,1741752513.467 [sci2_flat_and_level:Science:PeakDetectChl](DEBUG): Aggregate::uninitialize sci2_flat_and_level:Science:PeakDetectChl
2025-03-12T04:08:33.467Z,1741752513.467 [sci2_flat_and_level:Science:PeakDetectChl:A] Stopped
2025-03-12T04:08:33.467Z,1741752513.467 [sci2_flat_and_level:Science:OceanCurrent:A.] Running Loop=1
2025-03-12T04:08:33.468Z,1741752513.468 [sci2_flat_and_level:Science:Read_Oil] Stopped
2025-03-12T04:08:33.468Z,1741752513.468 [sci2_flat_and_level:Science:F] Stopped
2025-03-12T04:08:33.468Z,1741752513.468 [sci2_flat_and_level:Science:E] Running Loop=1
2025-03-12T04:08:33.469Z,1741752513.469 [sci2_flat_and_level:Science:E](DEBUG): Initialize ReadDataComponent to sense mass_concentration_of_chlorophyll_in_sea_water
2025-03-12T04:08:33.469Z,1741752513.469 [sci2_flat_and_level:Science:D] Stopped
2025-03-12T04:08:33.469Z,1741752513.469 [sci2_flat_and_level:Science:C] Running Loop=1
2025-03-12T04:08:33.470Z,1741752513.470 [sci2_flat_and_level:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_temperature
2025-03-12T04:08:33.471Z,1741752513.471 [sci2_flat_and_level:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_salinity
2025-03-12T04:08:33.471Z,1741752513.471 [sci2_flat_and_level:Science:B] Running Loop=1
2025-03-12T04:08:33.472Z,1741752513.472 [sci2_flat_and_level:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_temperature
2025-03-12T04:08:33.473Z,1741752513.473 [sci2_flat_and_level:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_salinity
2025-03-12T04:08:33.473Z,1741752513.473 [sci2_flat_and_level:Science:A] Stopped
2025-03-12T04:08:33.850Z,1741752513.850 [sci2_flat_and_level:D] Stopped
2025-03-12T04:08:33.850Z,1741752513.850 [sci2_flat_and_level:E] Running Loop=1
2025-03-12T04:08:33.853Z,1741752513.853 [WetLabsBB2FL](INFO): Powering up
2025-03-12T04:08:34.242Z,1741752514.242 [sci2_flat_and_level:E] Stopped
2025-03-12T04:08:34.242Z,1741752514.242 [sci2_flat_and_level:G] Running Loop=1
2025-03-12T04:08:34.650Z,1741752514.650 [sci2_flat_and_level:G] Stopped
2025-03-12T04:08:34.651Z,1741752514.651 [sci2_flat_and_level:H] Running Loop=1
2025-03-12T04:08:35.069Z,1741752515.069 [sci2_flat_and_level:H] Stopped
2025-03-12T04:08:35.069Z,1741752515.069 [sci2_flat_and_level:L] Running Loop=1
2025-03-12T04:08:35.454Z,1741752515.454 [sci2_flat_and_level:L] Stopped
2025-03-12T04:08:35.454Z,1741752515.454 [sci2_flat_and_level:StartingMission] Running Loop=1
2025-03-12T04:08:35.454Z,1741752515.454 [sci2_flat_and_level:StartingMission](DEBUG): Aggregate::initialize sci2_flat_and_level:StartingMission
2025-03-12T04:08:35.865Z,1741752515.865 [sci2_flat_and_level:SurfaceComms] Running Loop=1
2025-03-12T04:08:35.865Z,1741752515.865 [sci2_flat_and_level:SurfaceComms](DEBUG): Aggregate::initialize sci2_flat_and_level:SurfaceComms
2025-03-12T04:08:35.865Z,1741752515.865 [sci2_flat_and_level:SurfaceComms:A] Running Loop=1
2025-03-12T04:08:35.866Z,1741752515.866 [sci2_flat_and_level:SurfaceComms:A] Stopped
2025-03-12T04:08:35.866Z,1741752515.866 [sci2_flat_and_level:SurfaceComms:B] Running Loop=1
2025-03-12T04:08:35.866Z,1741752515.866 [sci2_flat_and_level:SurfaceComms:B](DEBUG): Aggregate::initialize sci2_flat_and_level:SurfaceComms:B
2025-03-12T04:08:36.280Z,1741752516.280 [sci2_flat_and_level:NeedComms] Running Loop=1
2025-03-12T04:08:36.281Z,1741752516.281 [sci2_flat_and_level:NeedComms](DEBUG): Aggregate::initialize sci2_flat_and_level:NeedComms
2025-03-12T04:08:36.281Z,1741752516.281 [sci2_flat_and_level:NeedComms:B.GoToSurface] Running Loop=1
2025-03-12T04:08:36.281Z,1741752516.281 [sci2_flat_and_level:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-03-12T04:08:36.282Z,1741752516.282 [sci2_flat_and_level:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-03-12T04:08:36.282Z,1741752516.282 [sci2_flat_and_level:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-03-12T04:08:36.283Z,1741752516.283 [sci2_flat_and_level:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-03-12T04:08:36.284Z,1741752516.284 [sci2_flat_and_level:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-03-12T04:08:36.285Z,1741752516.285 [sci2_flat_and_level:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-03-12T04:08:36.285Z,1741752516.285 [sci2_flat_and_level:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-03-12T04:08:36.286Z,1741752516.286 [sci2_flat_and_level:NeedComms:A] Running Loop=1
2025-03-12T04:08:36.289Z,1741752516.289 [sci2_flat_and_level:NeedComms:A](INFO): last time_fix was:  1741752344.000000 second since 1970/01/01T00:00:00Z 
2025-03-12T04:08:36.289Z,1741752516.289 [sci2_flat_and_level:NeedComms:A] Stopped
2025-03-12T04:08:36.709Z,1741752516.709 [sci2_flat_and_level:NeedComms:C] Running Loop=1
2025-03-12T04:08:37.070Z,1741752517.070 [sci2_flat_and_level:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-03-12T04:08:37.109Z,1741752517.109 [CTD_Seabird](ERROR): Failed to parse device response: <!--startlogging-->
2025-03-12T04:08:38.693Z,1741752518.693 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,040831.00,A,3647.85610,N,12150.91670,W,0.214,264.54,120325,,,A*71
2025-03-12T04:08:38.702Z,1741752518.702 [NAL9602](INFO): GPS fix at 20250312T040831: (36.797602, -121.848612)
2025-03-12T04:08:38.733Z,1741752518.733 [sci2_flat_and_level:NeedComms:C] Stopped
2025-03-12T04:08:38.733Z,1741752518.733 [sci2_flat_and_level:NeedComms:D] Running Loop=1
2025-03-12T04:08:39.102Z,1741752519.102 [sci2_flat_and_level:NeedComms:D](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-03-12T04:08:46.902Z,1741752526.902 [DataOverHttps](INFO): Sending 76 bytes from file Logs/20250312T040137/Courier0007.lzma
2025-03-12T04:08:47.902Z,1741752527.902 [DataOverHttps](INFO): Moved sent file to Logs/20250312T040137/Courier0007.lzma.bak
2025-03-12T04:08:47.902Z,1741752527.902 [DataOverHttps](INFO): SBD MOMSN=24182136
2025-03-12T04:08:52.877Z,1741752532.877 [NAL9602](INFO): SBD MO Status=0, MOMSN=18941, MT Status=0, MTMSN=0
2025-03-12T04:08:52.877Z,1741752532.877 [NAL9602](INFO): No messages in MT queue
2025-03-12T04:09:05.131Z,1741752545.131 [DataOverHttps](INFO): Sending 601 bytes from file Logs/20250312T040137/Express0008.lzma
2025-03-12T04:09:06.127Z,1741752546.127 [DataOverHttps](INFO): Moved sent file to Logs/20250312T040137/Express0008.lzma.bak
2025-03-12T04:09:06.127Z,1741752546.127 [DataOverHttps](INFO): SBD MOMSN=24182139
2025-03-12T04:09:07.449Z,1741752547.449 [sci2_flat_and_level:NeedComms:D] Stopped
2025-03-12T04:09:07.450Z,1741752547.450 [sci2_flat_and_level:NeedComms:E] Running Loop=1
2025-03-12T04:09:07.853Z,1741752547.853 [sci2_flat_and_level:NeedComms:E](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-03-12T04:09:09.439Z,1741752549.439 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,040901.00,A,3647.85559,N,12150.91824,W,1.225,233.50,120325,,,A*77
2025-03-12T04:09:09.442Z,1741752549.442 [NAL9602](INFO): GPS fix at 20250312T040901: (36.797593, -121.848637)
2025-03-12T04:09:09.485Z,1741752549.485 [sci2_flat_and_level:NeedComms:E] Stopped
2025-03-12T04:09:09.486Z,1741752549.486 [sci2_flat_and_level:NeedComms](INFO): Completed sci2_flat_and_level:NeedComms
2025-03-12T04:09:09.486Z,1741752549.486 [sci2_flat_and_level:NeedComms] Stopped
2025-03-12T04:09:09.486Z,1741752549.486 [sci2_flat_and_level:NeedComms](DEBUG): Aggregate::uninitialize sci2_flat_and_level:NeedComms
2025-03-12T04:09:09.487Z,1741752549.487 [sci2_flat_and_level:NeedComms:B.GoToSurface] Stopped
2025-03-12T04:09:09.487Z,1741752549.487 [sci2_flat_and_level:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-03-12T04:09:09.964Z,1741752549.964 [sci2_flat_and_level:SurfaceComms:B](INFO): Completed sci2_flat_and_level:SurfaceComms:B
2025-03-12T04:09:09.964Z,1741752549.964 [sci2_flat_and_level:SurfaceComms:B] Stopped
2025-03-12T04:09:09.964Z,1741752549.964 [sci2_flat_and_level:SurfaceComms:B](DEBUG): Aggregate::uninitialize sci2_flat_and_level:SurfaceComms:B
2025-03-12T04:09:09.965Z,1741752549.965 [sci2_flat_and_level:SurfaceComms:C] Running Loop=1
2025-03-12T04:09:10.293Z,1741752550.293 [sci2_flat_and_level:SurfaceComms:C] Stopped
2025-03-12T04:09:10.293Z,1741752550.293 [sci2_flat_and_level:SurfaceComms](INFO): Completed sci2_flat_and_level:SurfaceComms
2025-03-12T04:09:10.348Z,1741752550.348 [sci2_flat_and_level:SurfaceComms] Stopped
2025-03-12T04:09:10.349Z,1741752550.349 [sci2_flat_and_level:SurfaceComms](DEBUG): Aggregate::uninitialize sci2_flat_and_level:SurfaceComms
2025-03-12T04:09:10.866Z,1741752550.866 [sci2_flat_and_level:StartingMission](INFO): Completed sci2_flat_and_level:StartingMission
2025-03-12T04:09:10.867Z,1741752550.867 [sci2_flat_and_level:StartingMission] Stopped
2025-03-12T04:09:10.867Z,1741752550.867 [sci2_flat_and_level:StartingMission](DEBUG): Aggregate::uninitialize sci2_flat_and_level:StartingMission
2025-03-12T04:09:10.867Z,1741752550.867 [sci2_flat_and_level:Lap] Running Loop=1
2025-03-12T04:09:10.867Z,1741752550.867 [sci2_flat_and_level:Lap](DEBUG): Aggregate::initialize sci2_flat_and_level:Lap
2025-03-12T04:09:10.867Z,1741752550.867 [sci2_flat_and_level:Lap:Dive] Running Loop=1
2025-03-12T04:09:10.867Z,1741752550.867 [sci2_flat_and_level:Lap:Dive](DEBUG): Aggregate::initialize sci2_flat_and_level:Lap:Dive
2025-03-12T04:09:10.867Z,1741752550.867 [sci2_flat_and_level:Lap:Dive:A] Running Loop=1
2025-03-12T04:09:10.867Z,1741752550.867 [sci2_flat_and_level:Lap:Dive:A](DEBUG): Aggregate::initialize sci2_flat_and_level:Lap:Dive:A
2025-03-12T04:09:10.888Z,1741752550.888 [sci2_flat_and_level:Lap:DepthByLap] Running Loop=1
2025-03-12T04:09:10.888Z,1741752550.888 [sci2_flat_and_level:Lap:DepthByLap](DEBUG): Aggregate::initialize sci2_flat_and_level:Lap:DepthByLap
2025-03-12T04:09:10.889Z,1741752550.889 [sci2_flat_and_level:Lap:DepthByLap:Leg1] Running Loop=1
2025-03-12T04:09:10.889Z,1741752550.889 [sci2_flat_and_level:Lap:DepthByLap:Leg1](DEBUG): Aggregate::initialize sci2_flat_and_level:Lap:DepthByLap:Leg1
2025-03-12T04:09:10.889Z,1741752550.889 [sci2_flat_and_level:Lap:DepthByLap:Leg1:A] Running Loop=1
2025-03-12T04:09:11.096Z,1741752551.096 [sci2_flat_and_level:Lap:DepthByLap:Leg1:A] Stopped
2025-03-12T04:09:11.096Z,1741752551.096 [sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt1] Running Loop=1
2025-03-12T04:09:11.096Z,1741752551.096 [sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt1](DEBUG): Aggregate::initialize sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt1
2025-03-12T04:09:11.097Z,1741752551.097 [sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt1:A.Waypoint] Running Loop=1
2025-03-12T04:09:11.097Z,1741752551.097 [sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt1:A.Waypoint](DEBUG): Initialize WaypointComponent.
2025-03-12T04:09:11.098Z,1741752551.098 [sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt1:A.Waypoint](IMPORTANT): Navigating to waypoint: 36.797001,-121.857002
2025-03-12T04:09:11.098Z,1741752551.098 [sci2_flat_and_level:Lap:Dive] Running Loop=1
2025-03-12T04:09:11.098Z,1741752551.098 [sci2_flat_and_level:DiveCmd] Running Loop=1
2025-03-12T04:09:11.098Z,1741752551.098 [sci2_flat_and_level:DiveCmd](DEBUG): Aggregate::initialize sci2_flat_and_level:DiveCmd
2025-03-12T04:09:11.098Z,1741752551.098 [sci2_flat_and_level:DiveCmd:InitialDive] Running Loop=1
2025-03-12T04:09:11.098Z,1741752551.098 [sci2_flat_and_level:DiveCmd:InitialDive](DEBUG): Aggregate::initialize sci2_flat_and_level:DiveCmd:InitialDive
2025-03-12T04:09:11.099Z,1741752551.099 [sci2_flat_and_level:DiveCmd:InitialDive:dive] Running Loop=1
2025-03-12T04:09:11.099Z,1741752551.099 [sci2_flat_and_level:DiveCmd:InitialDive:dive](DEBUG): Aggregate::initialize sci2_flat_and_level:DiveCmd:InitialDive:dive
2025-03-12T04:09:11.099Z,1741752551.099 [sci2_flat_and_level:DiveCmd:InitialDive:dive:A] Running Loop=1
2025-03-12T04:09:11.099Z,1741752551.099 [sci2_flat_and_level:DiveCmd:InitialDive:dive:B] Running Loop=1
2025-03-12T04:09:11.099Z,1741752551.099 [sci2_flat_and_level:DiveCmd:InitialDive:dive:C.Mass] Running Loop=1
2025-03-12T04:09:11.099Z,1741752551.099 [sci2_flat_and_level:DiveCmd:InitialDive:dive:C.Mass](DEBUG): Initialize.
2025-03-12T04:09:11.099Z,1741752551.099 [sci2_flat_and_level:DiveCmd:InitialDive:dive:D.Buoyancy] Running Loop=1
2025-03-12T04:09:11.099Z,1741752551.099 [sci2_flat_and_level:DiveCmd:InitialDive:dive:D.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-03-12T04:09:11.099Z,1741752551.099 [sci2_flat_and_level:DiveCmd:InitialDive:dive:E] Running Loop=1
2025-03-12T04:09:11.100Z,1741752551.100 [sci2_flat_and_level:DiveCmd:SettleAtDepth] Running Loop=1
2025-03-12T04:09:11.124Z,1741752551.124 [sci2_flat_and_level:DiveCmd:SettleAtDepth](DEBUG): Aggregate::initialize sci2_flat_and_level:DiveCmd:SettleAtDepth
2025-03-12T04:09:11.124Z,1741752551.124 [sci2_flat_and_level:DiveCmd:SettleAtDepth:dive] Running Loop=1
2025-03-12T04:09:11.124Z,1741752551.124 [sci2_flat_and_level:DiveCmd:SettleAtDepth:dive](DEBUG): Aggregate::initialize sci2_flat_and_level:DiveCmd:SettleAtDepth:dive
2025-03-12T04:09:11.124Z,1741752551.124 [sci2_flat_and_level:DiveCmd:SettleAtDepth:dive:B.Pitch] Running Loop=1
2025-03-12T04:09:11.124Z,1741752551.124 [sci2_flat_and_level:DiveCmd:SettleAtDepth:dive:B.Pitch](DEBUG): Initialize.
2025-03-12T04:09:11.125Z,1741752551.125 [sci2_flat_and_level:DiveCmd:SettleAtDepth:dive:A] Running Loop=1
2025-03-12T04:09:11.125Z,1741752551.125 [sci2_flat_and_level:DiveCmd:MaintainDepth] Running Loop=1
2025-03-12T04:09:11.125Z,1741752551.125 [sci2_flat_and_level:DiveCmd:MaintainDepth](DEBUG): Aggregate::initialize sci2_flat_and_level:DiveCmd:MaintainDepth
2025-03-12T04:09:11.125Z,1741752551.125 [sci2_flat_and_level:DiveCmd:MaintainDepth:dive] Running Loop=1
2025-03-12T04:09:11.125Z,1741752551.125 [sci2_flat_and_level:DiveCmd:MaintainDepth:dive](DEBUG): Aggregate::initialize sci2_flat_and_level:DiveCmd:MaintainDepth:dive
2025-03-12T04:09:11.125Z,1741752551.125 [sci2_flat_and_level:DiveCmd:MaintainDepth:dive:ThrusterDive] Running Loop=1
2025-03-12T04:09:11.125Z,1741752551.125 [sci2_flat_and_level:DiveCmd:MaintainDepth:dive:ThrusterDive](DEBUG): Aggregate::initialize sci2_flat_and_level:DiveCmd:MaintainDepth:dive:ThrusterDive
2025-03-12T04:09:11.125Z,1741752551.125 [sci2_flat_and_level:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass] Running Loop=1
2025-03-12T04:09:11.125Z,1741752551.125 [sci2_flat_and_level:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass](DEBUG): Initialize.
2025-03-12T04:09:11.126Z,1741752551.126 [sci2_flat_and_level:DiveCmd:MaintainDepth:dive:ThrusterDive:B.Buoyancy] Running Loop=1
2025-03-12T04:09:11.126Z,1741752551.126 [sci2_flat_and_level:DiveCmd:MaintainDepth:dive:ThrusterDive:B.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-03-12T04:09:11.126Z,1741752551.126 [sci2_flat_and_level:DiveCmd:MaintainDepth:dive:D.Pitch] Running Loop=1
2025-03-12T04:09:11.126Z,1741752551.126 [sci2_flat_and_level:DiveCmd:MaintainDepth:dive:D.Pitch](DEBUG): Initialize.
2025-03-12T04:09:11.126Z,1741752551.126 [sci2_flat_and_level:DiveCmd:MaintainDepth:dive:SetSpeed] Running Loop=1
2025-03-12T04:09:11.126Z,1741752551.126 [sci2_flat_and_level:DiveCmd:MaintainDepth:dive:SetSpeed](DEBUG): Aggregate::initialize sci2_flat_and_level:DiveCmd:MaintainDepth:dive:SetSpeed
2025-03-12T04:09:11.126Z,1741752551.126 [sci2_flat_and_level:DiveCmd:MaintainDepth:dive:SetSpeed:A.SetSpeed] Running Loop=1
2025-03-12T04:09:11.126Z,1741752551.126 [sci2_flat_and_level:DiveCmd:MaintainDepth:dive:SetSpeed:A.SetSpeed](DEBUG): Initialize.
2025-03-12T04:09:11.127Z,1741752551.127 [sci2_flat_and_level:DiveCmd:MaintainDepth] Stopped
2025-03-12T04:09:11.127Z,1741752551.127 [sci2_flat_and_level:DiveCmd:MaintainDepth](DEBUG): Aggregate::uninitialize sci2_flat_and_level:DiveCmd:MaintainDepth
2025-03-12T04:09:11.127Z,1741752551.127 [sci2_flat_and_level:DiveCmd:MaintainDepth:dive] Stopped
2025-03-12T04:09:11.127Z,1741752551.127 [sci2_flat_and_level:DiveCmd:MaintainDepth:dive](DEBUG): Aggregate::uninitialize sci2_flat_and_level:DiveCmd:MaintainDepth:dive
2025-03-12T04:09:11.127Z,1741752551.127 [sci2_flat_and_level:DiveCmd:MaintainDepth:dive:ThrusterDive] Stopped
2025-03-12T04:09:11.127Z,1741752551.127 [sci2_flat_and_level:DiveCmd:MaintainDepth:dive:ThrusterDive](DEBUG): Aggregate::uninitialize sci2_flat_and_level:DiveCmd:MaintainDepth:dive:ThrusterDive
2025-03-12T04:09:11.127Z,1741752551.127 [sci2_flat_and_level:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass] Stopped
2025-03-12T04:09:11.127Z,1741752551.127 [sci2_flat_and_level:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass](DEBUG): Uninitialize.
2025-03-12T04:09:11.127Z,1741752551.127 [sci2_flat_and_level:DiveCmd:MaintainDepth:dive:ThrusterDive:B.Buoyancy] Stopped
2025-03-12T04:09:11.132Z,1741752551.132 [sci2_flat_and_level:DiveCmd:MaintainDepth:dive:ThrusterDive:B.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-03-12T04:09:11.132Z,1741752551.132 [sci2_flat_and_level:DiveCmd:MaintainDepth:dive:SetSpeed] Stopped
2025-03-12T04:09:11.132Z,1741752551.132 [sci2_flat_and_level:DiveCmd:MaintainDepth:dive:SetSpeed](DEBUG): Aggregate::uninitialize sci2_flat_and_level:DiveCmd:MaintainDepth:dive:SetSpeed
2025-03-12T04:09:11.133Z,1741752551.133 [sci2_flat_and_level:DiveCmd:MaintainDepth:dive:SetSpeed:A.SetSpeed] Stopped
2025-03-12T04:09:11.133Z,1741752551.133 [sci2_flat_and_level:DiveCmd:MaintainDepth:dive:SetSpeed:A.SetSpeed](DEBUG): Uninitialize.
2025-03-12T04:09:11.133Z,1741752551.133 [sci2_flat_and_level:DiveCmd:MaintainDepth:dive:D.Pitch] Stopped
2025-03-12T04:09:11.133Z,1741752551.133 [sci2_flat_and_level:DiveCmd:SettleAtDepth] Stopped
2025-03-12T04:09:11.133Z,1741752551.133 [sci2_flat_and_level:DiveCmd:SettleAtDepth](DEBUG): Aggregate::uninitialize sci2_flat_and_level:DiveCmd:SettleAtDepth
2025-03-12T04:09:11.133Z,1741752551.133 [sci2_flat_and_level:DiveCmd:SettleAtDepth:dive] Stopped
2025-03-12T04:09:11.133Z,1741752551.133 [sci2_flat_and_level:DiveCmd:SettleAtDepth:dive](DEBUG): Aggregate::uninitialize sci2_flat_and_level:DiveCmd:SettleAtDepth:dive
2025-03-12T04:09:11.133Z,1741752551.133 [sci2_flat_and_level:DiveCmd:SettleAtDepth:dive:A] Stopped
2025-03-12T04:09:11.133Z,1741752551.133 [sci2_flat_and_level:DiveCmd:SettleAtDepth:dive:B.Pitch] Stopped
2025-03-12T04:09:11.133Z,1741752551.133 [sci2_flat_and_level:DiveCmd:InitialDive] Running Loop=1
2025-03-12T04:09:11.134Z,1741752551.134 [sci2_flat_and_level:DiveCmd:InitialDive:dive:E](INFO): Waiting for  1.000000 min while pumping down to neutral.
2025-03-12T04:09:11.134Z,1741752551.134 [sci2_flat_and_level:DiveCmd:InitialDive:dive:E] Stopped
2025-03-12T04:09:11.134Z,1741752551.134 [sci2_flat_and_level:DiveCmd:InitialDive:dive:F.Wait] Running Loop=1
2025-03-12T04:09:11.134Z,1741752551.134 [sci2_flat_and_level:DiveCmd:InitialDive:dive:F.Wait](DEBUG): Initialize Wait Component.
2025-03-12T04:09:11.134Z,1741752551.134 [sci2_flat_and_level:DiveCmd:InitialDive:dive:D.Buoyancy] Running Loop=1
2025-03-12T04:09:11.134Z,1741752551.134 [sci2_flat_and_level:DiveCmd:InitialDive:dive:C.Mass] Running Loop=1
2025-03-12T04:09:11.135Z,1741752551.135 [sci2_flat_and_level:DiveCmd:InitialDive:dive:B] Running Loop=1
2025-03-12T04:09:11.135Z,1741752551.135 [sci2_flat_and_level:DiveCmd:InitialDive:dive:A] Running Loop=1
2025-03-12T04:09:11.506Z,1741752551.506 [sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt1:A.Waypoint](INFO): Navigating to waypoint: 36.797001,-121.857002
2025-03-12T04:09:11.533Z,1741752551.533 [HorizontalControl](DEBUG): kpHeading = 0.400000
2025-03-12T04:09:11.533Z,1741752551.533 [HorizontalControl](DEBUG): kiHeading = 0.001000
2025-03-12T04:09:11.533Z,1741752551.533 [HorizontalControl](DEBUG): kdHeading = 0.050000
2025-03-12T04:09:41.237Z,1741752581.237 [NAL9602](INFO): Not Powering down - fast GPS
2025-03-12T04:09:51.347Z,1741752591.347 [BPC1](ERROR): Battery stick #4 (s/n: 017A) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0.
2025-03-12T04:09:51.349Z,1741752591.349 [BPC1](INFO): Calculating totals. Valid battery stick count: 55. Valid reserve battery stick count: 6.
2025-03-12T04:09:51.352Z,1741752591.352 [BPC1](INFO): Received data from all battery sticks.
2025-03-12T04:10:11.644Z,1741752611.644 [sci2_flat_and_level:DiveCmd:InitialDive:dive:F.Wait](INFO): Done Waiting.
2025-03-12T04:10:11.644Z,1741752611.644 [sci2_flat_and_level:DiveCmd:InitialDive:dive:F.Wait] Stopped
2025-03-12T04:10:11.645Z,1741752611.645 [sci2_flat_and_level:DiveCmd:InitialDive:dive:F.Wait](DEBUG): Uninitialize Wait Component.
2025-03-12T04:10:11.645Z,1741752611.645 [sci2_flat_and_level:DiveCmd:InitialDive:dive:G] Running Loop=1
2025-03-12T04:10:12.012Z,1741752612.012 [sci2_flat_and_level:DiveCmd:InitialDive:dive:G](INFO): Moving to  2.000000 m 
2025-03-12T04:10:12.012Z,1741752612.012 [sci2_flat_and_level:DiveCmd:InitialDive:dive:G] Stopped
2025-03-12T04:10:12.012Z,1741752612.012 [sci2_flat_and_level:DiveCmd:InitialDive:dive:ApproachDepth] Running Loop=1
2025-03-12T04:10:12.012Z,1741752612.012 [sci2_flat_and_level:DiveCmd:InitialDive:dive:ApproachDepth](DEBUG): Aggregate::initialize sci2_flat_and_level:DiveCmd:InitialDive:dive:ApproachDepth
2025-03-12T04:10:12.013Z,1741752612.013 [sci2_flat_and_level:DiveCmd:InitialDive:dive:ApproachDepth:A.SetSpeed] Running Loop=1
2025-03-12T04:10:12.013Z,1741752612.013 [sci2_flat_and_level:DiveCmd:InitialDive:dive:ApproachDepth:A.SetSpeed](DEBUG): Initialize.
2025-03-12T04:10:12.013Z,1741752612.013 [sci2_flat_and_level:DiveCmd:InitialDive:dive:ApproachDepth:B.Pitch] Running Loop=1
2025-03-12T04:10:12.013Z,1741752612.013 [sci2_flat_and_level:DiveCmd:InitialDive:dive:ApproachDepth:B.Pitch](DEBUG): Initialize.
2025-03-12T04:10:12.387Z,1741752612.387 [sci2_flat_and_level:DiveCmd:InitialDive:dive:ApproachDepth:A.SetSpeed] Running Loop=1
2025-03-12T04:10:40.790Z,1741752640.790 [sci2_flat_and_level:DiveCmd:InitialDive:dive:ApproachDepth:B.Pitch] Stopped
2025-03-12T04:10:40.791Z,1741752640.791 [sci2_flat_and_level:DiveCmd:InitialDive:dive:ApproachDepth](INFO): Completed sci2_flat_and_level:DiveCmd:InitialDive:dive:ApproachDepth
2025-03-12T04:10:40.791Z,1741752640.791 [sci2_flat_and_level:DiveCmd:InitialDive:dive:ApproachDepth] Stopped
2025-03-12T04:10:40.791Z,1741752640.791 [sci2_flat_and_level:DiveCmd:InitialDive:dive:ApproachDepth](DEBUG): Aggregate::uninitialize sci2_flat_and_level:DiveCmd:InitialDive:dive:ApproachDepth
2025-03-12T04:10:40.791Z,1741752640.791 [sci2_flat_and_level:DiveCmd:InitialDive:dive:ApproachDepth:A.SetSpeed] Stopped
2025-03-12T04:10:40.791Z,1741752640.791 [sci2_flat_and_level:DiveCmd:InitialDive:dive:ApproachDepth:A.SetSpeed](DEBUG): Uninitialize.
2025-03-12T04:10:40.791Z,1741752640.791 [sci2_flat_and_level:DiveCmd:InitialDive:dive:I] Running Loop=1
2025-03-12T04:10:41.169Z,1741752641.169 [sci2_flat_and_level:DiveCmd:InitialDive:dive:I] Stopped
2025-03-12T04:10:41.170Z,1741752641.170 [sci2_flat_and_level:DiveCmd:InitialDive:dive](INFO): Completed sci2_flat_and_level:DiveCmd:InitialDive:dive
2025-03-12T04:10:41.170Z,1741752641.170 [sci2_flat_and_level:DiveCmd:InitialDive:dive] Stopped
2025-03-12T04:10:41.170Z,1741752641.170 [sci2_flat_and_level:DiveCmd:InitialDive:dive](DEBUG): Aggregate::uninitialize sci2_flat_and_level:DiveCmd:InitialDive:dive
2025-03-12T04:10:41.170Z,1741752641.170 [sci2_flat_and_level:DiveCmd:InitialDive:dive:A] Stopped
2025-03-12T04:10:41.170Z,1741752641.170 [sci2_flat_and_level:DiveCmd:InitialDive:dive:B] Stopped
2025-03-12T04:10:41.170Z,1741752641.170 [sci2_flat_and_level:DiveCmd:InitialDive:dive:C.Mass] Stopped
2025-03-12T04:10:41.170Z,1741752641.170 [sci2_flat_and_level:DiveCmd:InitialDive:dive:C.Mass](DEBUG): Uninitialize.
2025-03-12T04:10:41.170Z,1741752641.170 [sci2_flat_and_level:DiveCmd:InitialDive:dive:D.Buoyancy] Stopped
2025-03-12T04:10:41.170Z,1741752641.170 [sci2_flat_and_level:DiveCmd:InitialDive:dive:D.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-03-12T04:10:41.170Z,1741752641.170 [sci2_flat_and_level:DiveCmd:InitialDive](INFO): Completed sci2_flat_and_level:DiveCmd:InitialDive
2025-03-12T04:10:41.593Z,1741752641.593 [sci2_flat_and_level:DiveCmd:SettleAtDepth] Running Loop=1
2025-03-12T04:10:41.593Z,1741752641.593 [sci2_flat_and_level:DiveCmd:SettleAtDepth](DEBUG): Aggregate::initialize sci2_flat_and_level:DiveCmd:SettleAtDepth
2025-03-12T04:10:41.593Z,1741752641.593 [sci2_flat_and_level:DiveCmd:SettleAtDepth:dive] Running Loop=1
2025-03-12T04:10:41.594Z,1741752641.594 [sci2_flat_and_level:DiveCmd:SettleAtDepth:dive](DEBUG): Aggregate::initialize sci2_flat_and_level:DiveCmd:SettleAtDepth:dive
2025-03-12T04:10:41.594Z,1741752641.594 [sci2_flat_and_level:DiveCmd:SettleAtDepth:dive:B.Pitch] Running Loop=1
2025-03-12T04:10:41.594Z,1741752641.594 [sci2_flat_and_level:DiveCmd:SettleAtDepth:dive:B.Pitch](DEBUG): Initialize.
2025-03-12T04:10:41.594Z,1741752641.594 [sci2_flat_and_level:DiveCmd:SettleAtDepth:dive:A] Running Loop=1
2025-03-12T04:10:41.594Z,1741752641.594 [sci2_flat_and_level:DiveCmd:SettleAtDepth] Running Loop=1
2025-03-12T04:10:41.594Z,1741752641.594 [sci2_flat_and_level:DiveCmd:SettleAtDepth:dive:B.Pitch] Running Loop=1
2025-03-12T04:10:41.595Z,1741752641.595 [sci2_flat_and_level:DiveCmd:SettleAtDepth:dive:A](INFO): Reached  2.097733 m , settling for  3.000000 min 
2025-03-12T04:10:41.595Z,1741752641.595 [sci2_flat_and_level:DiveCmd:SettleAtDepth:dive:A] Stopped
2025-03-12T04:10:41.595Z,1741752641.595 [sci2_flat_and_level:DiveCmd:SettleAtDepth:dive:C.Wait] Running Loop=1
2025-03-12T04:10:41.596Z,1741752641.596 [sci2_flat_and_level:DiveCmd:SettleAtDepth:dive:C.Wait](DEBUG): Initialize Wait Component.
2025-03-12T04:11:09.704Z,1741752669.704 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T04:11:31.804Z,1741752691.804 [Radio_Surface](INFO): Powering down
2025-03-12T04:11:40.832Z,1741752700.832 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T04:11:41.836Z,1741752701.836 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-03-12T04:12:20.571Z,1741752740.571 [DVL_micro](ERROR): Failed to parse:
:SA,+09.30,+02.48,260.6
2025-03-12T04:13:18.225Z,1741752798.225 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=180.726807
2025-03-12T04:13:42.193Z,1741752822.193 [sci2_flat_and_level:DiveCmd:SettleAtDepth:dive:C.Wait](INFO): Done Waiting.
2025-03-12T04:13:42.193Z,1741752822.193 [sci2_flat_and_level:DiveCmd:SettleAtDepth:dive:C.Wait] Stopped
2025-03-12T04:13:42.193Z,1741752822.193 [sci2_flat_and_level:DiveCmd:SettleAtDepth:dive:C.Wait](DEBUG): Uninitialize Wait Component.
2025-03-12T04:13:42.194Z,1741752822.194 [sci2_flat_and_level:DiveCmd:SettleAtDepth:dive:D] Running Loop=1
2025-03-12T04:13:42.575Z,1741752822.575 [sci2_flat_and_level:DiveCmd:SettleAtDepth:dive:D] Stopped
2025-03-12T04:13:42.575Z,1741752822.575 [sci2_flat_and_level:DiveCmd:SettleAtDepth:dive](INFO): Completed sci2_flat_and_level:DiveCmd:SettleAtDepth:dive
2025-03-12T04:13:42.575Z,1741752822.575 [sci2_flat_and_level:DiveCmd:SettleAtDepth:dive] Stopped
2025-03-12T04:13:42.575Z,1741752822.575 [sci2_flat_and_level:DiveCmd:SettleAtDepth:dive](DEBUG): Aggregate::uninitialize sci2_flat_and_level:DiveCmd:SettleAtDepth:dive
2025-03-12T04:13:42.575Z,1741752822.575 [sci2_flat_and_level:DiveCmd:SettleAtDepth:dive:B.Pitch] Stopped
2025-03-12T04:13:42.576Z,1741752822.576 [sci2_flat_and_level:DiveCmd:SettleAtDepth](INFO): Completed sci2_flat_and_level:DiveCmd:SettleAtDepth
2025-03-12T04:13:43.002Z,1741752823.002 [sci2_flat_and_level:DiveCmd:MaintainDepth] Running Loop=1
2025-03-12T04:13:43.003Z,1741752823.003 [sci2_flat_and_level:DiveCmd:MaintainDepth](DEBUG): Aggregate::initialize sci2_flat_and_level:DiveCmd:MaintainDepth
2025-03-12T04:13:43.003Z,1741752823.003 [sci2_flat_and_level:DiveCmd:MaintainDepth:dive] Running Loop=1
2025-03-12T04:13:43.003Z,1741752823.003 [sci2_flat_and_level:DiveCmd:MaintainDepth:dive](DEBUG): Aggregate::initialize sci2_flat_and_level:DiveCmd:MaintainDepth:dive
2025-03-12T04:13:43.003Z,1741752823.003 [sci2_flat_and_level:DiveCmd:MaintainDepth:dive:ThrusterDive] Running Loop=1
2025-03-12T04:13:43.003Z,1741752823.003 [sci2_flat_and_level:DiveCmd:MaintainDepth:dive:ThrusterDive](DEBUG): Aggregate::initialize sci2_flat_and_level:DiveCmd:MaintainDepth:dive:ThrusterDive
2025-03-12T04:13:43.003Z,1741752823.003 [sci2_flat_and_level:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass] Running Loop=1
2025-03-12T04:13:43.003Z,1741752823.003 [sci2_flat_and_level:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass](DEBUG): Initialize.
2025-03-12T04:13:43.003Z,1741752823.003 [sci2_flat_and_level:DiveCmd:MaintainDepth:dive:ThrusterDive:B.Buoyancy] Running Loop=1
2025-03-12T04:13:43.003Z,1741752823.003 [sci2_flat_and_level:DiveCmd:MaintainDepth:dive:ThrusterDive:B.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-03-12T04:13:43.003Z,1741752823.003 [sci2_flat_and_level:DiveCmd:MaintainDepth:dive:D.Pitch] Running Loop=1
2025-03-12T04:13:43.004Z,1741752823.004 [sci2_flat_and_level:DiveCmd:MaintainDepth:dive:D.Pitch](DEBUG): Initialize.
2025-03-12T04:13:43.004Z,1741752823.004 [sci2_flat_and_level:DiveCmd:MaintainDepth:dive:SetSpeed] Running Loop=1
2025-03-12T04:13:43.004Z,1741752823.004 [sci2_flat_and_level:DiveCmd:MaintainDepth:dive:SetSpeed](DEBUG): Aggregate::initialize sci2_flat_and_level:DiveCmd:MaintainDepth:dive:SetSpeed
2025-03-12T04:13:43.004Z,1741752823.004 [sci2_flat_and_level:DiveCmd:MaintainDepth:dive:SetSpeed:A.SetSpeed] Running Loop=1
2025-03-12T04:13:43.004Z,1741752823.004 [sci2_flat_and_level:DiveCmd:MaintainDepth:dive:SetSpeed:A.SetSpeed](DEBUG): Initialize.
2025-03-12T04:13:43.004Z,1741752823.004 [sci2_flat_and_level:DiveCmd:MaintainDepth] Running Loop=1
2025-03-12T04:13:43.004Z,1741752823.004 [sci2_flat_and_level:DiveCmd:MaintainDepth:dive] Running Loop=1
2025-03-12T04:13:43.005Z,1741752823.005 [sci2_flat_and_level:DiveCmd:MaintainDepth:dive:D.Pitch] Running Loop=1
2025-03-12T04:13:43.005Z,1741752823.005 [sci2_flat_and_level:DiveCmd:MaintainDepth:dive:SetSpeed:A.SetSpeed] Running Loop=1
2025-03-12T04:13:43.005Z,1741752823.005 [sci2_flat_and_level:DiveCmd:MaintainDepth:dive:ThrusterDive] Running Loop=1
2025-03-12T04:13:43.005Z,1741752823.005 [sci2_flat_and_level:DiveCmd:MaintainDepth:dive:ThrusterDive:B.Buoyancy] Running Loop=1
2025-03-12T04:13:43.006Z,1741752823.006 [sci2_flat_and_level:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass] Running Loop=1
2025-03-12T04:14:23.544Z,1741752863.544 [Radio_Surface](INFO): Powering up
2025-03-12T04:14:29.512Z,1741752869.512 [DataOverHttps](INFO): Radio surface powered ON.
2025-03-12T04:14:59.632Z,1741752899.632 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T04:15:30.756Z,1741752930.756 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T04:15:41.112Z,1741752941.112 [Radio_Surface](INFO): Powering down
2025-03-12T04:16:01.880Z,1741752961.880 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T04:16:02.884Z,1741752962.884 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-03-12T04:19:27.707Z,1741753167.707 [DVL_micro](ERROR): Failed to parse:
:RD,+9999.99,+9999.99,+9999.99,+9999.99
2025-03-12T04:23:46.933Z,1741753426.933 [CTD_Seabird](ERROR): Failed to parse device response: 0,3.68306,2355.08
2025-03-12T04:26:12.994Z,1741753572.994 [sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt1:A.Waypoint](IMPORTANT): Reached waypoint: 36.797001,-121.857002
2025-03-12T04:26:12.994Z,1741753572.994 [sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt1:A.Waypoint] Stopped
2025-03-12T04:26:12.994Z,1741753572.994 [sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt1:A.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-03-12T04:26:12.994Z,1741753572.994 [sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt1](INFO): Completed sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt1
2025-03-12T04:26:12.994Z,1741753572.994 [sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt1] Stopped
2025-03-12T04:26:12.995Z,1741753572.995 [sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt1](DEBUG): Aggregate::uninitialize sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt1
2025-03-12T04:26:12.995Z,1741753572.995 [sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt2] Running Loop=1
2025-03-12T04:26:12.995Z,1741753572.995 [sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt2](DEBUG): Aggregate::initialize sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt2
2025-03-12T04:26:12.995Z,1741753572.995 [sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt2:A.Waypoint] Running Loop=1
2025-03-12T04:26:12.995Z,1741753572.995 [sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt2:A.Waypoint](DEBUG): Initialize WaypointComponent.
2025-03-12T04:26:43.311Z,1741753603.311 [DVL_micro](ERROR): Failed to parse:
:WI,-00004,+00030,-00164,+00000,A
2025-03-12T04:26:44.497Z,1741753604.497 [DVL_micro](ERROR): Failed to parse:
:SA,+07.54,-02.19,014.1
2025-03-12T04:27:00.680Z,1741753620.680 [sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt2:A.Waypoint] Stopped
2025-03-12T04:27:00.680Z,1741753620.680 [sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt2:A.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-03-12T04:27:00.681Z,1741753620.681 [sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt2](INFO): Completed sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt2
2025-03-12T04:27:00.681Z,1741753620.681 [sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt2] Stopped
2025-03-12T04:27:00.681Z,1741753620.681 [sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt2](DEBUG): Aggregate::uninitialize sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt2
2025-03-12T04:27:00.681Z,1741753620.681 [sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt3] Running Loop=1
2025-03-12T04:27:00.681Z,1741753620.681 [sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt3](DEBUG): Aggregate::initialize sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt3
2025-03-12T04:27:00.681Z,1741753620.681 [sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt3:A.Waypoint] Running Loop=1
2025-03-12T04:27:00.681Z,1741753620.681 [sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt3:A.Waypoint](DEBUG): Initialize WaypointComponent.
2025-03-12T04:27:01.085Z,1741753621.085 [sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt3:A.Waypoint] Stopped
2025-03-12T04:27:01.085Z,1741753621.085 [sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt3:A.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-03-12T04:27:01.085Z,1741753621.085 [sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt3](INFO): Completed sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt3
2025-03-12T04:27:01.085Z,1741753621.085 [sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt3] Stopped
2025-03-12T04:27:01.086Z,1741753621.086 [sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt3](DEBUG): Aggregate::uninitialize sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt3
2025-03-12T04:27:01.086Z,1741753621.086 [sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt4] Running Loop=1
2025-03-12T04:27:01.086Z,1741753621.086 [sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt4](DEBUG): Aggregate::initialize sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt4
2025-03-12T04:27:01.086Z,1741753621.086 [sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt4:A.Waypoint] Running Loop=1
2025-03-12T04:27:01.086Z,1741753621.086 [sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt4:A.Waypoint](DEBUG): Initialize WaypointComponent.
2025-03-12T04:27:01.519Z,1741753621.519 [sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt4:A.Waypoint] Stopped
2025-03-12T04:27:01.519Z,1741753621.519 [sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt4:A.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-03-12T04:27:01.519Z,1741753621.519 [sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt4](INFO): Completed sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt4
2025-03-12T04:27:01.519Z,1741753621.519 [sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt4] Stopped
2025-03-12T04:27:01.519Z,1741753621.519 [sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt4](DEBUG): Aggregate::uninitialize sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt4
2025-03-12T04:27:01.519Z,1741753621.519 [sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt5] Running Loop=1
2025-03-12T04:27:01.519Z,1741753621.519 [sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt5](DEBUG): Aggregate::initialize sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt5
2025-03-12T04:27:01.519Z,1741753621.519 [sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt5:A.Waypoint] Running Loop=1
2025-03-12T04:27:01.519Z,1741753621.519 [sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt5:A.Waypoint](DEBUG): Initialize WaypointComponent.
2025-03-12T04:27:01.890Z,1741753621.890 [sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt5:A.Waypoint] Stopped
2025-03-12T04:27:01.890Z,1741753621.890 [sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt5:A.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-03-12T04:27:01.890Z,1741753621.890 [sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt5](INFO): Completed sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt5
2025-03-12T04:27:01.890Z,1741753621.890 [sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt5] Stopped
2025-03-12T04:27:01.890Z,1741753621.890 [sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt5](DEBUG): Aggregate::uninitialize sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt5
2025-03-12T04:27:01.891Z,1741753621.891 [sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt6] Running Loop=1
2025-03-12T04:27:01.891Z,1741753621.891 [sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt6](DEBUG): Aggregate::initialize sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt6
2025-03-12T04:27:01.891Z,1741753621.891 [sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt6:A.Waypoint] Running Loop=1
2025-03-12T04:27:01.891Z,1741753621.891 [sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt6:A.Waypoint](DEBUG): Initialize WaypointComponent.
2025-03-12T04:27:02.287Z,1741753622.287 [sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt6:A.Waypoint] Stopped
2025-03-12T04:27:02.288Z,1741753622.288 [sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt6:A.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-03-12T04:27:02.288Z,1741753622.288 [sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt6](INFO): Completed sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt6
2025-03-12T04:27:02.288Z,1741753622.288 [sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt6] Stopped
2025-03-12T04:27:02.288Z,1741753622.288 [sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt6](DEBUG): Aggregate::uninitialize sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt6
2025-03-12T04:27:02.288Z,1741753622.288 [sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt7] Running Loop=1
2025-03-12T04:27:02.288Z,1741753622.288 [sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt7](DEBUG): Aggregate::initialize sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt7
2025-03-12T04:27:02.289Z,1741753622.289 [sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt7:A.Waypoint] Running Loop=1
2025-03-12T04:27:02.289Z,1741753622.289 [sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt7:A.Waypoint](DEBUG): Initialize WaypointComponent.
2025-03-12T04:27:02.684Z,1741753622.684 [sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt7:A.Waypoint] Stopped
2025-03-12T04:27:02.684Z,1741753622.684 [sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt7:A.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-03-12T04:27:02.684Z,1741753622.684 [sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt7](INFO): Completed sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt7
2025-03-12T04:27:02.685Z,1741753622.685 [sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt7] Stopped
2025-03-12T04:27:02.685Z,1741753622.685 [sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt7](DEBUG): Aggregate::uninitialize sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt7
2025-03-12T04:27:02.685Z,1741753622.685 [sci2_flat_and_level:Lap:DepthByLap:Leg1](INFO): Completed sci2_flat_and_level:Lap:DepthByLap:Leg1
2025-03-12T04:27:02.685Z,1741753622.685 [sci2_flat_and_level:Lap:DepthByLap:Leg1] Stopped
2025-03-12T04:27:02.685Z,1741753622.685 [sci2_flat_and_level:Lap:DepthByLap:Leg1](DEBUG): Aggregate::uninitialize sci2_flat_and_level:Lap:DepthByLap:Leg1
2025-03-12T04:27:02.685Z,1741753622.685 [sci2_flat_and_level:Lap:DepthByLap:Leg2] Running Loop=1
2025-03-12T04:27:02.685Z,1741753622.685 [sci2_flat_and_level:Lap:DepthByLap:Leg2](DEBUG): Aggregate::initialize sci2_flat_and_level:Lap:DepthByLap:Leg2
2025-03-12T04:27:02.685Z,1741753622.685 [sci2_flat_and_level:Lap:DepthByLap:Leg2:A] Running Loop=1
2025-03-12T04:27:03.133Z,1741753623.133 [sci2_flat_and_level:Lap:DepthByLap:Leg2] Stopped
2025-03-12T04:27:03.133Z,1741753623.133 [sci2_flat_and_level:Lap:DepthByLap:Leg2](DEBUG): Aggregate::uninitialize sci2_flat_and_level:Lap:DepthByLap:Leg2
2025-03-12T04:27:03.133Z,1741753623.133 [sci2_flat_and_level:Lap:DepthByLap:Leg2:A] Stopped
2025-03-12T04:27:03.133Z,1741753623.133 [sci2_flat_and_level:Lap:DepthByLap:Leg3] Running Loop=1
2025-03-12T04:27:03.133Z,1741753623.133 [sci2_flat_and_level:Lap:DepthByLap:Leg3](DEBUG): Aggregate::initialize sci2_flat_and_level:Lap:DepthByLap:Leg3
2025-03-12T04:27:03.133Z,1741753623.133 [sci2_flat_and_level:Lap:DepthByLap:Leg3:A] Running Loop=1
2025-03-12T04:27:03.495Z,1741753623.495 [sci2_flat_and_level:Lap:DepthByLap:Leg3] Stopped
2025-03-12T04:27:03.495Z,1741753623.495 [sci2_flat_and_level:Lap:DepthByLap:Leg3](DEBUG): Aggregate::uninitialize sci2_flat_and_level:Lap:DepthByLap:Leg3
2025-03-12T04:27:03.495Z,1741753623.495 [sci2_flat_and_level:Lap:DepthByLap:Leg3:A] Stopped
2025-03-12T04:27:03.496Z,1741753623.496 [sci2_flat_and_level:Lap:DepthByLap:Leg4] Running Loop=1
2025-03-12T04:27:03.496Z,1741753623.496 [sci2_flat_and_level:Lap:DepthByLap:Leg4](DEBUG): Aggregate::initialize sci2_flat_and_level:Lap:DepthByLap:Leg4
2025-03-12T04:27:03.496Z,1741753623.496 [sci2_flat_and_level:Lap:DepthByLap:Leg4:A] Running Loop=1
2025-03-12T04:27:03.900Z,1741753623.900 [sci2_flat_and_level:Lap:DepthByLap:Leg4] Stopped
2025-03-12T04:27:03.900Z,1741753623.900 [sci2_flat_and_level:Lap:DepthByLap:Leg4](DEBUG): Aggregate::uninitialize sci2_flat_and_level:Lap:DepthByLap:Leg4
2025-03-12T04:27:03.900Z,1741753623.900 [sci2_flat_and_level:Lap:DepthByLap:Leg4:A] Stopped
2025-03-12T04:27:03.900Z,1741753623.900 [sci2_flat_and_level:Lap:DepthByLap:Leg5] Running Loop=1
2025-03-12T04:27:03.901Z,1741753623.901 [sci2_flat_and_level:Lap:DepthByLap:Leg5](DEBUG): Aggregate::initialize sci2_flat_and_level:Lap:DepthByLap:Leg5
2025-03-12T04:27:03.901Z,1741753623.901 [sci2_flat_and_level:Lap:DepthByLap:Leg5:A] Running Loop=1
2025-03-12T04:27:04.319Z,1741753624.319 [sci2_flat_and_level:Lap:DepthByLap:Leg5] Stopped
2025-03-12T04:27:04.319Z,1741753624.319 [sci2_flat_and_level:Lap:DepthByLap:Leg5](DEBUG): Aggregate::uninitialize sci2_flat_and_level:Lap:DepthByLap:Leg5
2025-03-12T04:27:04.319Z,1741753624.319 [sci2_flat_and_level:Lap:DepthByLap:Leg5:A] Stopped
2025-03-12T04:27:04.319Z,1741753624.319 [sci2_flat_and_level:Lap:DepthByLap:Leg6] Running Loop=1
2025-03-12T04:27:04.319Z,1741753624.319 [sci2_flat_and_level:Lap:DepthByLap:Leg6](DEBUG): Aggregate::initialize sci2_flat_and_level:Lap:DepthByLap:Leg6
2025-03-12T04:27:04.319Z,1741753624.319 [sci2_flat_and_level:Lap:DepthByLap:Leg6:A] Running Loop=1
2025-03-12T04:27:04.707Z,1741753624.707 [sci2_flat_and_level:Lap:DepthByLap:Leg6] Stopped
2025-03-12T04:27:04.707Z,1741753624.707 [sci2_flat_and_level:Lap:DepthByLap:Leg6](DEBUG): Aggregate::uninitialize sci2_flat_and_level:Lap:DepthByLap:Leg6
2025-03-12T04:27:04.707Z,1741753624.707 [sci2_flat_and_level:Lap:DepthByLap:Leg6:A] Stopped
2025-03-12T04:27:04.707Z,1741753624.707 [sci2_flat_and_level:Lap:DepthByLap:Leg7] Running Loop=1
2025-03-12T04:27:04.707Z,1741753624.707 [sci2_flat_and_level:Lap:DepthByLap:Leg7](DEBUG): Aggregate::initialize sci2_flat_and_level:Lap:DepthByLap:Leg7
2025-03-12T04:27:04.708Z,1741753624.708 [sci2_flat_and_level:Lap:DepthByLap:Leg7:A] Running Loop=1
2025-03-12T04:27:05.148Z,1741753625.148 [sci2_flat_and_level:Lap:DepthByLap:Leg7] Stopped
2025-03-12T04:27:05.148Z,1741753625.148 [sci2_flat_and_level:Lap:DepthByLap:Leg7](DEBUG): Aggregate::uninitialize sci2_flat_and_level:Lap:DepthByLap:Leg7
2025-03-12T04:27:05.148Z,1741753625.148 [sci2_flat_and_level:Lap:DepthByLap:Leg7:A] Stopped
2025-03-12T04:27:05.149Z,1741753625.149 [sci2_flat_and_level:Lap:DepthByLap:Leg8] Running Loop=1
2025-03-12T04:27:05.149Z,1741753625.149 [sci2_flat_and_level:Lap:DepthByLap:Leg8](DEBUG): Aggregate::initialize sci2_flat_and_level:Lap:DepthByLap:Leg8
2025-03-12T04:27:05.149Z,1741753625.149 [sci2_flat_and_level:Lap:DepthByLap:Leg8:A] Running Loop=1
2025-03-12T04:27:05.517Z,1741753625.517 [sci2_flat_and_level:Lap:DepthByLap:Leg8] Stopped
2025-03-12T04:27:05.517Z,1741753625.517 [sci2_flat_and_level:Lap:DepthByLap:Leg8](DEBUG): Aggregate::uninitialize sci2_flat_and_level:Lap:DepthByLap:Leg8
2025-03-12T04:27:05.517Z,1741753625.517 [sci2_flat_and_level:Lap:DepthByLap:Leg8:A] Stopped
2025-03-12T04:27:05.517Z,1741753625.517 [sci2_flat_and_level:Lap:DepthByLap:Leg9] Running Loop=1
2025-03-12T04:27:05.517Z,1741753625.517 [sci2_flat_and_level:Lap:DepthByLap:Leg9](DEBUG): Aggregate::initialize sci2_flat_and_level:Lap:DepthByLap:Leg9
2025-03-12T04:27:05.517Z,1741753625.517 [sci2_flat_and_level:Lap:DepthByLap:Leg9:A] Running Loop=1
2025-03-12T04:27:05.925Z,1741753625.925 [sci2_flat_and_level:Lap:DepthByLap:Leg9] Stopped
2025-03-12T04:27:05.925Z,1741753625.925 [sci2_flat_and_level:Lap:DepthByLap:Leg9](DEBUG): Aggregate::uninitialize sci2_flat_and_level:Lap:DepthByLap:Leg9
2025-03-12T04:27:05.925Z,1741753625.925 [sci2_flat_and_level:Lap:DepthByLap:Leg9:A] Stopped
2025-03-12T04:27:05.925Z,1741753625.925 [sci2_flat_and_level:Lap:DepthByLap:Leg10] Running Loop=1
2025-03-12T04:27:05.925Z,1741753625.925 [sci2_flat_and_level:Lap:DepthByLap:Leg10](DEBUG): Aggregate::initialize sci2_flat_and_level:Lap:DepthByLap:Leg10
2025-03-12T04:27:05.926Z,1741753625.926 [sci2_flat_and_level:Lap:DepthByLap:Leg10:A] Running Loop=1
2025-03-12T04:27:06.337Z,1741753626.337 [sci2_flat_and_level:Lap:DepthByLap:Leg10] Stopped
2025-03-12T04:27:06.337Z,1741753626.337 [sci2_flat_and_level:Lap:DepthByLap:Leg10](DEBUG): Aggregate::uninitialize sci2_flat_and_level:Lap:DepthByLap:Leg10
2025-03-12T04:27:06.337Z,1741753626.337 [sci2_flat_and_level:Lap:DepthByLap:Leg10:A] Stopped
2025-03-12T04:27:06.337Z,1741753626.337 [sci2_flat_and_level:Lap:DepthByLap](INFO): Completed sci2_flat_and_level:Lap:DepthByLap
2025-03-12T04:27:06.337Z,1741753626.337 [sci2_flat_and_level:Lap:DepthByLap] Stopped
2025-03-12T04:27:06.337Z,1741753626.337 [sci2_flat_and_level:Lap:DepthByLap](DEBUG): Aggregate::uninitialize sci2_flat_and_level:Lap:DepthByLap
2025-03-12T04:27:06.338Z,1741753626.338 [sci2_flat_and_level:Lap:DepthByLeg] Running Loop=1
2025-03-12T04:27:06.338Z,1741753626.338 [sci2_flat_and_level:Lap:DepthByLeg](DEBUG): Aggregate::initialize sci2_flat_and_level:Lap:DepthByLeg
2025-03-12T04:27:06.338Z,1741753626.338 [sci2_flat_and_level:Lap:DepthByLeg:Leg1] Running Loop=1
2025-03-12T04:27:06.338Z,1741753626.338 [sci2_flat_and_level:Lap:DepthByLeg:Leg1](DEBUG): Aggregate::initialize sci2_flat_and_level:Lap:DepthByLeg:Leg1
2025-03-12T04:27:06.338Z,1741753626.338 [sci2_flat_and_level:Lap:DepthByLeg:Leg1:A] Running Loop=1
2025-03-12T04:27:06.729Z,1741753626.729 [sci2_flat_and_level:Lap:DepthByLeg] Stopped
2025-03-12T04:27:06.729Z,1741753626.729 [sci2_flat_and_level:Lap:DepthByLeg](DEBUG): Aggregate::uninitialize sci2_flat_and_level:Lap:DepthByLeg
2025-03-12T04:27:06.729Z,1741753626.729 [sci2_flat_and_level:Lap:DepthByLeg:Leg1] Stopped
2025-03-12T04:27:06.729Z,1741753626.729 [sci2_flat_and_level:Lap:DepthByLeg:Leg1](DEBUG): Aggregate::uninitialize sci2_flat_and_level:Lap:DepthByLeg:Leg1
2025-03-12T04:27:06.729Z,1741753626.729 [sci2_flat_and_level:Lap:DepthByLeg:Leg1:A] Stopped
2025-03-12T04:27:06.729Z,1741753626.729 [sci2_flat_and_level:Lap](INFO): Completed sci2_flat_and_level:Lap
2025-03-12T04:27:06.729Z,1741753626.729 [sci2_flat_and_level:Lap] Stopped
2025-03-12T04:27:06.729Z,1741753626.729 [sci2_flat_and_level:Lap](DEBUG): Aggregate::uninitialize sci2_flat_and_level:Lap
2025-03-12T04:27:06.729Z,1741753626.729 [sci2_flat_and_level:Lap:Dive] Stopped
2025-03-12T04:27:06.729Z,1741753626.729 [sci2_flat_and_level:Lap:Dive](DEBUG): Aggregate::uninitialize sci2_flat_and_level:Lap:Dive
2025-03-12T04:27:06.730Z,1741753626.730 [sci2_flat_and_level:Lap:Dive:A] Stopped
2025-03-12T04:27:06.730Z,1741753626.730 [sci2_flat_and_level:Lap:Dive:A](DEBUG): Aggregate::uninitialize sci2_flat_and_level:Lap:Dive:A
2025-03-12T04:27:06.734Z,1741753626.734 [sci2_flat_and_level](INFO): Completed sci2_flat_and_level
2025-03-12T04:27:06.735Z,1741753626.735 [MissionManager](INFO): sci2_flat_and_level is completed.
2025-03-12T04:27:06.735Z,1741753626.735 [MissionManager](INFO): Uninitializing Mission sci2_flat_and_level
2025-03-12T04:27:06.735Z,1741753626.735 [sci2_flat_and_level] Stopped
2025-03-12T04:27:06.735Z,1741753626.735 [sci2_flat_and_level](DEBUG): Aggregate::uninitialize sci2_flat_and_level
2025-03-12T04:27:06.735Z,1741753626.735 [sci2_flat_and_level:Science] Stopped
2025-03-12T04:27:06.735Z,1741753626.735 [sci2_flat_and_level:Science](DEBUG): Aggregate::uninitialize sci2_flat_and_level:Science
2025-03-12T04:27:06.735Z,1741753626.735 [sci2_flat_and_level:Science:B] Stopped
2025-03-12T04:27:06.735Z,1741753626.735 [sci2_flat_and_level:Science:C] Stopped
2025-03-12T04:27:06.735Z,1741753626.735 [sci2_flat_and_level:Science:E] Stopped
2025-03-12T04:27:06.735Z,1741753626.735 [sci2_flat_and_level:Science:OceanCurrent] Stopped
2025-03-12T04:27:06.735Z,1741753626.735 [sci2_flat_and_level:Science:OceanCurrent](DEBUG): Aggregate::uninitialize sci2_flat_and_level:Science:OceanCurrent
2025-03-12T04:27:06.736Z,1741753626.736 [sci2_flat_and_level:Science:OceanCurrent:A.] Stopped
2025-03-12T04:27:06.736Z,1741753626.736 [sci2_flat_and_level:StandardEnvelopes] Stopped
2025-03-12T04:27:06.736Z,1741753626.736 [sci2_flat_and_level:StandardEnvelopes](DEBUG): Aggregate::uninitialize sci2_flat_and_level:StandardEnvelopes
2025-03-12T04:27:06.736Z,1741753626.736 [sci2_flat_and_level:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-03-12T04:27:06.736Z,1741753626.736 [sci2_flat_and_level:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-03-12T04:27:06.736Z,1741753626.736 [sci2_flat_and_level:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-03-12T04:27:06.736Z,1741753626.736 [sci2_flat_and_level:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-03-12T04:27:06.736Z,1741753626.736 [sci2_flat_and_level:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-03-12T04:27:06.736Z,1741753626.736 [sci2_flat_and_level:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-03-12T04:27:06.736Z,1741753626.736 [sci2_flat_and_level:BackseatDriver] Stopped
2025-03-12T04:27:06.737Z,1741753626.737 [sci2_flat_and_level:BackseatDriver](DEBUG): Aggregate::uninitialize sci2_flat_and_level:BackseatDriver
2025-03-12T04:27:06.737Z,1741753626.737 [sci2_flat_and_level:BackseatDriver:A.BackseatDriver] Stopped
2025-03-12T04:27:06.737Z,1741753626.737 [sci2_flat_and_level:PowerOnly] Stopped
2025-03-12T04:27:06.737Z,1741753626.737 [sci2_flat_and_level:PowerOnly](DEBUG): Aggregate::uninitialize sci2_flat_and_level:PowerOnly
2025-03-12T04:27:06.737Z,1741753626.737 [sci2_flat_and_level:PowerOnly:E.Wait] Stopped
2025-03-12T04:27:06.737Z,1741753626.737 [sci2_flat_and_level:PowerOnly:E.Wait](DEBUG): Uninitialize Wait Component.
2025-03-12T04:27:06.737Z,1741753626.737 [sci2_flat_and_level:DiveCmd] Stopped
2025-03-12T04:27:06.737Z,1741753626.737 [sci2_flat_and_level:DiveCmd](DEBUG): Aggregate::uninitialize sci2_flat_and_level:DiveCmd
2025-03-12T04:27:06.737Z,1741753626.737 [sci2_flat_and_level:DiveCmd:InitialDive] Stopped
2025-03-12T04:27:06.737Z,1741753626.737 [sci2_flat_and_level:DiveCmd:InitialDive](DEBUG): Aggregate::uninitialize sci2_flat_and_level:DiveCmd:InitialDive
2025-03-12T04:27:06.737Z,1741753626.737 [sci2_flat_and_level:DiveCmd:SettleAtDepth] Stopped
2025-03-12T04:27:06.738Z,1741753626.738 [sci2_flat_and_level:DiveCmd:SettleAtDepth](DEBUG): Aggregate::uninitialize sci2_flat_and_level:DiveCmd:SettleAtDepth
2025-03-12T04:27:06.738Z,1741753626.738 [sci2_flat_and_level:DiveCmd:MaintainDepth] Stopped
2025-03-12T04:27:06.738Z,1741753626.738 [sci2_flat_and_level:DiveCmd:MaintainDepth](DEBUG): Aggregate::uninitialize sci2_flat_and_level:DiveCmd:MaintainDepth
2025-03-12T04:27:06.738Z,1741753626.738 [sci2_flat_and_level:DiveCmd:MaintainDepth:dive] Stopped
2025-03-12T04:27:06.738Z,1741753626.738 [sci2_flat_and_level:DiveCmd:MaintainDepth:dive](DEBUG): Aggregate::uninitialize sci2_flat_and_level:DiveCmd:MaintainDepth:dive
2025-03-12T04:27:06.738Z,1741753626.738 [sci2_flat_and_level:DiveCmd:MaintainDepth:dive:ThrusterDive] Stopped
2025-03-12T04:27:06.738Z,1741753626.738 [sci2_flat_and_level:DiveCmd:MaintainDepth:dive:ThrusterDive](DEBUG): Aggregate::uninitialize sci2_flat_and_level:DiveCmd:MaintainDepth:dive:ThrusterDive
2025-03-12T04:27:06.738Z,1741753626.738 [sci2_flat_and_level:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass] Stopped
2025-03-12T04:27:06.738Z,1741753626.738 [sci2_flat_and_level:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass](DEBUG): Uninitialize.
2025-03-12T04:27:06.738Z,1741753626.738 [sci2_flat_and_level:DiveCmd:MaintainDepth:dive:ThrusterDive:B.Buoyancy] Stopped
2025-03-12T04:27:06.738Z,1741753626.738 [sci2_flat_and_level:DiveCmd:MaintainDepth:dive:ThrusterDive:B.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-03-12T04:27:06.738Z,1741753626.738 [sci2_flat_and_level:DiveCmd:MaintainDepth:dive:SetSpeed] Stopped
2025-03-12T04:27:06.738Z,1741753626.738 [sci2_flat_and_level:DiveCmd:MaintainDepth:dive:SetSpeed](DEBUG): Aggregate::uninitialize sci2_flat_and_level:DiveCmd:MaintainDepth:dive:SetSpeed
2025-03-12T04:27:06.739Z,1741753626.739 [sci2_flat_and_level:DiveCmd:MaintainDepth:dive:SetSpeed:A.SetSpeed] Stopped
2025-03-12T04:27:06.739Z,1741753626.739 [sci2_flat_and_level:DiveCmd:MaintainDepth:dive:SetSpeed:A.SetSpeed](DEBUG): Uninitialize.
2025-03-12T04:27:06.739Z,1741753626.739 [sci2_flat_and_level:DiveCmd:MaintainDepth:dive:D.Pitch] Stopped
2025-03-12T04:27:07.212Z,1741753627.212 [WetLabsBB2FL](INFO): Powering down
2025-03-12T04:27:07.242Z,1741753627.242 [MissionManager](IMPORTANT): Started mission Default
2025-03-12T04:27:07.242Z,1741753627.242 [Default] Running Loop=1
2025-03-12T04:27:07.243Z,1741753627.243 [Default](DEBUG): Aggregate::initialize Default
2025-03-12T04:27:07.243Z,1741753627.243 [Default:B.GoToSurface] Running Loop=1
2025-03-12T04:27:07.243Z,1741753627.243 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-03-12T04:27:07.243Z,1741753627.243 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-03-12T04:27:07.243Z,1741753627.243 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-03-12T04:27:07.248Z,1741753627.248 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-03-12T04:27:07.250Z,1741753627.250 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-03-12T04:27:07.251Z,1741753627.251 [Default:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-03-12T04:27:07.257Z,1741753627.257 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-03-12T04:27:07.257Z,1741753627.257 [Default:A.Wait] Running Loop=1
2025-03-12T04:27:07.257Z,1741753627.257 [Default:A.Wait](DEBUG): Initialize Wait Component.
2025-03-12T04:27:07.582Z,1741753627.582 [ElevatorOffsetCalculator](INFO): New estimator for commanded vars: speed 1.00 m/s, pitch 30.00 deg, mass-position -13.00 mm (1 active estimators).
2025-03-12T04:27:08.008Z,1741753628.008 [Radio_Surface](INFO): Powering up
2025-03-12T04:27:10.058Z,1741753630.058 [ElevatorServo](FAULT): Overload Error
2025-03-12T04:27:10.058Z,1741753630.058 [ElevatorServo] Hardware Fault, FailCount= 1
2025-03-12T04:27:10.058Z,1741753630.058 [ElevatorServo](ERROR): Hardware Fault
2025-03-12T04:27:10.321Z,1741753630.321 [CBIT](ERROR): Hardware Fault in component: ElevatorServo
2025-03-12T04:27:10.452Z,1741753630.452 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2025-03-12T04:27:10.452Z,1741753630.452 [ElevatorServo](INFO): Powering down
2025-03-12T04:27:11.270Z,1741753631.270 [ElevatorServo](DEBUG): Initializing EZServoServo.
2025-03-12T04:27:11.389Z,1741753631.389 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2025-03-12T04:27:11.421Z,1741753631.421 [CBIT](INFO): Clearing failed state for component ElevatorServo
2025-03-12T04:27:11.421Z,1741753631.421 [ElevatorServo] No Fault, FailCount= 1
2025-03-12T04:27:13.704Z,1741753633.704 [DataOverHttps](INFO): Radio surface powered ON.
2025-03-12T04:27:20.518Z,1741753640.518 [Default:A.Wait](INFO): Done Waiting.
2025-03-12T04:27:20.518Z,1741753640.518 [Default:A.Wait] Stopped
2025-03-12T04:27:20.518Z,1741753640.518 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2025-03-12T04:27:43.840Z,1741753663.840 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T04:28:04.200Z,1741753684.200 [Default:CheckIn] Running Loop=1
2025-03-12T04:28:04.200Z,1741753684.200 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-03-12T04:28:04.200Z,1741753684.200 [Default:CheckIn:Read_GPS] Running Loop=1
2025-03-12T04:28:14.972Z,1741753694.972 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T04:28:16.665Z,1741753696.665 [NAL9602](INFO): SBD MO Status=0, MOMSN=18942, MT Status=0, MTMSN=0
2025-03-12T04:28:16.665Z,1741753696.665 [NAL9602](INFO): No messages in MT queue
2025-03-12T04:28:17.910Z,1741753697.910 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,042810.00,A,3647.90334,N,12151.48763,W,0.952,289.29,120325,,,A*71
2025-03-12T04:28:17.912Z,1741753697.912 [NAL9602](INFO): GPS fix at 20250312T042810: (36.798389, -121.858127)
2025-03-12T04:28:17.961Z,1741753697.961 [UniversalFixResidualReporter](INFO): Fix residual: 13.7 %DT, over the last 843.1 m. Residual distance 115.5 m at bearing 132.8 degrees. Fix at (36.7984, -121.8581) with 849.6 m made good.
2025-03-12T04:28:17.961Z,1741753697.961 [Default:CheckIn:Read_GPS] Stopped
2025-03-12T04:28:17.961Z,1741753697.961 [Default:CheckIn:Read_Iridium] Running Loop=1
2025-03-12T04:28:37.819Z,1741753717.819 [NAL9602](INFO): SBD MO Status=1, MOMSN=18943, MT Status=0, MTMSN=0
2025-03-12T04:28:37.864Z,1741753717.864 [NAL9602](INFO): Sent 266 bytes from file Logs/20250312T040137/Courier0013.lzma
2025-03-12T04:28:37.864Z,1741753717.864 [NAL9602](INFO): Packets left to send: 0
2025-03-12T04:28:46.096Z,1741753726.096 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T04:28:49.338Z,1741753729.338 [NAL9602](INFO): SBD MO Status=1, MOMSN=18944, MT Status=0, MTMSN=0
2025-03-12T04:28:49.392Z,1741753729.392 [NAL9602](INFO): Sent 332 bytes from file Logs/20250312T040137/Express0014.lzma
2025-03-12T04:28:49.392Z,1741753729.392 [NAL9602](INFO): Packets left to send: 2
2025-03-12T04:28:54.122Z,1741753734.122 [DVL_micro](ERROR): Failed to parse:
:WI,-00140,+00419,+00183,+00000,A
2025-03-12T04:29:03.816Z,1741753743.816 [NAL9602](INFO): SBD MO Status=1, MOMSN=18945, MT Status=0, MTMSN=0
2025-03-12T04:29:03.876Z,1741753743.876 [NAL9602](INFO): Sent 332 bytes from file Logs/20250312T040137/Express0014.lzma
2025-03-12T04:29:03.876Z,1741753743.876 [NAL9602](INFO): Packets left to send: 1
2025-03-12T04:29:12.622Z,1741753752.622 [NAL9602](INFO): SBD MO Status=1, MOMSN=18946, MT Status=0, MTMSN=0
2025-03-12T04:29:12.680Z,1741753752.680 [NAL9602](INFO): Sent 88 bytes from file Logs/20250312T040137/Express0014.lzma
2025-03-12T04:29:12.680Z,1741753752.680 [NAL9602](INFO): Packets left to send: 0
2025-03-12T04:29:17.220Z,1741753757.220 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T04:29:23.539Z,1741753763.539 [NAL9602](INFO): SBD MO Status=0, MOMSN=18947, MT Status=0, MTMSN=0
2025-03-12T04:29:23.619Z,1741753763.619 [Default:CheckIn:Read_Iridium] Stopped
2025-03-12T04:29:23.619Z,1741753763.619 [Default:CheckIn:C.Wait] Running Loop=1
2025-03-12T04:29:23.624Z,1741753763.624 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2025-03-12T04:29:26.072Z,1741753766.072 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003226
2025-03-12T04:29:54.241Z,1741753794.241 [NAL9602](INFO): Not Powering down - fast GPS
2025-03-12T04:33:36.038Z,1741754016.038 [DVL_micro](ERROR): Failed to parse:
:SA,-07.04,+01.50,266.9
2025-03-12T04:34:24.132Z,1741754064.132 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2025-03-12T04:34:24.132Z,1741754064.132 [Default:CheckIn:C.Wait] Stopped
2025-03-12T04:34:24.132Z,1741754064.132 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2025-03-12T04:34:24.133Z,1741754064.133 [Default:CheckIn:D] Running Loop=1
2025-03-12T04:34:24.533Z,1741754064.533 [Default:CheckIn:D] Stopped
2025-03-12T04:34:24.534Z,1741754064.534 [Default:CheckIn:E] Running Loop=1
2025-03-12T04:34:24.931Z,1741754064.931 [Default:CheckIn:E](IMPORTANT): Default mission has been running for  7.288179 min 
2025-03-12T04:34:24.931Z,1741754064.931 [Default:CheckIn:E] Stopped
2025-03-12T04:34:24.931Z,1741754064.931 [Default:CheckIn](INFO): Completed Default:CheckIn
2025-03-12T04:34:24.931Z,1741754064.931 [Default:CheckIn] Stopped
2025-03-12T04:34:24.931Z,1741754064.931 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-03-12T04:34:24.931Z,1741754064.931 [Default:CheckIn](INFO): Running loop #2
2025-03-12T04:34:24.931Z,1741754064.931 [Default:CheckIn] Running Loop=2
2025-03-12T04:34:24.931Z,1741754064.931 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-03-12T04:34:24.932Z,1741754064.932 [Default:CheckIn:Read_GPS] Running Loop=1
2025-03-12T04:34:26.957Z,1741754066.957 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,043419.00,A,3647.89962,N,12151.52785,W,1.205,52.38,120325,,,D*4E
2025-03-12T04:34:26.964Z,1741754066.964 [NAL9602](INFO): GPS fix at 20250312T043419: (36.798327, -121.858797)
2025-03-12T04:34:26.982Z,1741754066.982 [Default:CheckIn:Read_GPS] Stopped
2025-03-12T04:34:26.982Z,1741754066.982 [Default:CheckIn:Read_Iridium] Running Loop=1
2025-03-12T04:34:31.155Z,1741754071.155 [DataOverHttps](INFO): Sending 76 bytes from file Logs/20250312T040137/Courier0016.lzma
2025-03-12T04:34:32.158Z,1741754072.158 [DataOverHttps](INFO): Moved sent file to Logs/20250312T040137/Courier0016.lzma.bak
2025-03-12T04:34:32.158Z,1741754072.158 [DataOverHttps](INFO): SBD MOMSN=24182328
2025-03-12T04:34:49.245Z,1741754089.245 [NAL9602](INFO): SBD MO Status=0, MOMSN=18948, MT Status=0, MTMSN=0
2025-03-12T04:34:49.245Z,1741754089.245 [NAL9602](INFO): No messages in MT queue
2025-03-12T04:34:51.020Z,1741754091.020 [DataOverHttps](INFO): Sending 202 bytes from file Logs/20250312T040137/Express0017.lzma
2025-03-12T04:34:52.022Z,1741754092.022 [DataOverHttps](INFO): Moved sent file to Logs/20250312T040137/Express0017.lzma.bak
2025-03-12T04:34:52.022Z,1741754092.022 [DataOverHttps](INFO): SBD MOMSN=24182331
2025-03-12T04:34:53.295Z,1741754093.295 [Default:CheckIn:Read_Iridium] Stopped
2025-03-12T04:34:53.295Z,1741754093.295 [Default:CheckIn:C.Wait] Running Loop=1
2025-03-12T04:34:53.295Z,1741754093.295 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2025-03-12T04:35:19.936Z,1741754119.936 [NAL9602](INFO): Not Powering down - fast GPS
2025-03-12T04:37:03.446Z,1741754223.446 [DataOverHttps](IMPORTANT): SBD MTMSN=20250312T043658
2025-03-12T04:37:11.456Z,1741754231.456 [DataOverHttps](INFO): Received command: schedule resume;configSet VerticalControl.kdDepth 0.05 radian_second_per_meter persist
2025-03-12T04:37:11.955Z,1741754231.955 [CommandExec](IMPORTANT): got command schedule resume
2025-03-12T04:37:11.956Z,1741754231.956 [CommandExec](IMPORTANT): got command configSet VerticalControl.kdDepth 0.05 radian_second_per_meter persist
2025-03-12T04:37:11.959Z,1741754231.959 [CommandExec](FAULT): Not allowing to overwrite existing Data/persisted.cfg after unclean shutdown.
2025-03-12T04:37:44.054Z,1741754264.054 [DataOverHttps](IMPORTANT): SBD MTMSN=20250312T043739
2025-03-12T04:37:51.674Z,1741754271.674 [DataOverHttps](INFO): Received command: sched asap "load Science/sci2_flat_and_level.tl;set sci2_flat_and_level.MissionTimeout 0.5 h;set sci2_flat_and_level.Depth1 30 m;set sci2_flat_and_level.Lat1 36.797 degree;set sci2_flat_and_level.Lon1 -121.847 degree" 31m6f 1 2
2025-03-12T04:37:51.725Z,1741754271.725 [CommandExec](IMPORTANT): got command schedule asap "load Science/sci2_flat_and_level.tl;set sci2_flat_and_level.MissionTimeout 0.5 h;set sci2_flat_and_level.Depth1 30 m;set sci2_flat_and_level.Lat1 36.797 degree;set sci2_flat_and_level.Lon1 -121.847 degree" 31m6f 1 2.000000
2025-03-12T04:37:51.725Z,1741754271.725 [CommandExec](IMPORTANT): Scheduling command #1 of 2 with id=31m6f
2025-03-12T04:37:51.726Z,1741754271.726 [CommandExec](IMPORTANT): Scheduled #3 (#1 of 2 with id='31m6f'): "load Science/sci2_flat_and_level.tl;set sci2_flat_and_level.MissionTimeout 0.5 h;set sci2_flat_and_level.Depth1 30 m;set sci2_flat_and_level.Lat1 36.797 degree;set sci2_flat_and_level.Lon1 -121.847 degree", ASAP
2025-03-12T04:37:52.661Z,1741754272.661 [DataOverHttps](IMPORTANT): SBD MTMSN=20250312T043747
2025-03-12T04:38:00.264Z,1741754280.264 [DataOverHttps](INFO): Received command: sched asap "set sci2_flat_and_level.MaxDepth 40 m;run" 31m6f 2 2
2025-03-12T04:38:00.283Z,1741754280.283 [CommandExec](IMPORTANT): got command schedule asap "set sci2_flat_and_level.MaxDepth 40 m;run" 31m6f 2 2.000000
2025-03-12T04:38:00.283Z,1741754280.283 [CommandExec](IMPORTANT): Scheduling command #2 of 2 with id=31m6f
2025-03-12T04:38:00.284Z,1741754280.284 [CommandExec](IMPORTANT): Scheduled #4 (#2 of 2 with id='31m6f'): "set sci2_flat_and_level.MaxDepth 40 m;run", ASAP
2025-03-12T04:38:00.478Z,1741754280.478 [CommandExec](IMPORTANT): got command load ./Missions/Science/sci2_flat_and_level.tl
2025-03-12T04:38:00.480Z,1741754280.480 [MissionManager](INFO): Loading Mission from file: ./Missions/Science/sci2_flat_and_level.tl
2025-03-12T04:38:00.480Z,1741754280.480 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Science/sci2_flat_and_level.tl
2025-03-12T04:38:00.483Z,1741754280.483 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Science/sci2_flat_and_level.tl
2025-03-12T04:38:05.913Z,1741754285.913 [MissionManager](DEBUG): TethyslAPI: ./Missions/Science/sci2_flat_and_level.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Mission Id="sci2_flat_and_level">
    <DefineArg Name="MissionTimeout">
        <Units:hour />
        <Value>2</Value>
    </DefineArg>
    <DefineArg Name="NeedCommsTime">
        <Units:minute />
        <Value>60</Value>
    </DefineArg>
    <DefineArg Name="Depth1">
        <Units:meter />
        <Value>3</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="Depth9">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Depth10">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Repeat">
        <Units:count />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="DepthPerLeg">
        <False />
    </DefineArg>
    <DefineArg Name="Lat1">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lat2">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lat3">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lat4">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lat5">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lat6">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lat7">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lon1">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lon2">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lon3">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lon4">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lon5">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lon6">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lon7">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Speed">
        <Units:meter_per_second />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="RollOptimizeSpeed">
        <False />
    </DefineArg>
    <DefineArg Name="TargetRollAngle">
        <Units:degree />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="RollError">
        <Units:degree />
        <Value>2</Value>
    </DefineArg>
    <DefineArg Name="MaxRollSpeed">
        <Units:meter_per_second />
        <Value>1.1</Value>
    </DefineArg>
    <DefineArg Name="MinRollSpeed">
        <Units:meter_per_second />
        <Value>0.6</Value>
    </DefineArg>
    <DefineArg Name="RollWindowLen">
        <Units:minute />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="RollInitStep">
        <Units:degree />
        <Value>0.1</Value>
    </DefineArg>
    <DefineArg Name="RollMinStep">
        <Units:degree />
        <Value>0.025</Value>
    </DefineArg>
    <DefineArg Name="RollVerbose">
        <True />
    </DefineArg>
    <DefineArg Name="ApproachDepth">
        <Units:meter />
        <Value>2</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="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>15</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" />
    <Insert Filename="Insert/PowerOnly.tl" />
    <Aggregate Id="SurfaceComms">
        <When>
            <Called />
            <Or>
                <Elapsed>
                    <Universal:time_fix />
                </Elapsed>
                <Gt>
                    <Arg Name="NeedCommsTime" />
                </Gt>
            </Or>
        </When>
        <Assign>
            <Sequence />
            <Arg Name="DiveMode" />
            <Arg Name="DoingComms" />
        </Assign>
        <Call RefId="NeedComms" />
        <Assign>
            <Sequence />
            <Arg Name="DiveMode" />
            <Arg Name="InitialDive" />
        </Assign>
    </Aggregate>
    <Assign>
        <Sequence />
        <Arg Name="LegDepth" />
        <Arg Name="Depth1" />
    </Assign>
    <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>
                <Guidance:Buoyancy>
                    <Parallel />
                    <Setting>
                        <Guidance:Buoyancy.position />
                        <Arg Name="BuoyancyNeutral" />
                    </Setting>
                </Guidance:Buoyancy>
                <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="ApproachDepth" />
                    </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>
            </While>
            <Aggregate Id="dive">
                <Parallel />
                <Aggregate Id="ThrusterDive">
                    <While>
                        <Arg Name="Speed" />
                        <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:Buoyancy>
                        <Parallel />
                        <Setting>
                            <Guidance:Buoyancy.position />
                            <Arg Name="BuoyancyNeutral" />
                        </Setting>
                    </Guidance:Buoyancy>
                </Aggregate>
                <Aggregate Id="SetSpeed">
                    <Sequence />
                    <Break>
                        <Arg Name="RollOptimizeSpeed" />
                    </Break>
                    <Guidance:SetSpeed>
                        <Parallel />
                        <Setting>
                            <Guidance:SetSpeed.speed />
                            <Arg Name="Speed" />
                        </Setting>
                    </Guidance:SetSpeed>
                </Aggregate>
                <Aggregate Id="SetRollSpeed">
                    <Sequence />
                    <Break>
                        <Not>
                            <Arg Name="RollOptimizeSpeed" />
                        </Not>
                    </Break>
                    <Guidance:SetRollSpeed>
                        <Parallel />
                        <Setting>
                            <Guidance:SetRollSpeed.targetRoll />
                            <Arg Name="TargetRollAngle" />
                        </Setting>
                        <Setting>
                            <Guidance:SetRollSpeed.rollError />
                            <Arg Name="RollError" />
                        </Setting>
                        <Setting>
                            <Guidance:SetRollSpeed.maxSpeed />
                            <Arg Name="MaxRollSpeed" />
                        </Setting>
                        <Setting>
                            <Guidance:SetRollSpeed.startSpeed />
                            <Arg Name="Speed" />
                        </Setting>
                        <Setting>
                            <Guidance:SetRollSpeed.minSpeed />
                            <Arg Name="MinRollSpeed" />
                        </Setting>
                        <Setting>
                            <Guidance:SetRollSpeed.estimationWindow />
                            <Arg Name="RollWindowLen" />
                        </Setting>
                        <Setting>
                            <Guidance:SetRollSpeed.initStep />
                            <Arg Name="RollInitStep" />
                        </Setting>
                        <Setting>
                            <Guidance:SetRollSpeed.minStep />
                            <Arg Name="RollMinStep" />
                        </Setting>
                        <Setting>
                            <Guidance:SetRollSpeed.verbose />
                            <Arg Name="RollVerbose" />
                        </Setting>
                    </Guidance:SetRollSpeed>
                </Aggregate>
                <Guidance:Pitch>
                    <Parallel />
                    <Setting>
                        <Guidance:Pitch.depth />
                        <Arg Name="LegDepth" />
                    </Setting>
                </Guidance:Pitch>
            </Aggregate>
        </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>
            <Aggregate Id="Leg1">
                <Sequence />
                <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>
            <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>
            <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>
            <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>
            <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>
            <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>
            <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>
            <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>
            <Aggregate Id="Leg9">
                <Sequence />
                <Break>
                    <IsNaN>
                        <Arg Name="Depth9" />
                    </IsNaN>
                </Break>
                <Syslog Severity="Important">
                    Transiting waypoints at depth
                    <Arg Name="Depth9" />
                    <Units:meter />
                </Syslog>
                <Assign>
                    <Sequence />
                    <Arg Name="LegDepth" />
                    <Arg Name="Depth9" />
                </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>
            <Aggregate Id="Leg10">
                <Sequence />
                <Break>
                    <IsNaN>
                        <Arg Name="Depth10" />
                    </IsNaN>
                </Break>
                <Syslog Severity="Important">
                    Transiting waypoints at depth
                    <Arg Name="Depth10" />
                    <Units:meter />
                </Syslog>
                <Assign>
                    <Sequence />
                    <Arg Name="LegDepth" />
                    <Arg Name="Depth10" />
                </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>
        </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>
    </Aggregate>
</Mission>

2025-03-12T04:38:05.952Z,1741754285.952 [MissionManager](INFO): DefineArg sci2_flat_and_level.MissionTimeout = 2.000000 h
2025-03-12T04:38:05.954Z,1741754285.954 [MissionManager](INFO): DefineArg sci2_flat_and_level.NeedCommsTime = 60.000000 min
2025-03-12T04:38:05.956Z,1741754285.956 [MissionManager](INFO): DefineArg sci2_flat_and_level.Depth1 = 3.000000 m
2025-03-12T04:38:05.958Z,1741754285.958 [MissionManager](INFO): DefineArg sci2_flat_and_level.Depth2 = nan m
2025-03-12T04:38:05.961Z,1741754285.961 [MissionManager](INFO): DefineArg sci2_flat_and_level.Depth3 = nan m
2025-03-12T04:38:05.963Z,1741754285.963 [MissionManager](INFO): DefineArg sci2_flat_and_level.Depth4 = nan m
2025-03-12T04:38:05.965Z,1741754285.965 [MissionManager](INFO): DefineArg sci2_flat_and_level.Depth5 = nan m
2025-03-12T04:38:05.967Z,1741754285.967 [MissionManager](INFO): DefineArg sci2_flat_and_level.Depth6 = nan m
2025-03-12T04:38:05.969Z,1741754285.969 [MissionManager](INFO): DefineArg sci2_flat_and_level.Depth7 = nan m
2025-03-12T04:38:05.971Z,1741754285.971 [MissionManager](INFO): DefineArg sci2_flat_and_level.Depth8 = nan m
2025-03-12T04:38:06.010Z,1741754286.010 [MissionManager](INFO): DefineArg sci2_flat_and_level.Depth9 = nan m
2025-03-12T04:38:06.016Z,1741754286.016 [MissionManager](INFO): DefineArg sci2_flat_and_level.Depth10 = nan m
2025-03-12T04:38:06.018Z,1741754286.018 [MissionManager](INFO): DefineArg sci2_flat_and_level.Repeat = 1.000000 count
2025-03-12T04:38:06.025Z,1741754286.025 [MissionManager](INFO): DefineArg sci2_flat_and_level.DepthPerLeg = 0 bool
2025-03-12T04:38:06.027Z,1741754286.027 [MissionManager](INFO): DefineArg sci2_flat_and_level.Lat1 = nan arcdeg
2025-03-12T04:38:06.041Z,1741754286.041 [MissionManager](INFO): DefineArg sci2_flat_and_level.Lat2 = nan arcdeg
2025-03-12T04:38:06.043Z,1741754286.043 [MissionManager](INFO): DefineArg sci2_flat_and_level.Lat3 = nan arcdeg
2025-03-12T04:38:06.054Z,1741754286.054 [MissionManager](INFO): DefineArg sci2_flat_and_level.Lat4 = nan arcdeg
2025-03-12T04:38:06.061Z,1741754286.061 [MissionManager](INFO): DefineArg sci2_flat_and_level.Lat5 = nan arcdeg
2025-03-12T04:38:06.063Z,1741754286.063 [MissionManager](INFO): DefineArg sci2_flat_and_level.Lat6 = nan arcdeg
2025-03-12T04:38:06.077Z,1741754286.077 [MissionManager](INFO): DefineArg sci2_flat_and_level.Lat7 = nan arcdeg
2025-03-12T04:38:06.079Z,1741754286.079 [MissionManager](INFO): DefineArg sci2_flat_and_level.Lon1 = nan arcdeg
2025-03-12T04:38:06.090Z,1741754286.090 [MissionManager](INFO): DefineArg sci2_flat_and_level.Lon2 = nan arcdeg
2025-03-12T04:38:06.100Z,1741754286.100 [MissionManager](INFO): DefineArg sci2_flat_and_level.Lon3 = nan arcdeg
2025-03-12T04:38:06.102Z,1741754286.102 [MissionManager](INFO): DefineArg sci2_flat_and_level.Lon4 = nan arcdeg
2025-03-12T04:38:06.113Z,1741754286.113 [MissionManager](INFO): DefineArg sci2_flat_and_level.Lon5 = nan arcdeg
2025-03-12T04:38:06.115Z,1741754286.115 [MissionManager](INFO): DefineArg sci2_flat_and_level.Lon6 = nan arcdeg
2025-03-12T04:38:06.126Z,1741754286.126 [MissionManager](INFO): DefineArg sci2_flat_and_level.Lon7 = nan arcdeg
2025-03-12T04:38:06.132Z,1741754286.132 [MissionManager](INFO): DefineArg sci2_flat_and_level.Speed = 1.000000 m/s
2025-03-12T04:38:06.134Z,1741754286.134 [MissionManager](INFO): DefineArg sci2_flat_and_level.RollOptimizeSpeed = 0 bool
2025-03-12T04:38:06.139Z,1741754286.139 [MissionManager](INFO): DefineArg sci2_flat_and_level.TargetRollAngle = 0.000000 arcdeg
2025-03-12T04:38:06.154Z,1741754286.154 [MissionManager](INFO): DefineArg sci2_flat_and_level.RollError = 2.000000 arcdeg
2025-03-12T04:38:06.160Z,1741754286.160 [MissionManager](INFO): DefineArg sci2_flat_and_level.MaxRollSpeed = 1.100000 m/s
2025-03-12T04:38:06.162Z,1741754286.162 [MissionManager](INFO): DefineArg sci2_flat_and_level.MinRollSpeed = 0.600000 m/s
2025-03-12T04:38:06.169Z,1741754286.169 [MissionManager](INFO): DefineArg sci2_flat_and_level.RollWindowLen = 5.000000 min
2025-03-12T04:38:06.171Z,1741754286.171 [MissionManager](INFO): DefineArg sci2_flat_and_level.RollInitStep = 0.100000 arcdeg
2025-03-12T04:38:06.174Z,1741754286.174 [MissionManager](INFO): DefineArg sci2_flat_and_level.RollMinStep = 0.025000 arcdeg
2025-03-12T04:38:06.175Z,1741754286.175 [MissionManager](INFO): DefineArg sci2_flat_and_level.RollVerbose = 1 bool
2025-03-12T04:38:06.186Z,1741754286.186 [MissionManager](INFO): DefineArg sci2_flat_and_level.ApproachDepth = 2.000000 m
2025-03-12T04:38:06.196Z,1741754286.196 [MissionManager](INFO): DefineArg sci2_flat_and_level.ApproachSpeed = 0.700000 m/s
2025-03-12T04:38:06.199Z,1741754286.199 [MissionManager](INFO): DefineArg sci2_flat_and_level.ApproachDepthRate = 0.050000 m/s
2025-03-12T04:38:06.225Z,1741754286.225 [MissionManager](INFO): DefineArg sci2_flat_and_level.ApproachPitchLimit = 20.000000 arcdeg
2025-03-12T04:38:06.227Z,1741754286.227 [MissionManager](INFO): DefineArg sci2_flat_and_level.ApproachDepthTimeout = 15.000000 min
2025-03-12T04:38:06.233Z,1741754286.233 [MissionManager](INFO): DefineArg sci2_flat_and_level.ApproachSettleTimePreDive = 1.000000 min
2025-03-12T04:38:06.240Z,1741754286.240 [MissionManager](INFO): DefineArg sci2_flat_and_level.ApproachSettleTimePostDive = 3.000000 min
2025-03-12T04:38:06.242Z,1741754286.242 [MissionManager](INFO): DefineArg sci2_flat_and_level.kpDepth = 0.070000 rad/m
2025-03-12T04:38:06.249Z,1741754286.249 [MissionManager](INFO): DefineArg sci2_flat_and_level.BuoyancyNeutral = 200.000000 cc
2025-03-12T04:38:06.251Z,1741754286.251 [MissionManager](INFO): DefineArg sci2_flat_and_level.MassDefault = 2.200000 cm
2025-03-12T04:38:06.254Z,1741754286.254 [MissionManager](INFO): DefineArg sci2_flat_and_level.MinAltitude = 2.000000 m
2025-03-12T04:38:06.267Z,1741754286.267 [MissionManager](INFO): DefineArg sci2_flat_and_level.MaxDepth = 15.000000 m
2025-03-12T04:38:06.278Z,1741754286.278 [MissionManager](INFO): DefineArg sci2_flat_and_level.MinOffshore = 2.000000 km
2025-03-12T04:38:06.288Z,1741754286.288 [MissionManager](INFO): DefineOutput sci2_flat_and_level.DiveMode = 0.000000 count
2025-03-12T04:38:06.291Z,1741754286.291 [MissionManager](INFO): DefineOutput sci2_flat_and_level.DoingComms = 0.000000 count
2025-03-12T04:38:06.301Z,1741754286.301 [MissionManager](INFO): DefineOutput sci2_flat_and_level.InitialDive = 1.000000 count
2025-03-12T04:38:06.303Z,1741754286.303 [MissionManager](INFO): DefineOutput sci2_flat_and_level.SettleAtDepth = 2.000000 count
2025-03-12T04:38:06.306Z,1741754286.306 [MissionManager](INFO): DefineOutput sci2_flat_and_level.MaintainDepth = 3.000000 count
2025-03-12T04:38:06.312Z,1741754286.312 [MissionManager](INFO): DefineOutput sci2_flat_and_level.LegDepth = 3.000000 m
2025-03-12T04:38:06.313Z,1741754286.313 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/Science.tl
2025-03-12T04:38:06.313Z,1741754286.313 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/Science.tl
2025-03-12T04:38:06.321Z,1741754286.321 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/Science.tl
2025-03-12T04:38:09.323Z,1741754289.323 [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>

2025-03-12T04:38:09.353Z,1741754289.353 [MissionManager](INFO): DefineArg sci2_flat_and_level:Science.PeakDetectChlActive = 0 bool
2025-03-12T04:38:09.355Z,1741754289.355 [MissionManager](INFO): DefineArg sci2_flat_and_level:Science.EdgeDetectChlActive = 0 bool
2025-03-12T04:38:09.357Z,1741754289.357 [MissionManager](INFO): DefineArg sci2_flat_and_level:Science.TimeWindowPeakReport = nan min
2025-03-12T04:38:09.359Z,1741754289.359 [MissionManager](INFO): DefineArg sci2_flat_and_level:Science.HighestChlPeakReportActive = 0 bool
2025-03-12T04:38:09.361Z,1741754289.361 [MissionManager](INFO): DefineArg sci2_flat_and_level:Science.HighestSaltPeakReportActive = 0 bool
2025-03-12T04:38:09.363Z,1741754289.363 [MissionManager](INFO): DefineArg sci2_flat_and_level:Science.HighestOilPeakReportActive = 0 bool
2025-03-12T04:38:09.365Z,1741754289.365 [MissionManager](INFO): DefineArg sci2_flat_and_level:Science.PatchTracking = 0 bool
2025-03-12T04:38:09.367Z,1741754289.367 [MissionManager](INFO): DefineArg sci2_flat_and_level:Science.FilterWidthHorizontal = 3.000000 count
2025-03-12T04:38:09.370Z,1741754289.370 [MissionManager](INFO): DefineArg sci2_flat_and_level:Science.NumProfilesSlidingwindow = 100.000000 count
2025-03-12T04:38:09.372Z,1741754289.372 [MissionManager](INFO): DefineArg sci2_flat_and_level:Science.OffPeakFractionHorizontal = 80.000000 %
2025-03-12T04:38:09.374Z,1741754289.374 [MissionManager](INFO): DefineArg sci2_flat_and_level:Science.PeakDetectNO3Active = 0 bool
2025-03-12T04:38:09.376Z,1741754289.376 [MissionManager](INFO): DefineArg sci2_flat_and_level:Science.PeakDetectOilActive = 0 bool
2025-03-12T04:38:09.378Z,1741754289.378 [MissionManager](INFO): DefineArg sci2_flat_and_level:Science.PeakDetectFDOMActive = 0 bool
2025-03-12T04:38:09.380Z,1741754289.380 [MissionManager](INFO): DefineArg sci2_flat_and_level:Science.PeakDetectSalinityActive = 0 bool
2025-03-12T04:38:09.382Z,1741754289.382 [MissionManager](INFO): DefineArg sci2_flat_and_level:Science.PeakDetectPlanktivoreLMavgROIActive = 0 bool
2025-03-12T04:38:09.384Z,1741754289.384 [MissionManager](INFO): DefineArg sci2_flat_and_level:Science.EdgeDetectPlanktivoreLMavgROIActive = 0 bool
2025-03-12T04:38:09.386Z,1741754289.386 [MissionManager](INFO): DefineArg sci2_flat_and_level:Science.PeakDetectPlanktivoreHMavgROIActive = 0 bool
2025-03-12T04:38:09.388Z,1741754289.388 [MissionManager](INFO): DefineArg sci2_flat_and_level:Science.PeakDetectPlanktivoreDiatomsActive = 0 bool
2025-03-12T04:38:09.390Z,1741754289.390 [MissionManager](INFO): DefineArg sci2_flat_and_level:Science.PeakDetectPlanktivoreDinoflagellatesActive = 0 bool
2025-03-12T04:38:09.420Z,1741754289.420 [MissionManager](INFO): DefineArg sci2_flat_and_level:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2025-03-12T04:38:09.423Z,1741754289.423 [MissionManager](INFO): DefineArg sci2_flat_and_level:Science.EnabledAanderaaO2 = 0 bool
2025-03-12T04:38:09.429Z,1741754289.429 [MissionManager](INFO): DefineArg sci2_flat_and_level:Science.EnabledNeilBrown = 0 bool
2025-03-12T04:38:09.438Z,1741754289.438 [MissionManager](INFO): DefineArg sci2_flat_and_level:Science.EnabledSeabird = 1 bool
2025-03-12T04:38:09.441Z,1741754289.441 [MissionManager](INFO): DefineArg sci2_flat_and_level:Science.EnabledWetLabsBB2FL = 1 bool
2025-03-12T04:38:09.460Z,1741754289.460 [MissionManager](INFO): DefineArg sci2_flat_and_level:Science.EnabledWetLabsSeaOWL_UV_A = 0 bool
2025-03-12T04:38:09.463Z,1741754289.463 [MissionManager](INFO): DefineArg sci2_flat_and_level:Science.EnabledWetLabsUBAT = 0 bool
2025-03-12T04:38:09.470Z,1741754289.470 [MissionManager](INFO): DefineArg sci2_flat_and_level:Science.LowPassWindowLength = 20.000000 count
2025-03-12T04:38:09.477Z,1741754289.477 [MissionManager](INFO): DefineArg sci2_flat_and_level:Science.MedianFilterLen = 5.000000 count
2025-03-12T04:38:09.484Z,1741754289.484 [MissionManager](INFO): DefineArg sci2_flat_and_level:Science.ShallowBound = nan m
2025-03-12T04:38:09.486Z,1741754289.486 [MissionManager](INFO): DefineArg sci2_flat_and_level:Science.DeepBound = nan m
2025-03-12T04:38:09.489Z,1741754289.489 [MissionManager](INFO): DefineArg sci2_flat_and_level:Science.DepChangeThreshForAttitudeFlip = 2.000000 m
2025-03-12T04:38:09.491Z,1741754289.491 [MissionManager](INFO): DefineArg sci2_flat_and_level:Science.OffPeakFractionVertical = nan %
2025-03-12T04:38:09.505Z,1741754289.505 [MissionManager](INFO): DefineArg sci2_flat_and_level:Science.ChlPeakThresh = 0.000000 ug/l
2025-03-12T04:38:09.507Z,1741754289.507 [MissionManager](INFO): DefineArg sci2_flat_and_level:Science.ChlThreshTriggerActive = 0 bool
2025-03-12T04:38:09.514Z,1741754289.514 [MissionManager](INFO): DefineArg sci2_flat_and_level:Science.ChlLowerThresh = nan ug/l
2025-03-12T04:38:09.520Z,1741754289.520 [MissionManager](INFO): DefineArg sci2_flat_and_level:Science.ChlUpperThresh = nan ug/l
2025-03-12T04:38:09.522Z,1741754289.522 [MissionManager](INFO): DefineArg sci2_flat_and_level:Science.NumProfilesThresh = 5.000000 count
2025-03-12T04:38:09.529Z,1741754289.529 [MissionManager](INFO): DefineArg sci2_flat_and_level:Science.PlanktivoreLMavgROIPeakThresh = 0.000000 count/s
2025-03-12T04:38:09.531Z,1741754289.531 [MissionManager](INFO): DefineOutput sci2_flat_and_level:Science.GoDown = 1 bool
2025-03-12T04:38:09.542Z,1741754289.542 [MissionManager](INFO): DefineOutput sci2_flat_and_level:Science.PeakChl = nan ug/l
2025-03-12T04:38:09.547Z,1741754289.547 [MissionManager](INFO): DefineOutput sci2_flat_and_level:Science.PeakChlDepth = nan m
2025-03-12T04:38:09.563Z,1741754289.563 [MissionManager](INFO): DefineOutput sci2_flat_and_level:Science.PeakChlTemperature = nan degC
2025-03-12T04:38:09.570Z,1741754289.570 [MissionManager](INFO): DefineOutput sci2_flat_and_level:Science.PeakChlLatitude = nan arcdeg
2025-03-12T04:38:09.576Z,1741754289.576 [MissionManager](INFO): DefineOutput sci2_flat_and_level:Science.PeakChlLongitude = nan arcdeg
2025-03-12T04:38:09.578Z,1741754289.578 [MissionManager](INFO): DefineOutput sci2_flat_and_level:Science.EdgeChl = nan ug/l
2025-03-12T04:38:09.581Z,1741754289.581 [MissionManager](INFO): DefineOutput sci2_flat_and_level:Science.EdgeChlDepth = nan m
2025-03-12T04:38:09.583Z,1741754289.583 [MissionManager](INFO): DefineOutput sci2_flat_and_level:Science.EdgeChlTemperature = nan degC
2025-03-12T04:38:09.602Z,1741754289.602 [MissionManager](INFO): DefineOutput sci2_flat_and_level:Science.EdgeChlLatitude = nan arcdeg
2025-03-12T04:38:09.636Z,1741754289.636 [MissionManager](INFO): DefineOutput sci2_flat_and_level:Science.EdgeChlLongitude = nan arcdeg
2025-03-12T04:38:09.639Z,1741754289.639 [MissionManager](INFO): DefineOutput sci2_flat_and_level:Science.PeakNO3 = nan umol/l
2025-03-12T04:38:09.641Z,1741754289.641 [MissionManager](INFO): DefineOutput sci2_flat_and_level:Science.PeakNO3Depth = nan m
2025-03-12T04:38:09.656Z,1741754289.656 [MissionManager](INFO): DefineOutput sci2_flat_and_level:Science.PeakNO3Latitude = nan arcdeg
2025-03-12T04:38:09.658Z,1741754289.658 [MissionManager](INFO): DefineOutput sci2_flat_and_level:Science.PeakNO3Longitude = nan arcdeg
2025-03-12T04:38:09.669Z,1741754289.669 [MissionManager](INFO): DefineOutput sci2_flat_and_level:Science.PeakOil = nan kg/m3
2025-03-12T04:38:09.684Z,1741754289.684 [MissionManager](INFO): DefineOutput sci2_flat_and_level:Science.PeakOilDepth = nan m
2025-03-12T04:38:09.700Z,1741754289.700 [MissionManager](INFO): DefineOutput sci2_flat_and_level:Science.PeakOilLatitude = nan arcdeg
2025-03-12T04:38:09.712Z,1741754289.712 [MissionManager](INFO): DefineOutput sci2_flat_and_level:Science.PeakOilLongitude = nan arcdeg
2025-03-12T04:38:09.733Z,1741754289.733 [MissionManager](INFO): DefineOutput sci2_flat_and_level:Science.PeakFDOM = nan ppb
2025-03-12T04:38:09.741Z,1741754289.741 [MissionManager](INFO): DefineOutput sci2_flat_and_level:Science.PeakFDOMDepth = nan m
2025-03-12T04:38:09.749Z,1741754289.749 [MissionManager](INFO): DefineOutput sci2_flat_and_level:Science.PeakFDOMTemperature = nan degC
2025-03-12T04:38:09.756Z,1741754289.756 [MissionManager](INFO): DefineOutput sci2_flat_and_level:Science.PeakFDOMLatitude = nan arcdeg
2025-03-12T04:38:09.760Z,1741754289.760 [MissionManager](INFO): DefineOutput sci2_flat_and_level:Science.PeakFDOMLongitude = nan arcdeg
2025-03-12T04:38:09.763Z,1741754289.763 [MissionManager](INFO): DefineOutput sci2_flat_and_level:Science.PeakSalt = nan psu
2025-03-12T04:38:09.767Z,1741754289.767 [MissionManager](INFO): DefineOutput sci2_flat_and_level:Science.PeakSaltDepth = nan m
2025-03-12T04:38:09.796Z,1741754289.796 [MissionManager](INFO): DefineOutput sci2_flat_and_level:Science.PeakSaltTemperature = nan degC
2025-03-12T04:38:09.798Z,1741754289.798 [MissionManager](INFO): DefineOutput sci2_flat_and_level:Science.PeakSaltLatitude = nan arcdeg
2025-03-12T04:38:09.801Z,1741754289.801 [MissionManager](INFO): DefineOutput sci2_flat_and_level:Science.PeakSaltLongitude = nan arcdeg
2025-03-12T04:38:09.803Z,1741754289.803 [MissionManager](INFO): DefineOutput sci2_flat_and_level:Science.PeakPlanktivoreLMavgROI = nan count/s
2025-03-12T04:38:09.815Z,1741754289.815 [MissionManager](INFO): DefineOutput sci2_flat_and_level:Science.PeakPlanktivoreLMavgROIDepth = nan m
2025-03-12T04:38:09.821Z,1741754289.821 [MissionManager](INFO): DefineOutput sci2_flat_and_level:Science.PeakPlanktivoreLMavgROITemperature = nan degC
2025-03-12T04:38:09.823Z,1741754289.823 [MissionManager](INFO): DefineOutput sci2_flat_and_level:Science.PeakPlanktivoreLMavgROILatitude = nan arcdeg
2025-03-12T04:38:09.831Z,1741754289.831 [MissionManager](INFO): DefineOutput sci2_flat_and_level:Science.PeakPlanktivoreLMavgROILongitude = nan arcdeg
2025-03-12T04:38:09.849Z,1741754289.849 [MissionManager](INFO): DefineOutput sci2_flat_and_level:Science.EdgePlanktivoreLMavgROI = nan count/s
2025-03-12T04:38:09.856Z,1741754289.856 [MissionManager](INFO): DefineOutput sci2_flat_and_level:Science.EdgePlanktivoreLMavgROIDepth = nan m
2025-03-12T04:38:09.858Z,1741754289.858 [MissionManager](INFO): DefineOutput sci2_flat_and_level:Science.EdgePlanktivoreLMavgROITemperature = nan degC
2025-03-12T04:38:09.866Z,1741754289.866 [MissionManager](INFO): DefineOutput sci2_flat_and_level:Science.EdgePlanktivoreLMavgROILatitude = nan arcdeg
2025-03-12T04:38:09.881Z,1741754289.881 [MissionManager](INFO): DefineOutput sci2_flat_and_level:Science.EdgePlanktivoreLMavgROILongitude = nan arcdeg
2025-03-12T04:38:09.883Z,1741754289.883 [MissionManager](INFO): DefineOutput sci2_flat_and_level:Science.PeakPlanktivoreHMavgROI = nan count/s
2025-03-12T04:38:09.890Z,1741754289.890 [MissionManager](INFO): DefineOutput sci2_flat_and_level:Science.PeakPlanktivoreHMavgROIDepth = nan m
2025-03-12T04:38:09.900Z,1741754289.900 [MissionManager](INFO): DefineOutput sci2_flat_and_level:Science.PeakPlanktivoreHMavgROITemperature = nan degC
2025-03-12T04:38:09.902Z,1741754289.902 [MissionManager](INFO): DefineOutput sci2_flat_and_level:Science.PeakPlanktivoreHMavgROILatitude = nan arcdeg
2025-03-12T04:38:09.905Z,1741754289.905 [MissionManager](INFO): DefineOutput sci2_flat_and_level:Science.PeakPlanktivoreHMavgROILongitude = nan arcdeg
2025-03-12T04:38:09.907Z,1741754289.907 [MissionManager](INFO): DefineOutput sci2_flat_and_level:Science.PeakPlanktivoreDiatoms = nan count/ml
2025-03-12T04:38:09.918Z,1741754289.918 [MissionManager](INFO): DefineOutput sci2_flat_and_level:Science.PeakPlanktivoreDiatomsDepth = nan m
2025-03-12T04:38:09.925Z,1741754289.925 [MissionManager](INFO): DefineOutput sci2_flat_and_level:Science.PeakPlanktivoreDiatomsTemperature = nan degC
2025-03-12T04:38:09.927Z,1741754289.927 [MissionManager](INFO): DefineOutput sci2_flat_and_level:Science.PeakPlanktivoreDiatomsLatitude = nan arcdeg
2025-03-12T04:38:09.931Z,1741754289.931 [MissionManager](INFO): DefineOutput sci2_flat_and_level:Science.PeakPlanktivoreDiatomsLongitude = nan arcdeg
2025-03-12T04:38:09.945Z,1741754289.945 [MissionManager](INFO): DefineOutput sci2_flat_and_level:Science.PeakPlanktivoreDinoflagellates = nan count/ml
2025-03-12T04:38:09.947Z,1741754289.947 [MissionManager](INFO): DefineOutput sci2_flat_and_level:Science.PeakPlanktivoreDinoflagellatesDepth = nan m
2025-03-12T04:38:09.954Z,1741754289.954 [MissionManager](INFO): DefineOutput sci2_flat_and_level:Science.PeakPlanktivoreDinoflagellatesTemperature = nan degC
2025-03-12T04:38:09.959Z,1741754289.959 [MissionManager](INFO): DefineOutput sci2_flat_and_level:Science.PeakPlanktivoreDinoflagellatesLatitude = nan arcdeg
2025-03-12T04:38:09.970Z,1741754289.970 [MissionManager](INFO): DefineOutput sci2_flat_and_level:Science.PeakPlanktivoreDinoflagellatesLongitude = nan arcdeg
2025-03-12T04:38:09.977Z,1741754289.977 [MissionManager](INFO): DefineOutput sci2_flat_and_level:Science.PatchChl = nan ug/l
2025-03-12T04:38:09.979Z,1741754289.979 [MissionManager](INFO): DefineOutput sci2_flat_and_level:Science.PatchChlDepth = nan m
2025-03-12T04:38:09.985Z,1741754289.985 [MissionManager](INFO): DefineOutput sci2_flat_and_level:Science.PatchChlLatitude = nan arcdeg
2025-03-12T04:38:09.994Z,1741754289.994 [MissionManager](INFO): DefineOutput sci2_flat_and_level:Science.PatchChlLongitude = nan arcdeg
2025-03-12T04:38:09.997Z,1741754289.997 [MissionManager](INFO): DefineOutput sci2_flat_and_level:Science.PatchChlDistance = nan m
2025-03-12T04:38:09.999Z,1741754289.999 [MissionManager](INFO): DefineOutput sci2_flat_and_level:Science.PatchSalt = nan psu
2025-03-12T04:38:10.001Z,1741754290.001 [MissionManager](INFO): DefineOutput sci2_flat_and_level:Science.PatchSaltDepth = nan m
2025-03-12T04:38:10.003Z,1741754290.003 [MissionManager](INFO): DefineOutput sci2_flat_and_level:Science.PatchSaltLatitude = nan arcdeg
2025-03-12T04:38:10.050Z,1741754290.050 [MissionManager](INFO): DefineOutput sci2_flat_and_level:Science.PatchSaltLongitude = nan arcdeg
2025-03-12T04:38:10.060Z,1741754290.060 [MissionManager](INFO): DefineOutput sci2_flat_and_level:Science.PatchSaltDistance = nan m
2025-03-12T04:38:10.062Z,1741754290.062 [MissionManager](INFO): DefineOutput sci2_flat_and_level:Science.PatchOil = nan psu
2025-03-12T04:38:10.071Z,1741754290.071 [MissionManager](INFO): DefineOutput sci2_flat_and_level:Science.PatchOilDepth = nan m
2025-03-12T04:38:10.094Z,1741754290.094 [MissionManager](INFO): DefineOutput sci2_flat_and_level:Science.PatchOilLatitude = nan arcdeg
2025-03-12T04:38:10.120Z,1741754290.120 [MissionManager](INFO): DefineOutput sci2_flat_and_level:Science.PatchOilLongitude = nan arcdeg
2025-03-12T04:38:10.122Z,1741754290.122 [MissionManager](INFO): DefineOutput sci2_flat_and_level:Science.PatchOilDistance = nan m
2025-03-12T04:38:10.133Z,1741754290.133 [MissionManager](INFO): DefineOutput sci2_flat_and_level:Science.TriggeredOnChl = 0 bool
2025-03-12T04:38:10.135Z,1741754290.135 [MissionManager](INFO): DefineOutput sci2_flat_and_level:Science.ChlTriggering = nan ug/l
2025-03-12T04:38:10.178Z,1741754290.178 [sci2_flat_and_level:Science:PeakDetectChl:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-03-12T04:38:10.210Z,1741754290.210 [sci2_flat_and_level:Science:EdgeDetectChl:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-03-12T04:38:10.278Z,1741754290.278 [sci2_flat_and_level:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-03-12T04:38:10.342Z,1741754290.342 [sci2_flat_and_level:Science:PeakDetectNO3:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-03-12T04:38:10.375Z,1741754290.375 [sci2_flat_and_level:Science:PeakDetectOil:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-03-12T04:38:10.410Z,1741754290.410 [sci2_flat_and_level:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-03-12T04:38:10.498Z,1741754290.498 [sci2_flat_and_level:Science:PeakDetectFDOM:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-03-12T04:38:10.556Z,1741754290.556 [sci2_flat_and_level:Science:PeakDetectSalinity:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-03-12T04:38:10.592Z,1741754290.592 [sci2_flat_and_level:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-03-12T04:38:10.617Z,1741754290.617 [sci2_flat_and_level:Science:PeakDetectPlanktivoreLMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-03-12T04:38:10.657Z,1741754290.657 [sci2_flat_and_level:Science:EdgeDetectPlanktivoreLMavgROI:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-03-12T04:38:10.699Z,1741754290.699 [sci2_flat_and_level:Science:PeakDetectPlanktivoreHMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-03-12T04:38:10.727Z,1741754290.727 [sci2_flat_and_level:Science:PeakDetectPlanktivoreDiatoms:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-03-12T04:38:10.751Z,1741754290.751 [sci2_flat_and_level:Science:PeakDetectPlanktivoreDinoflagellates:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-03-12T04:38:10.774Z,1741754290.774 [sci2_flat_and_level:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Construct ValueDetect.
2025-03-12T04:38:10.789Z,1741754290.789 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-03-12T04:38:10.789Z,1741754290.789 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-03-12T04:38:10.790Z,1741754290.790 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-03-12T04:38:11.006Z,1741754291.006 [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>

2025-03-12T04:38:11.013Z,1741754291.013 [MissionManager](INFO): DefineArg sci2_flat_and_level:StandardEnvelopes.MinAltitude = 5.000000 m
2025-03-12T04:38:11.015Z,1741754291.015 [MissionManager](INFO): DefineArg sci2_flat_and_level:StandardEnvelopes.MaxDepthIgnore = 0.000000 m
2025-03-12T04:38:11.017Z,1741754291.017 [MissionManager](INFO): DefineArg sci2_flat_and_level:StandardEnvelopes.MaxDepth = 200.000000 m
2025-03-12T04:38:11.019Z,1741754291.019 [MissionManager](INFO): DefineArg sci2_flat_and_level:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-03-12T04:38:11.037Z,1741754291.037 [sci2_flat_and_level:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-03-12T04:38:11.046Z,1741754291.046 [sci2_flat_and_level:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-03-12T04:38:11.058Z,1741754291.058 [sci2_flat_and_level:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-03-12T04:38:11.067Z,1741754291.067 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl
2025-03-12T04:38:11.067Z,1741754291.067 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl
2025-03-12T04:38:11.071Z,1741754291.071 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl
2025-03-12T04:38:11.356Z,1741754291.356 [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>

2025-03-12T04:38:11.361Z,1741754291.361 [MissionManager](INFO): DefineArg sci2_flat_and_level:NeedComms.DiveInterval = 1.000000 h
2025-03-12T04:38:11.363Z,1741754291.363 [MissionManager](INFO): DefineArg sci2_flat_and_level:NeedComms.WaitForPitchUp = 10.000000 min
2025-03-12T04:38:11.365Z,1741754291.365 [MissionManager](INFO): DefineArg sci2_flat_and_level:NeedComms.SurfacePitch = 20.000000 arcdeg
2025-03-12T04:38:11.367Z,1741754291.367 [MissionManager](INFO): DefineArg sci2_flat_and_level:NeedComms.SurfaceDepthRate = nan m/s
2025-03-12T04:38:11.370Z,1741754291.370 [MissionManager](INFO): DefineArg sci2_flat_and_level:NeedComms.SurfaceSpeed = 1.000000 m/s
2025-03-12T04:38:11.372Z,1741754291.372 [MissionManager](INFO): DefineArg sci2_flat_and_level:NeedComms.SurfacingTimeout = 1000.000000 s
2025-03-12T04:38:11.374Z,1741754291.374 [MissionManager](INFO): DefineArg sci2_flat_and_level:NeedComms.GPSTimeout = 7.000000 min
2025-03-12T04:38:11.376Z,1741754291.376 [MissionManager](INFO): DefineArg sci2_flat_and_level:NeedComms.CommsTimeout = 30.000000 min
2025-03-12T04:38:11.382Z,1741754291.382 [sci2_flat_and_level:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2025-03-12T04:38:11.440Z,1741754291.440 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2025-03-12T04:38:11.441Z,1741754291.441 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2025-03-12T04:38:11.442Z,1741754291.442 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2025-03-12T04:38:11.472Z,1741754291.472 [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>

2025-03-12T04:38:11.475Z,1741754291.475 [MissionManager](INFO): DefineArg sci2_flat_and_level:BackseatDriver.EnableBackseat = 0 bool
2025-03-12T04:38:11.477Z,1741754291.477 [sci2_flat_and_level:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2025-03-12T04:38:11.485Z,1741754291.485 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2025-03-12T04:38:11.486Z,1741754291.486 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2025-03-12T04:38:11.487Z,1741754291.487 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2025-03-12T04:38:11.601Z,1741754291.601 [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>

2025-03-12T04:38:11.605Z,1741754291.605 [MissionManager](INFO): DefineArg sci2_flat_and_level:PowerOnly.SampleAll = 0 bool
2025-03-12T04:38:11.607Z,1741754291.607 [MissionManager](INFO): DefineArg sci2_flat_and_level:PowerOnly.SampleLoad1 = 0 bool
2025-03-12T04:38:11.609Z,1741754291.609 [MissionManager](INFO): DefineArg sci2_flat_and_level:PowerOnly.SampleLoad2 = 0 bool
2025-03-12T04:38:11.611Z,1741754291.611 [MissionManager](INFO): DefineArg sci2_flat_and_level:PowerOnly.SampleLoad3 = 0 bool
2025-03-12T04:38:11.613Z,1741754291.613 [MissionManager](INFO): DefineArg sci2_flat_and_level:PowerOnly.EnabledPowerOnly = 1 bool
2025-03-12T04:38:11.620Z,1741754291.620 [sci2_flat_and_level:PowerOnly:E.Wait](DEBUG): Construct Wait.
2025-03-12T04:38:11.698Z,1741754291.698 [sci2_flat_and_level:DiveCmd:InitialDive:dive:C.Mass](DEBUG): Construct.
2025-03-12T04:38:11.708Z,1741754291.708 [sci2_flat_and_level:DiveCmd:InitialDive:dive:D.Buoyancy](DEBUG): Construct Buoyancy.
2025-03-12T04:38:11.711Z,1741754291.711 [sci2_flat_and_level:DiveCmd:InitialDive:dive:F.Wait](DEBUG): Construct Wait.
2025-03-12T04:38:11.727Z,1741754291.727 [sci2_flat_and_level:DiveCmd:InitialDive:dive:ApproachDepth:A.SetSpeed](DEBUG): Construct.
2025-03-12T04:38:11.741Z,1741754291.741 [sci2_flat_and_level:DiveCmd:InitialDive:dive:ApproachDepth:B.Pitch](DEBUG): Construct.
2025-03-12T04:38:11.747Z,1741754291.747 [sci2_flat_and_level:DiveCmd:InitialDive:dive:ApproachDepth:B.Pitch:A_Timeout:B.Execute](DEBUG): Construct Execute.
2025-03-12T04:38:11.765Z,1741754291.765 [sci2_flat_and_level:DiveCmd:SettleAtDepth:dive:B.Pitch](DEBUG): Construct.
2025-03-12T04:38:11.769Z,1741754291.769 [sci2_flat_and_level:DiveCmd:SettleAtDepth:dive:C.Wait](DEBUG): Construct Wait.
2025-03-12T04:38:11.775Z,1741754291.775 [sci2_flat_and_level:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass](DEBUG): Construct.
2025-03-12T04:38:11.777Z,1741754291.777 [sci2_flat_and_level:DiveCmd:MaintainDepth:dive:ThrusterDive:B.Buoyancy](DEBUG): Construct Buoyancy.
2025-03-12T04:38:11.780Z,1741754291.780 [sci2_flat_and_level:DiveCmd:MaintainDepth:dive:SetSpeed:A.SetSpeed](DEBUG): Construct.
2025-03-12T04:38:11.784Z,1741754291.784 [sci2_flat_and_level:DiveCmd:MaintainDepth:dive:SetRollSpeed:A.SetRollSpeed](DEBUG): Construct.
2025-03-12T04:38:11.791Z,1741754291.791 [sci2_flat_and_level:DiveCmd:MaintainDepth:dive:D.Pitch](DEBUG): Construct.
2025-03-12T04:38:11.802Z,1741754291.802 [sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt1:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:38:11.819Z,1741754291.819 [sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt2:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:38:11.825Z,1741754291.825 [sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt3:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:38:11.832Z,1741754291.832 [sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt4:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:38:11.837Z,1741754291.837 [sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt5:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:38:11.843Z,1741754291.843 [sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt6:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:38:11.850Z,1741754291.850 [sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt7:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:38:11.882Z,1741754291.882 [sci2_flat_and_level:Lap:DepthByLap:Leg2:Wpt1:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:38:11.893Z,1741754291.893 [sci2_flat_and_level:Lap:DepthByLap:Leg2:Wpt2:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:38:11.901Z,1741754291.901 [sci2_flat_and_level:Lap:DepthByLap:Leg2:Wpt3:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:38:11.910Z,1741754291.910 [sci2_flat_and_level:Lap:DepthByLap:Leg2:Wpt4:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:38:11.927Z,1741754291.927 [sci2_flat_and_level:Lap:DepthByLap:Leg2:Wpt5:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:38:11.935Z,1741754291.935 [sci2_flat_and_level:Lap:DepthByLap:Leg2:Wpt6:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:38:11.943Z,1741754291.943 [sci2_flat_and_level:Lap:DepthByLap:Leg2:Wpt7:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:38:11.957Z,1741754291.957 [sci2_flat_and_level:Lap:DepthByLap:Leg3:Wpt1:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:38:11.972Z,1741754291.972 [sci2_flat_and_level:Lap:DepthByLap:Leg3:Wpt2:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:38:11.978Z,1741754291.978 [sci2_flat_and_level:Lap:DepthByLap:Leg3:Wpt3:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:38:11.983Z,1741754291.983 [sci2_flat_and_level:Lap:DepthByLap:Leg3:Wpt4:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:38:11.989Z,1741754291.989 [sci2_flat_and_level:Lap:DepthByLap:Leg3:Wpt5:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:38:11.994Z,1741754291.994 [sci2_flat_and_level:Lap:DepthByLap:Leg3:Wpt6:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:38:11.999Z,1741754291.999 [sci2_flat_and_level:Lap:DepthByLap:Leg3:Wpt7:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:38:12.008Z,1741754292.008 [sci2_flat_and_level:Lap:DepthByLap:Leg4:Wpt1:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:38:12.014Z,1741754292.014 [sci2_flat_and_level:Lap:DepthByLap:Leg4:Wpt2:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:38:12.030Z,1741754292.030 [sci2_flat_and_level:Lap:DepthByLap:Leg4:Wpt3:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:38:12.063Z,1741754292.063 [sci2_flat_and_level:Lap:DepthByLap:Leg4:Wpt4:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:38:12.101Z,1741754292.101 [sci2_flat_and_level:Lap:DepthByLap:Leg4:Wpt5:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:38:12.110Z,1741754292.110 [sci2_flat_and_level:Lap:DepthByLap:Leg4:Wpt6:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:38:12.140Z,1741754292.140 [sci2_flat_and_level:Lap:DepthByLap:Leg4:Wpt7:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:38:12.151Z,1741754292.151 [sci2_flat_and_level:Lap:DepthByLap:Leg5:Wpt1:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:38:12.157Z,1741754292.157 [sci2_flat_and_level:Lap:DepthByLap:Leg5:Wpt2:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:38:12.162Z,1741754292.162 [sci2_flat_and_level:Lap:DepthByLap:Leg5:Wpt3:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:38:12.167Z,1741754292.167 [sci2_flat_and_level:Lap:DepthByLap:Leg5:Wpt4:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:38:12.180Z,1741754292.180 [sci2_flat_and_level:Lap:DepthByLap:Leg5:Wpt5:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:38:12.186Z,1741754292.186 [sci2_flat_and_level:Lap:DepthByLap:Leg5:Wpt6:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:38:12.191Z,1741754292.191 [sci2_flat_and_level:Lap:DepthByLap:Leg5:Wpt7:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:38:12.200Z,1741754292.200 [sci2_flat_and_level:Lap:DepthByLap:Leg6:Wpt1:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:38:12.205Z,1741754292.205 [sci2_flat_and_level:Lap:DepthByLap:Leg6:Wpt2:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:38:12.211Z,1741754292.211 [sci2_flat_and_level:Lap:DepthByLap:Leg6:Wpt3:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:38:12.216Z,1741754292.216 [sci2_flat_and_level:Lap:DepthByLap:Leg6:Wpt4:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:38:12.221Z,1741754292.221 [sci2_flat_and_level:Lap:DepthByLap:Leg6:Wpt5:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:38:12.238Z,1741754292.238 [sci2_flat_and_level:Lap:DepthByLap:Leg6:Wpt6:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:38:12.243Z,1741754292.243 [sci2_flat_and_level:Lap:DepthByLap:Leg6:Wpt7:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:38:12.253Z,1741754292.253 [sci2_flat_and_level:Lap:DepthByLap:Leg7:Wpt1:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:38:12.258Z,1741754292.258 [sci2_flat_and_level:Lap:DepthByLap:Leg7:Wpt2:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:38:12.263Z,1741754292.263 [sci2_flat_and_level:Lap:DepthByLap:Leg7:Wpt3:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:38:12.271Z,1741754292.271 [sci2_flat_and_level:Lap:DepthByLap:Leg7:Wpt4:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:38:12.290Z,1741754292.290 [sci2_flat_and_level:Lap:DepthByLap:Leg7:Wpt5:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:38:12.295Z,1741754292.295 [sci2_flat_and_level:Lap:DepthByLap:Leg7:Wpt6:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:38:12.301Z,1741754292.301 [sci2_flat_and_level:Lap:DepthByLap:Leg7:Wpt7:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:38:12.310Z,1741754292.310 [sci2_flat_and_level:Lap:DepthByLap:Leg8:Wpt1:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:38:12.316Z,1741754292.316 [sci2_flat_and_level:Lap:DepthByLap:Leg8:Wpt2:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:38:12.321Z,1741754292.321 [sci2_flat_and_level:Lap:DepthByLap:Leg8:Wpt3:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:38:12.326Z,1741754292.326 [sci2_flat_and_level:Lap:DepthByLap:Leg8:Wpt4:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:38:12.343Z,1741754292.343 [sci2_flat_and_level:Lap:DepthByLap:Leg8:Wpt5:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:38:12.348Z,1741754292.348 [sci2_flat_and_level:Lap:DepthByLap:Leg8:Wpt6:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:38:12.354Z,1741754292.354 [sci2_flat_and_level:Lap:DepthByLap:Leg8:Wpt7:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:38:12.362Z,1741754292.362 [sci2_flat_and_level:Lap:DepthByLap:Leg9:Wpt1:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:38:12.368Z,1741754292.368 [sci2_flat_and_level:Lap:DepthByLap:Leg9:Wpt2:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:38:12.373Z,1741754292.373 [sci2_flat_and_level:Lap:DepthByLap:Leg9:Wpt3:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:38:12.378Z,1741754292.378 [sci2_flat_and_level:Lap:DepthByLap:Leg9:Wpt4:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:38:12.394Z,1741754292.394 [sci2_flat_and_level:Lap:DepthByLap:Leg9:Wpt5:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:38:12.399Z,1741754292.399 [sci2_flat_and_level:Lap:DepthByLap:Leg9:Wpt6:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:38:12.404Z,1741754292.404 [sci2_flat_and_level:Lap:DepthByLap:Leg9:Wpt7:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:38:12.413Z,1741754292.413 [sci2_flat_and_level:Lap:DepthByLap:Leg10:Wpt1:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:38:12.418Z,1741754292.418 [sci2_flat_and_level:Lap:DepthByLap:Leg10:Wpt2:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:38:12.423Z,1741754292.423 [sci2_flat_and_level:Lap:DepthByLap:Leg10:Wpt3:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:38:12.428Z,1741754292.428 [sci2_flat_and_level:Lap:DepthByLap:Leg10:Wpt4:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:38:12.497Z,1741754292.497 [sci2_flat_and_level:Lap:DepthByLap:Leg10:Wpt5:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:38:12.507Z,1741754292.507 [sci2_flat_and_level:Lap:DepthByLap:Leg10:Wpt6:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:38:12.520Z,1741754292.520 [sci2_flat_and_level:Lap:DepthByLap:Leg10:Wpt7:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:38:12.531Z,1741754292.531 [sci2_flat_and_level:Lap:DepthByLeg:Leg1:B.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:38:12.542Z,1741754292.542 [sci2_flat_and_level:Lap:DepthByLeg:Leg2:Wpt2:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:38:12.551Z,1741754292.551 [sci2_flat_and_level:Lap:DepthByLeg:Leg3:Wpt3:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:38:12.560Z,1741754292.560 [sci2_flat_and_level:Lap:DepthByLeg:Leg4:Wpt4:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:38:12.569Z,1741754292.569 [sci2_flat_and_level:Lap:DepthByLeg:Leg5:Wpt5:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:38:12.577Z,1741754292.577 [sci2_flat_and_level:Lap:DepthByLeg:Leg6:Wpt6:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:38:12.587Z,1741754292.587 [sci2_flat_and_level:Lap:DepthByLeg:Leg7:Wpt7:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T04:38:12.682Z,1741754292.682 [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_flat_and_level {
  """
  Vehicle transits to the specified waypoints at the commanded depth
  (flat-and-level) with science turned on.
  """

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

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

    Depth1 = 3 meter
      """
      Depth of flat and level flight during the mission for the first transit leg or lap
      """

    Depth[2..10] = NaN meter
      """
      Depth of flat and level flight during the mission for subsequent transit legs or laps
      Skipped if NaN.
      """

    Repeat = 1 count
      """
      Number of times the vehicle should try to cycle through waypoints and depths.
      By default, one run of all waypoints at all target depths is one repetition.
      Set DepthPerLeg to true to change depths between waypoints instead.
      """

    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).
      Note: cannot use depths 7-10 in depth-per-leg mode (yes, it's weird, sorry)
      """

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

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

    Speed = 1 meter_per_second
      """
      Speed while transiting to waypoints. Used as starting speed if RollOptimizeSpeed is true.
      """

    RollOptimizeSpeed = false
      """
      If true, optimize speed based on roll angle.
      """

    TargetRollAngle = 0 degree
      """
      Target roll angle for roll speed optimization.
      """

    RollError = 2 degree
      """
      Error tolerance for roll angle during speed optimization.
      """

    MaxRollSpeed = 1.1 meter_per_second
      """
      Maximum speed for roll speed optimization.
      """

    MinRollSpeed = 0.6 meter_per_second
      """
      Minimum speed for roll speed optimization.
      """

    RollWindowLen = 5 minute
      """
      Time window for roll speed optimization.
      """

    RollInitStep = 0.1 degree
      """
      Initial step size for roll speed optimization.
      """

    RollMinStep = 0.025 degree
      """
      Minimum step size for roll speed optimization.
      """

    RollVerbose = true
      """
      Enable verbose logging for roll speed optimization.
      """

    ApproachDepth = 2 meter
      """
      Depth for initial descent form the surface.
      """

    ApproachSpeed = 0.7 meter_per_second
      """
      Speed while descending to target depth. Used regardless of RollOptimizeSpeed.
      """

    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).
      """

    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 = 15 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 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

  insert Insert/PowerOnly.tl

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

    assign in sequence DiveMode = DoingComms

    call refId="NeedComms"

    assign in sequence DiveMode = InitialDive
  }

  assign in sequence LegDepth = Depth1

  aggregate DiveCmd {
    """
    Called when the vehicle should be underwater. Arbitrates between 3
    dive modes: 1) descend from the surface to initial depth. 2) settle
    at target depth using the VB. 3) cruise at target depth.
    """

    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 vechile 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 = ApproachDepth
        }

        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 )

      aggregate dive {
        run in parallel

        aggregate ThrusterDive {
          run while ( Speed > 0.0 meter_per_second )

          behavior Guidance:Mass {
            run in parallel

            set position = MassDefault
          }

          behavior Guidance:Buoyancy {
            run in parallel

            set position = BuoyancyNeutral
          }
        }

        aggregate SetSpeed {
          run in sequence

          break if ( RollOptimizeSpeed )

          behavior Guidance:SetSpeed {
            run in parallel

            set speed = Speed
          }
        }

        aggregate SetRollSpeed {
          run in sequence

          break if ( not RollOptimizeSpeed )

          behavior Guidance:SetRollSpeed {
            run in parallel

            set targetRoll = TargetRollAngle
            set rollError = RollError
            set maxSpeed = MaxRollSpeed
            set startSpeed = Speed
            set minSpeed = MinRollSpeed
            set estimationWindow = RollWindowLen
            set initStep = RollInitStep
            set minStep = RollMinStep
            set verbose = RollVerbose
          }
        }

        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 )

      aggregate Leg1 {
        run in sequence

        assign in sequence LegDepth = Depth1

        macro $i = 1..7 {
          aggregate Wpt$i {
            run in sequence

            behavior Guidance:Waypoint {
              run in sequence

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

      macro $j = 2..10 {
        aggregate Leg$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 $i = 1..7 {
            aggregate Wpt$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 $i = 2..7 {
        aggregate Leg$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]
            }
          }
        }
      }
    }
  }
}


2025-03-12T04:38:12.685Z,1741754292.685 [CommandExec](IMPORTANT): Loaded ./Missions/Science/sci2_flat_and_level.tl id=sci2_flat_and_level
2025-03-12T04:38:37.025Z,1741754317.025 [CommandExec](IMPORTANT): got command set sci2_flat_and_level.MissionTimeout 0.5 hour
2025-03-12T04:38:37.026Z,1741754317.026 [CommandExec](IMPORTANT): got command set sci2_flat_and_level.Depth1 30 meter
2025-03-12T04:38:37.026Z,1741754317.026 [CommandExec](IMPORTANT): got command set sci2_flat_and_level.Lat1 36.797 degree
2025-03-12T04:38:37.027Z,1741754317.027 [CommandExec](IMPORTANT): got command set sci2_flat_and_level.Lon1 -121.847 degree
2025-03-12T04:38:44.117Z,1741754324.117 [CommandExec](IMPORTANT): got command set sci2_flat_and_level.MaxDepth 40 meter
2025-03-12T04:38:44.117Z,1741754324.117 [CommandExec](IMPORTANT): got command run
2025-03-12T04:38:44.119Z,1741754324.119 [CommandExec](IMPORTANT): Running 
2025-03-12T04:38:44.398Z,1741754324.398 [Default] Stopped
2025-03-12T04:38:44.398Z,1741754324.398 [Default](DEBUG): Aggregate::uninitialize Default
2025-03-12T04:38:44.398Z,1741754324.398 [Default:B.GoToSurface] Stopped
2025-03-12T04:38:44.398Z,1741754324.398 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-03-12T04:38:44.398Z,1741754324.398 [Default:CheckIn] Stopped
2025-03-12T04:38:44.398Z,1741754324.398 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-03-12T04:38:44.398Z,1741754324.398 [Default:CheckIn:C.Wait] Stopped
2025-03-12T04:38:44.399Z,1741754324.399 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2025-03-12T04:38:44.399Z,1741754324.399 [MissionManager](IMPORTANT): Started mission sci2_flat_and_level
2025-03-12T04:38:44.399Z,1741754324.399 [sci2_flat_and_level] Running Loop=1
2025-03-12T04:38:44.399Z,1741754324.399 [sci2_flat_and_level](DEBUG): Aggregate::initialize sci2_flat_and_level
2025-03-12T04:38:44.399Z,1741754324.399 [sci2_flat_and_level:Science] Running Loop=1
2025-03-12T04:38:44.399Z,1741754324.399 [sci2_flat_and_level:Science](DEBUG): Aggregate::initialize sci2_flat_and_level:Science
2025-03-12T04:38:44.399Z,1741754324.399 [sci2_flat_and_level:Science:A] Running Loop=1
2025-03-12T04:38:44.399Z,1741754324.399 [sci2_flat_and_level:Science:B] Running Loop=1
2025-03-12T04:38:44.399Z,1741754324.399 [sci2_flat_and_level:Science:C] Running Loop=1
2025-03-12T04:38:44.400Z,1741754324.400 [sci2_flat_and_level:Science:D] Running Loop=1
2025-03-12T04:38:44.400Z,1741754324.400 [sci2_flat_and_level:Science:E] Running Loop=1
2025-03-12T04:38:44.400Z,1741754324.400 [sci2_flat_and_level:Science:F] Running Loop=1
2025-03-12T04:38:44.400Z,1741754324.400 [sci2_flat_and_level:Science:Read_Oil] Running Loop=1
2025-03-12T04:38:44.400Z,1741754324.400 [sci2_flat_and_level:Science:PeakDetectChl] Running Loop=1
2025-03-12T04:38:44.400Z,1741754324.400 [sci2_flat_and_level:Science:PeakDetectChl](DEBUG): Aggregate::initialize sci2_flat_and_level:Science:PeakDetectChl
2025-03-12T04:38:44.400Z,1741754324.400 [sci2_flat_and_level:Science:PeakDetectChl:A] Running Loop=1
2025-03-12T04:38:44.400Z,1741754324.400 [sci2_flat_and_level:Science:EdgeDetectChl] Running Loop=1
2025-03-12T04:38:44.400Z,1741754324.400 [sci2_flat_and_level:Science:EdgeDetectChl](DEBUG): Aggregate::initialize sci2_flat_and_level:Science:EdgeDetectChl
2025-03-12T04:38:44.401Z,1741754324.401 [sci2_flat_and_level:Science:EdgeDetectChl:A] Running Loop=1
2025-03-12T04:38:44.401Z,1741754324.401 [sci2_flat_and_level:Science:HighestChlPeakReport] Running Loop=1
2025-03-12T04:38:44.401Z,1741754324.401 [sci2_flat_and_level:Science:HighestChlPeakReport](DEBUG): Aggregate::initialize sci2_flat_and_level:Science:HighestChlPeakReport
2025-03-12T04:38:44.401Z,1741754324.401 [sci2_flat_and_level:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-03-12T04:38:44.401Z,1741754324.401 [sci2_flat_and_level:Science:HighestChlPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-03-12T04:38:44.401Z,1741754324.401 [sci2_flat_and_level:Science:PeakDetectNO3] Running Loop=1
2025-03-12T04:38:44.402Z,1741754324.402 [sci2_flat_and_level:Science:PeakDetectNO3](DEBUG): Aggregate::initialize sci2_flat_and_level:Science:PeakDetectNO3
2025-03-12T04:38:44.402Z,1741754324.402 [sci2_flat_and_level:Science:PeakDetectNO3:A] Running Loop=1
2025-03-12T04:38:44.402Z,1741754324.402 [sci2_flat_and_level:Science:PeakDetectOil] Running Loop=1
2025-03-12T04:38:44.402Z,1741754324.402 [sci2_flat_and_level:Science:PeakDetectOil](DEBUG): Aggregate::initialize sci2_flat_and_level:Science:PeakDetectOil
2025-03-12T04:38:44.402Z,1741754324.402 [sci2_flat_and_level:Science:PeakDetectOil:A] Running Loop=1
2025-03-12T04:38:44.402Z,1741754324.402 [sci2_flat_and_level:Science:HighestOilPeakReport] Running Loop=1
2025-03-12T04:38:44.402Z,1741754324.402 [sci2_flat_and_level:Science:HighestOilPeakReport](DEBUG): Aggregate::initialize sci2_flat_and_level:Science:HighestOilPeakReport
2025-03-12T04:38:44.402Z,1741754324.402 [sci2_flat_and_level:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-03-12T04:38:44.402Z,1741754324.402 [sci2_flat_and_level:Science:HighestOilPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-03-12T04:38:44.403Z,1741754324.403 [sci2_flat_and_level:Science:PeakDetectFDOM] Running Loop=1
2025-03-12T04:38:44.403Z,1741754324.403 [sci2_flat_and_level:Science:PeakDetectFDOM](DEBUG): Aggregate::initialize sci2_flat_and_level:Science:PeakDetectFDOM
2025-03-12T04:38:44.403Z,1741754324.403 [sci2_flat_and_level:Science:PeakDetectFDOM:A] Running Loop=1
2025-03-12T04:38:44.403Z,1741754324.403 [sci2_flat_and_level:Science:PeakDetectSalinity] Running Loop=1
2025-03-12T04:38:44.403Z,1741754324.403 [sci2_flat_and_level:Science:PeakDetectSalinity](DEBUG): Aggregate::initialize sci2_flat_and_level:Science:PeakDetectSalinity
2025-03-12T04:38:44.403Z,1741754324.403 [sci2_flat_and_level:Science:PeakDetectSalinity:A] Running Loop=1
2025-03-12T04:38:44.403Z,1741754324.403 [sci2_flat_and_level:Science:HighestSaltPeakReport] Running Loop=1
2025-03-12T04:38:44.403Z,1741754324.403 [sci2_flat_and_level:Science:HighestSaltPeakReport](DEBUG): Aggregate::initialize sci2_flat_and_level:Science:HighestSaltPeakReport
2025-03-12T04:38:44.404Z,1741754324.404 [sci2_flat_and_level:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-03-12T04:38:44.404Z,1741754324.404 [sci2_flat_and_level:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-03-12T04:38:44.405Z,1741754324.405 [sci2_flat_and_level:Science:PeakDetectPlanktivoreLMavgROI] Running Loop=1
2025-03-12T04:38:44.405Z,1741754324.405 [sci2_flat_and_level:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::initialize sci2_flat_and_level:Science:PeakDetectPlanktivoreLMavgROI
2025-03-12T04:38:44.405Z,1741754324.405 [sci2_flat_and_level:Science:PeakDetectPlanktivoreLMavgROI:A] Running Loop=1
2025-03-12T04:38:44.405Z,1741754324.405 [sci2_flat_and_level:Science:EdgeDetectPlanktivoreLMavgROI] Running Loop=1
2025-03-12T04:38:44.405Z,1741754324.405 [sci2_flat_and_level:Science:EdgeDetectPlanktivoreLMavgROI](DEBUG): Aggregate::initialize sci2_flat_and_level:Science:EdgeDetectPlanktivoreLMavgROI
2025-03-12T04:38:44.405Z,1741754324.405 [sci2_flat_and_level:Science:EdgeDetectPlanktivoreLMavgROI:A] Running Loop=1
2025-03-12T04:38:44.405Z,1741754324.405 [sci2_flat_and_level:Science:PeakDetectPlanktivoreHMavgROI] Running Loop=1
2025-03-12T04:38:44.406Z,1741754324.406 [sci2_flat_and_level:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::initialize sci2_flat_and_level:Science:PeakDetectPlanktivoreHMavgROI
2025-03-12T04:38:44.406Z,1741754324.406 [sci2_flat_and_level:Science:PeakDetectPlanktivoreHMavgROI:A] Running Loop=1
2025-03-12T04:38:44.406Z,1741754324.406 [sci2_flat_and_level:Science:PeakDetectPlanktivoreDiatoms] Running Loop=1
2025-03-12T04:38:44.406Z,1741754324.406 [sci2_flat_and_level:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::initialize sci2_flat_and_level:Science:PeakDetectPlanktivoreDiatoms
2025-03-12T04:38:44.406Z,1741754324.406 [sci2_flat_and_level:Science:PeakDetectPlanktivoreDiatoms:A] Running Loop=1
2025-03-12T04:38:44.406Z,1741754324.406 [sci2_flat_and_level:Science:PeakDetectPlanktivoreDinoflagellates] Running Loop=1
2025-03-12T04:38:44.407Z,1741754324.407 [sci2_flat_and_level:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::initialize sci2_flat_and_level:Science:PeakDetectPlanktivoreDinoflagellates
2025-03-12T04:38:44.407Z,1741754324.407 [sci2_flat_and_level:Science:PeakDetectPlanktivoreDinoflagellates:A] Running Loop=1
2025-03-12T04:38:44.407Z,1741754324.407 [sci2_flat_and_level:Science:ChlThreshTrigger] Running Loop=1
2025-03-12T04:38:44.407Z,1741754324.407 [sci2_flat_and_level:Science:ChlThreshTrigger](DEBUG): Aggregate::initialize sci2_flat_and_level:Science:ChlThreshTrigger
2025-03-12T04:38:44.407Z,1741754324.407 [sci2_flat_and_level:Science:ChlThreshTrigger:A.ValueDetect] Running Loop=1
2025-03-12T04:38:44.407Z,1741754324.407 [sci2_flat_and_level:Science:ChlThreshTrigger:A.ValueDetect](INFO): Initialize.
2025-03-12T04:38:44.407Z,1741754324.407 [sci2_flat_and_level:Science:OceanCurrent] Running Loop=1
2025-03-12T04:38:44.408Z,1741754324.408 [sci2_flat_and_level:Science:OceanCurrent](DEBUG): Aggregate::initialize sci2_flat_and_level:Science:OceanCurrent
2025-03-12T04:38:44.408Z,1741754324.408 [sci2_flat_and_level:Science:OceanCurrent:A.] Running Loop=1
2025-03-12T04:38:44.408Z,1741754324.408 [sci2_flat_and_level:Science:OceanCurrent:A.](INFO): Initializing CurrentEstimator.
2025-03-12T04:38:44.408Z,1741754324.408 [sci2_flat_and_level:StandardEnvelopes] Running Loop=1
2025-03-12T04:38:44.408Z,1741754324.408 [sci2_flat_and_level:StandardEnvelopes](DEBUG): Aggregate::initialize sci2_flat_and_level:StandardEnvelopes
2025-03-12T04:38:44.408Z,1741754324.408 [sci2_flat_and_level:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-03-12T04:38:44.408Z,1741754324.408 [sci2_flat_and_level:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-03-12T04:38:44.409Z,1741754324.409 [sci2_flat_and_level:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-03-12T04:38:44.409Z,1741754324.409 [sci2_flat_and_level:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-03-12T04:38:44.409Z,1741754324.409 [sci2_flat_and_level:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-03-12T04:38:44.409Z,1741754324.409 [sci2_flat_and_level:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-03-12T04:38:44.409Z,1741754324.409 [sci2_flat_and_level:BackseatDriver] Running Loop=1
2025-03-12T04:38:44.409Z,1741754324.409 [sci2_flat_and_level:BackseatDriver](DEBUG): Aggregate::initialize sci2_flat_and_level:BackseatDriver
2025-03-12T04:38:44.409Z,1741754324.409 [sci2_flat_and_level:BackseatDriver:A.BackseatDriver] Running Loop=1
2025-03-12T04:38:44.409Z,1741754324.409 [sci2_flat_and_level:PowerOnly] Running Loop=1
2025-03-12T04:38:44.409Z,1741754324.409 [sci2_flat_and_level:PowerOnly](DEBUG): Aggregate::initialize sci2_flat_and_level:PowerOnly
2025-03-12T04:38:44.409Z,1741754324.409 [sci2_flat_and_level:PowerOnly:A] Running Loop=1
2025-03-12T04:38:44.409Z,1741754324.409 [sci2_flat_and_level:PowerOnly:B] Running Loop=1
2025-03-12T04:38:44.410Z,1741754324.410 [sci2_flat_and_level:PowerOnly:C] Running Loop=1
2025-03-12T04:38:44.410Z,1741754324.410 [sci2_flat_and_level:PowerOnly:D] Running Loop=1
2025-03-12T04:38:44.410Z,1741754324.410 [sci2_flat_and_level:PowerOnly:E.Wait] Running Loop=1
2025-03-12T04:38:44.410Z,1741754324.410 [sci2_flat_and_level:PowerOnly:E.Wait](DEBUG): Initialize Wait Component.
2025-03-12T04:38:44.410Z,1741754324.410 [sci2_flat_and_level:C] Running Loop=1
2025-03-12T04:38:44.411Z,1741754324.411 [sci2_flat_and_level:PowerOnly] Running Loop=1
2025-03-12T04:38:44.411Z,1741754324.411 [sci2_flat_and_level:PowerOnly:D] Stopped
2025-03-12T04:38:44.412Z,1741754324.412 [sci2_flat_and_level:PowerOnly:C] Stopped
2025-03-12T04:38:44.412Z,1741754324.412 [sci2_flat_and_level:PowerOnly:B] Stopped
2025-03-12T04:38:44.412Z,1741754324.412 [sci2_flat_and_level:PowerOnly:A] Stopped
2025-03-12T04:38:44.412Z,1741754324.412 [sci2_flat_and_level:BackseatDriver] Running Loop=1
2025-03-12T04:38:44.412Z,1741754324.412 [sci2_flat_and_level:C] Stopped
2025-03-12T04:38:44.413Z,1741754324.413 [sci2_flat_and_level:D] Running Loop=1
2025-03-12T04:38:44.413Z,1741754324.413 [sci2_flat_and_level:StandardEnvelopes] Running Loop=1
2025-03-12T04:38:44.413Z,1741754324.413 [sci2_flat_and_level:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-03-12T04:38:44.413Z,1741754324.413 [sci2_flat_and_level:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-03-12T04:38:44.413Z,1741754324.413 [sci2_flat_and_level:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-03-12T04:38:44.414Z,1741754324.414 [sci2_flat_and_level:Science] Running Loop=1
2025-03-12T04:38:44.415Z,1741754324.415 [sci2_flat_and_level:Science:ChlThreshTrigger] Stopped
2025-03-12T04:38:44.415Z,1741754324.415 [sci2_flat_and_level:Science:ChlThreshTrigger](DEBUG): Aggregate::uninitialize sci2_flat_and_level:Science:ChlThreshTrigger
2025-03-12T04:38:44.415Z,1741754324.415 [sci2_flat_and_level:Science:ChlThreshTrigger:A.ValueDetect] Stopped
2025-03-12T04:38:44.415Z,1741754324.415 [sci2_flat_and_level:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Uninitialize.
2025-03-12T04:38:44.415Z,1741754324.415 [sci2_flat_and_level:Science:PeakDetectPlanktivoreDinoflagellates] Stopped
2025-03-12T04:38:44.415Z,1741754324.415 [sci2_flat_and_level:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::uninitialize sci2_flat_and_level:Science:PeakDetectPlanktivoreDinoflagellates
2025-03-12T04:38:44.416Z,1741754324.416 [sci2_flat_and_level:Science:PeakDetectPlanktivoreDinoflagellates:A] Stopped
2025-03-12T04:38:44.416Z,1741754324.416 [sci2_flat_and_level:Science:PeakDetectPlanktivoreDiatoms] Stopped
2025-03-12T04:38:44.416Z,1741754324.416 [sci2_flat_and_level:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::uninitialize sci2_flat_and_level:Science:PeakDetectPlanktivoreDiatoms
2025-03-12T04:38:44.416Z,1741754324.416 [sci2_flat_and_level:Science:PeakDetectPlanktivoreDiatoms:A] Stopped
2025-03-12T04:38:44.416Z,1741754324.416 [sci2_flat_and_level:Science:PeakDetectPlanktivoreHMavgROI] Stopped
2025-03-12T04:38:44.416Z,1741754324.416 [sci2_flat_and_level:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::uninitialize sci2_flat_and_level:Science:PeakDetectPlanktivoreHMavgROI
2025-03-12T04:38:44.416Z,1741754324.416 [sci2_flat_and_level:Science:PeakDetectPlanktivoreHMavgROI:A] Stopped
2025-03-12T04:38:44.416Z,1741754324.416 [sci2_flat_and_level:Science:EdgeDetectPlanktivoreLMavgROI] Stopped
2025-03-12T04:38:44.416Z,1741754324.416 [sci2_flat_and_level:Science:EdgeDetectPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize sci2_flat_and_level:Science:EdgeDetectPlanktivoreLMavgROI
2025-03-12T04:38:44.416Z,1741754324.416 [sci2_flat_and_level:Science:EdgeDetectPlanktivoreLMavgROI:A] Stopped
2025-03-12T04:38:44.417Z,1741754324.417 [sci2_flat_and_level:Science:PeakDetectPlanktivoreLMavgROI] Stopped
2025-03-12T04:38:44.417Z,1741754324.417 [sci2_flat_and_level:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize sci2_flat_and_level:Science:PeakDetectPlanktivoreLMavgROI
2025-03-12T04:38:44.417Z,1741754324.417 [sci2_flat_and_level:Science:PeakDetectPlanktivoreLMavgROI:A] Stopped
2025-03-12T04:38:44.417Z,1741754324.417 [sci2_flat_and_level:Science:HighestSaltPeakReport] Stopped
2025-03-12T04:38:44.417Z,1741754324.417 [sci2_flat_and_level:Science:HighestSaltPeakReport](DEBUG): Aggregate::uninitialize sci2_flat_and_level:Science:HighestSaltPeakReport
2025-03-12T04:38:44.417Z,1741754324.417 [sci2_flat_and_level:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Stopped
2025-03-12T04:38:44.417Z,1741754324.417 [sci2_flat_and_level:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-03-12T04:38:44.417Z,1741754324.417 [sci2_flat_and_level:Science:PeakDetectSalinity] Stopped
2025-03-12T04:38:44.417Z,1741754324.417 [sci2_flat_and_level:Science:PeakDetectSalinity](DEBUG): Aggregate::uninitialize sci2_flat_and_level:Science:PeakDetectSalinity
2025-03-12T04:38:44.417Z,1741754324.417 [sci2_flat_and_level:Science:PeakDetectSalinity:A] Stopped
2025-03-12T04:38:44.417Z,1741754324.417 [sci2_flat_and_level:Science:PeakDetectFDOM] Stopped
2025-03-12T04:38:44.417Z,1741754324.417 [sci2_flat_and_level:Science:PeakDetectFDOM](DEBUG): Aggregate::uninitialize sci2_flat_and_level:Science:PeakDetectFDOM
2025-03-12T04:38:44.417Z,1741754324.417 [sci2_flat_and_level:Science:PeakDetectFDOM:A] Stopped
2025-03-12T04:38:44.418Z,1741754324.418 [sci2_flat_and_level:Science:HighestOilPeakReport] Stopped
2025-03-12T04:38:44.418Z,1741754324.418 [sci2_flat_and_level:Science:HighestOilPeakReport](DEBUG): Aggregate::uninitialize sci2_flat_and_level:Science:HighestOilPeakReport
2025-03-12T04:38:44.418Z,1741754324.418 [sci2_flat_and_level:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Stopped
2025-03-12T04:38:44.418Z,1741754324.418 [sci2_flat_and_level:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-03-12T04:38:44.418Z,1741754324.418 [sci2_flat_and_level:Science:PeakDetectOil] Stopped
2025-03-12T04:38:44.418Z,1741754324.418 [sci2_flat_and_level:Science:PeakDetectOil](DEBUG): Aggregate::uninitialize sci2_flat_and_level:Science:PeakDetectOil
2025-03-12T04:38:44.418Z,1741754324.418 [sci2_flat_and_level:Science:PeakDetectOil:A] Stopped
2025-03-12T04:38:44.418Z,1741754324.418 [sci2_flat_and_level:Science:PeakDetectNO3] Stopped
2025-03-12T04:38:44.418Z,1741754324.418 [sci2_flat_and_level:Science:PeakDetectNO3](DEBUG): Aggregate::uninitialize sci2_flat_and_level:Science:PeakDetectNO3
2025-03-12T04:38:44.418Z,1741754324.418 [sci2_flat_and_level:Science:PeakDetectNO3:A] Stopped
2025-03-12T04:38:44.418Z,1741754324.418 [sci2_flat_and_level:Science:HighestChlPeakReport] Stopped
2025-03-12T04:38:44.418Z,1741754324.418 [sci2_flat_and_level:Science:HighestChlPeakReport](DEBUG): Aggregate::uninitialize sci2_flat_and_level:Science:HighestChlPeakReport
2025-03-12T04:38:44.419Z,1741754324.419 [sci2_flat_and_level:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Stopped
2025-03-12T04:38:44.419Z,1741754324.419 [sci2_flat_and_level:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-03-12T04:38:44.419Z,1741754324.419 [sci2_flat_and_level:Science:EdgeDetectChl] Stopped
2025-03-12T04:38:44.419Z,1741754324.419 [sci2_flat_and_level:Science:EdgeDetectChl](DEBUG): Aggregate::uninitialize sci2_flat_and_level:Science:EdgeDetectChl
2025-03-12T04:38:44.419Z,1741754324.419 [sci2_flat_and_level:Science:EdgeDetectChl:A] Stopped
2025-03-12T04:38:44.419Z,1741754324.419 [sci2_flat_and_level:Science:PeakDetectChl] Stopped
2025-03-12T04:38:44.419Z,1741754324.419 [sci2_flat_and_level:Science:PeakDetectChl](DEBUG): Aggregate::uninitialize sci2_flat_and_level:Science:PeakDetectChl
2025-03-12T04:38:44.419Z,1741754324.419 [sci2_flat_and_level:Science:PeakDetectChl:A] Stopped
2025-03-12T04:38:44.419Z,1741754324.419 [sci2_flat_and_level:Science:OceanCurrent:A.] Running Loop=1
2025-03-12T04:38:44.419Z,1741754324.419 [sci2_flat_and_level:Science:Read_Oil] Stopped
2025-03-12T04:38:44.419Z,1741754324.419 [sci2_flat_and_level:Science:F] Stopped
2025-03-12T04:38:44.419Z,1741754324.419 [sci2_flat_and_level:Science:E] Running Loop=1
2025-03-12T04:38:44.420Z,1741754324.420 [sci2_flat_and_level:Science:E](DEBUG): Initialize ReadDataComponent to sense mass_concentration_of_chlorophyll_in_sea_water
2025-03-12T04:38:44.420Z,1741754324.420 [sci2_flat_and_level:Science:D] Stopped
2025-03-12T04:38:44.420Z,1741754324.420 [sci2_flat_and_level:Science:C] Running Loop=1
2025-03-12T04:38:44.421Z,1741754324.421 [sci2_flat_and_level:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_temperature
2025-03-12T04:38:44.421Z,1741754324.421 [sci2_flat_and_level:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_salinity
2025-03-12T04:38:44.421Z,1741754324.421 [sci2_flat_and_level:Science:B] Running Loop=1
2025-03-12T04:38:44.422Z,1741754324.422 [sci2_flat_and_level:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_temperature
2025-03-12T04:38:44.422Z,1741754324.422 [sci2_flat_and_level:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_salinity
2025-03-12T04:38:44.422Z,1741754324.422 [sci2_flat_and_level:Science:A] Stopped
2025-03-12T04:38:44.819Z,1741754324.819 [sci2_flat_and_level:D] Stopped
2025-03-12T04:38:44.819Z,1741754324.819 [sci2_flat_and_level:E] Running Loop=1
2025-03-12T04:38:44.909Z,1741754324.909 [WetLabsBB2FL](INFO): Powering up
2025-03-12T04:38:45.205Z,1741754325.205 [sci2_flat_and_level:E] Stopped
2025-03-12T04:38:45.205Z,1741754325.205 [sci2_flat_and_level:G] Running Loop=1
2025-03-12T04:38:45.605Z,1741754325.605 [sci2_flat_and_level:G] Stopped
2025-03-12T04:38:45.606Z,1741754325.606 [sci2_flat_and_level:H] Running Loop=1
2025-03-12T04:38:46.029Z,1741754326.029 [sci2_flat_and_level:H] Stopped
2025-03-12T04:38:46.029Z,1741754326.029 [sci2_flat_and_level:L] Running Loop=1
2025-03-12T04:38:46.415Z,1741754326.415 [sci2_flat_and_level:L] Stopped
2025-03-12T04:38:46.415Z,1741754326.415 [sci2_flat_and_level:StartingMission] Running Loop=1
2025-03-12T04:38:46.415Z,1741754326.415 [sci2_flat_and_level:StartingMission](DEBUG): Aggregate::initialize sci2_flat_and_level:StartingMission
2025-03-12T04:38:46.840Z,1741754326.840 [sci2_flat_and_level:SurfaceComms] Running Loop=1
2025-03-12T04:38:46.840Z,1741754326.840 [sci2_flat_and_level:SurfaceComms](DEBUG): Aggregate::initialize sci2_flat_and_level:SurfaceComms
2025-03-12T04:38:46.840Z,1741754326.840 [sci2_flat_and_level:SurfaceComms:A] Running Loop=1
2025-03-12T04:38:46.841Z,1741754326.841 [sci2_flat_and_level:SurfaceComms:A] Stopped
2025-03-12T04:38:46.841Z,1741754326.841 [sci2_flat_and_level:SurfaceComms:B] Running Loop=1
2025-03-12T04:38:46.841Z,1741754326.841 [sci2_flat_and_level:SurfaceComms:B](DEBUG): Aggregate::initialize sci2_flat_and_level:SurfaceComms:B
2025-03-12T04:38:47.228Z,1741754327.228 [sci2_flat_and_level:NeedComms] Running Loop=1
2025-03-12T04:38:47.228Z,1741754327.228 [sci2_flat_and_level:NeedComms](DEBUG): Aggregate::initialize sci2_flat_and_level:NeedComms
2025-03-12T04:38:47.228Z,1741754327.228 [sci2_flat_and_level:NeedComms:B.GoToSurface] Running Loop=1
2025-03-12T04:38:47.228Z,1741754327.228 [sci2_flat_and_level:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-03-12T04:38:47.229Z,1741754327.229 [sci2_flat_and_level:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-03-12T04:38:47.229Z,1741754327.229 [sci2_flat_and_level:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-03-12T04:38:47.229Z,1741754327.229 [sci2_flat_and_level:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-03-12T04:38:47.230Z,1741754327.230 [sci2_flat_and_level:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-03-12T04:38:47.230Z,1741754327.230 [sci2_flat_and_level:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-03-12T04:38:47.230Z,1741754327.230 [sci2_flat_and_level:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-03-12T04:38:47.231Z,1741754327.231 [sci2_flat_and_level:NeedComms:A] Running Loop=1
2025-03-12T04:38:47.232Z,1741754327.232 [sci2_flat_and_level:NeedComms:A](INFO): last time_fix was:  1741754059.000000 second since 1970/01/01T00:00:00Z 
2025-03-12T04:38:47.232Z,1741754327.232 [sci2_flat_and_level:NeedComms:A] Stopped
2025-03-12T04:38:47.662Z,1741754327.662 [sci2_flat_and_level:NeedComms:C] Running Loop=1
2025-03-12T04:38:47.745Z,1741754327.745 [CTD_Seabird](ERROR): Failed to parse device response: <!--startlogging-->
2025-03-12T04:38:48.036Z,1741754328.036 [sci2_flat_and_level:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-03-12T04:38:49.673Z,1741754329.673 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,043844.00,A,3647.89436,N,12151.55422,W,0.525,229.11,120325,,,D*7E
2025-03-12T04:38:49.675Z,1741754329.675 [NAL9602](INFO): GPS fix at 20250312T043844: (36.798239, -121.859237)
2025-03-12T04:38:49.694Z,1741754329.694 [sci2_flat_and_level:NeedComms:C] Stopped
2025-03-12T04:38:49.694Z,1741754329.694 [sci2_flat_and_level:NeedComms:D] Running Loop=1
2025-03-12T04:38:50.073Z,1741754330.073 [sci2_flat_and_level:NeedComms:D](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-03-12T04:38:53.769Z,1741754333.769 [CTD_Seabird](ERROR): Failed to parse device response: 78,5367.06
2025-03-12T04:38:57.006Z,1741754337.006 [sci2_flat_and_level:StandardEnvelopes:A.AltitudeEnvelope](IMPORTANT): Altitude envelope ACTIVE
2025-03-12T04:38:58.156Z,1741754338.156 [DataOverHttps](INFO): Sending 75 bytes from file Logs/20250312T040137/Courier0019.lzma
2025-03-12T04:38:59.158Z,1741754339.158 [DataOverHttps](INFO): Moved sent file to Logs/20250312T040137/Courier0019.lzma.bak
2025-03-12T04:38:59.158Z,1741754339.158 [DataOverHttps](INFO): SBD MOMSN=24182347
2025-03-12T04:39:07.890Z,1741754347.890 [NAL9602](INFO): SBD MO Status=0, MOMSN=18949, MT Status=0, MTMSN=0
2025-03-12T04:39:07.891Z,1741754347.891 [NAL9602](INFO): No messages in MT queue
2025-03-12T04:39:16.558Z,1741754356.558 [DataOverHttps](INFO): Sending 744 bytes from file Logs/20250312T040137/Express0020.lzma
2025-03-12T04:39:17.558Z,1741754357.558 [DataOverHttps](INFO): Moved sent file to Logs/20250312T040137/Express0020.lzma.bak
2025-03-12T04:39:17.558Z,1741754357.558 [DataOverHttps](INFO): SBD MOMSN=24182350
2025-03-12T04:39:34.656Z,1741754374.656 [DataOverHttps](INFO): Sending 63 bytes from file Logs/20250312T040137/Express0023.lzma
2025-03-12T04:39:35.658Z,1741754375.658 [DataOverHttps](INFO): Moved sent file to Logs/20250312T040137/Express0023.lzma.bak
2025-03-12T04:39:35.658Z,1741754375.658 [DataOverHttps](INFO): SBD MOMSN=24182374
2025-03-12T04:39:36.999Z,1741754376.999 [sci2_flat_and_level:NeedComms:D] Stopped
2025-03-12T04:39:36.999Z,1741754376.999 [sci2_flat_and_level:NeedComms:E] Running Loop=1
2025-03-12T04:39:37.426Z,1741754377.426 [sci2_flat_and_level:NeedComms:E](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-03-12T04:39:38.987Z,1741754378.987 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,043934.00,A,3647.89398,N,12151.55911,W,0.175,354.81,120325,,,D*75
2025-03-12T04:39:38.998Z,1741754378.998 [NAL9602](INFO): GPS fix at 20250312T043934: (36.798233, -121.859319)
2025-03-12T04:39:39.042Z,1741754379.042 [sci2_flat_and_level:NeedComms:E] Stopped
2025-03-12T04:39:39.042Z,1741754379.042 [sci2_flat_and_level:NeedComms](INFO): Completed sci2_flat_and_level:NeedComms
2025-03-12T04:39:39.043Z,1741754379.043 [sci2_flat_and_level:NeedComms] Stopped
2025-03-12T04:39:39.043Z,1741754379.043 [sci2_flat_and_level:NeedComms](DEBUG): Aggregate::uninitialize sci2_flat_and_level:NeedComms
2025-03-12T04:39:39.043Z,1741754379.043 [sci2_flat_and_level:NeedComms:B.GoToSurface] Stopped
2025-03-12T04:39:39.043Z,1741754379.043 [sci2_flat_and_level:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-03-12T04:39:39.511Z,1741754379.511 [sci2_flat_and_level:SurfaceComms:B](INFO): Completed sci2_flat_and_level:SurfaceComms:B
2025-03-12T04:39:39.511Z,1741754379.511 [sci2_flat_and_level:SurfaceComms:B] Stopped
2025-03-12T04:39:39.511Z,1741754379.511 [sci2_flat_and_level:SurfaceComms:B](DEBUG): Aggregate::uninitialize sci2_flat_and_level:SurfaceComms:B
2025-03-12T04:39:39.511Z,1741754379.511 [sci2_flat_and_level:SurfaceComms:C] Running Loop=1
2025-03-12T04:39:39.818Z,1741754379.818 [sci2_flat_and_level:SurfaceComms:C] Stopped
2025-03-12T04:39:39.818Z,1741754379.818 [sci2_flat_and_level:SurfaceComms](INFO): Completed sci2_flat_and_level:SurfaceComms
2025-03-12T04:39:39.818Z,1741754379.818 [sci2_flat_and_level:SurfaceComms] Stopped
2025-03-12T04:39:39.818Z,1741754379.818 [sci2_flat_and_level:SurfaceComms](DEBUG): Aggregate::uninitialize sci2_flat_and_level:SurfaceComms
2025-03-12T04:39:40.231Z,1741754380.231 [sci2_flat_and_level:StartingMission](INFO): Completed sci2_flat_and_level:StartingMission
2025-03-12T04:39:40.231Z,1741754380.231 [sci2_flat_and_level:StartingMission] Stopped
2025-03-12T04:39:40.231Z,1741754380.231 [sci2_flat_and_level:StartingMission](DEBUG): Aggregate::uninitialize sci2_flat_and_level:StartingMission
2025-03-12T04:39:40.231Z,1741754380.231 [sci2_flat_and_level:Lap] Running Loop=1
2025-03-12T04:39:40.231Z,1741754380.231 [sci2_flat_and_level:Lap](DEBUG): Aggregate::initialize sci2_flat_and_level:Lap
2025-03-12T04:39:40.231Z,1741754380.231 [sci2_flat_and_level:Lap:Dive] Running Loop=1
2025-03-12T04:39:40.231Z,1741754380.231 [sci2_flat_and_level:Lap:Dive](DEBUG): Aggregate::initialize sci2_flat_and_level:Lap:Dive
2025-03-12T04:39:40.231Z,1741754380.231 [sci2_flat_and_level:Lap:Dive:A] Running Loop=1
2025-03-12T04:39:40.236Z,1741754380.236 [sci2_flat_and_level:Lap:Dive:A](DEBUG): Aggregate::initialize sci2_flat_and_level:Lap:Dive:A
2025-03-12T04:39:40.236Z,1741754380.236 [sci2_flat_and_level:Lap:DepthByLap] Running Loop=1
2025-03-12T04:39:40.237Z,1741754380.237 [sci2_flat_and_level:Lap:DepthByLap](DEBUG): Aggregate::initialize sci2_flat_and_level:Lap:DepthByLap
2025-03-12T04:39:40.237Z,1741754380.237 [sci2_flat_and_level:Lap:DepthByLap:Leg1] Running Loop=1
2025-03-12T04:39:40.237Z,1741754380.237 [sci2_flat_and_level:Lap:DepthByLap:Leg1](DEBUG): Aggregate::initialize sci2_flat_and_level:Lap:DepthByLap:Leg1
2025-03-12T04:39:40.237Z,1741754380.237 [sci2_flat_and_level:Lap:DepthByLap:Leg1:A] Running Loop=1
2025-03-12T04:39:40.665Z,1741754380.665 [sci2_flat_and_level:Lap:DepthByLap:Leg1:A] Stopped
2025-03-12T04:39:40.665Z,1741754380.665 [sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt1] Running Loop=1
2025-03-12T04:39:40.666Z,1741754380.666 [sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt1](DEBUG): Aggregate::initialize sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt1
2025-03-12T04:39:40.666Z,1741754380.666 [sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt1:A.Waypoint] Running Loop=1
2025-03-12T04:39:40.666Z,1741754380.666 [sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt1:A.Waypoint](DEBUG): Initialize WaypointComponent.
2025-03-12T04:39:40.667Z,1741754380.667 [sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt1:A.Waypoint](IMPORTANT): Navigating to waypoint: 36.797001,-121.847000
2025-03-12T04:39:40.667Z,1741754380.667 [sci2_flat_and_level:Lap:Dive] Running Loop=1
2025-03-12T04:39:40.667Z,1741754380.667 [sci2_flat_and_level:DiveCmd] Running Loop=1
2025-03-12T04:39:40.667Z,1741754380.667 [sci2_flat_and_level:DiveCmd](DEBUG): Aggregate::initialize sci2_flat_and_level:DiveCmd
2025-03-12T04:39:40.667Z,1741754380.667 [sci2_flat_and_level:DiveCmd:InitialDive] Running Loop=1
2025-03-12T04:39:40.667Z,1741754380.667 [sci2_flat_and_level:DiveCmd:InitialDive](DEBUG): Aggregate::initialize sci2_flat_and_level:DiveCmd:InitialDive
2025-03-12T04:39:40.667Z,1741754380.667 [sci2_flat_and_level:DiveCmd:InitialDive:dive] Running Loop=1
2025-03-12T04:39:40.667Z,1741754380.667 [sci2_flat_and_level:DiveCmd:InitialDive:dive](DEBUG): Aggregate::initialize sci2_flat_and_level:DiveCmd:InitialDive:dive
2025-03-12T04:39:40.667Z,1741754380.667 [sci2_flat_and_level:DiveCmd:InitialDive:dive:A] Running Loop=1
2025-03-12T04:39:40.672Z,1741754380.672 [sci2_flat_and_level:DiveCmd:InitialDive:dive:B] Running Loop=1
2025-03-12T04:39:40.672Z,1741754380.672 [sci2_flat_and_level:DiveCmd:InitialDive:dive:C.Mass] Running Loop=1
2025-03-12T04:39:40.672Z,1741754380.672 [sci2_flat_and_level:DiveCmd:InitialDive:dive:C.Mass](DEBUG): Initialize.
2025-03-12T04:39:40.672Z,1741754380.672 [sci2_flat_and_level:DiveCmd:InitialDive:dive:D.Buoyancy] Running Loop=1
2025-03-12T04:39:40.672Z,1741754380.672 [sci2_flat_and_level:DiveCmd:InitialDive:dive:D.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-03-12T04:39:40.672Z,1741754380.672 [sci2_flat_and_level:DiveCmd:InitialDive:dive:E] Running Loop=1
2025-03-12T04:39:40.672Z,1741754380.672 [sci2_flat_and_level:DiveCmd:SettleAtDepth] Running Loop=1
2025-03-12T04:39:40.672Z,1741754380.672 [sci2_flat_and_level:DiveCmd:SettleAtDepth](DEBUG): Aggregate::initialize sci2_flat_and_level:DiveCmd:SettleAtDepth
2025-03-12T04:39:40.673Z,1741754380.673 [sci2_flat_and_level:DiveCmd:SettleAtDepth:dive] Running Loop=1
2025-03-12T04:39:40.673Z,1741754380.673 [sci2_flat_and_level:DiveCmd:SettleAtDepth:dive](DEBUG): Aggregate::initialize sci2_flat_and_level:DiveCmd:SettleAtDepth:dive
2025-03-12T04:39:40.673Z,1741754380.673 [sci2_flat_and_level:DiveCmd:SettleAtDepth:dive:B.Pitch] Running Loop=1
2025-03-12T04:39:40.673Z,1741754380.673 [sci2_flat_and_level:DiveCmd:SettleAtDepth:dive:B.Pitch](DEBUG): Initialize.
2025-03-12T04:39:40.673Z,1741754380.673 [sci2_flat_and_level:DiveCmd:SettleAtDepth:dive:A] Running Loop=1
2025-03-12T04:39:40.673Z,1741754380.673 [sci2_flat_and_level:DiveCmd:MaintainDepth] Running Loop=1
2025-03-12T04:39:40.673Z,1741754380.673 [sci2_flat_and_level:DiveCmd:MaintainDepth](DEBUG): Aggregate::initialize sci2_flat_and_level:DiveCmd:MaintainDepth
2025-03-12T04:39:40.673Z,1741754380.673 [sci2_flat_and_level:DiveCmd:MaintainDepth:dive] Running Loop=1
2025-03-12T04:39:40.673Z,1741754380.673 [sci2_flat_and_level:DiveCmd:MaintainDepth:dive](DEBUG): Aggregate::initialize sci2_flat_and_level:DiveCmd:MaintainDepth:dive
2025-03-12T04:39:40.674Z,1741754380.674 [sci2_flat_and_level:DiveCmd:MaintainDepth:dive:ThrusterDive] Running Loop=1
2025-03-12T04:39:40.674Z,1741754380.674 [sci2_flat_and_level:DiveCmd:MaintainDepth:dive:ThrusterDive](DEBUG): Aggregate::initialize sci2_flat_and_level:DiveCmd:MaintainDepth:dive:ThrusterDive
2025-03-12T04:39:40.674Z,1741754380.674 [sci2_flat_and_level:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass] Running Loop=1
2025-03-12T04:39:40.674Z,1741754380.674 [sci2_flat_and_level:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass](DEBUG): Initialize.
2025-03-12T04:39:40.674Z,1741754380.674 [sci2_flat_and_level:DiveCmd:MaintainDepth:dive:ThrusterDive:B.Buoyancy] Running Loop=1
2025-03-12T04:39:40.674Z,1741754380.674 [sci2_flat_and_level:DiveCmd:MaintainDepth:dive:ThrusterDive:B.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-03-12T04:39:40.674Z,1741754380.674 [sci2_flat_and_level:DiveCmd:MaintainDepth:dive:D.Pitch] Running Loop=1
2025-03-12T04:39:40.674Z,1741754380.674 [sci2_flat_and_level:DiveCmd:MaintainDepth:dive:D.Pitch](DEBUG): Initialize.
2025-03-12T04:39:40.675Z,1741754380.675 [sci2_flat_and_level:DiveCmd:MaintainDepth:dive:SetSpeed] Running Loop=1
2025-03-12T04:39:40.675Z,1741754380.675 [sci2_flat_and_level:DiveCmd:MaintainDepth:dive:SetSpeed](DEBUG): Aggregate::initialize sci2_flat_and_level:DiveCmd:MaintainDepth:dive:SetSpeed
2025-03-12T04:39:40.675Z,1741754380.675 [sci2_flat_and_level:DiveCmd:MaintainDepth:dive:SetSpeed:A.SetSpeed] Running Loop=1
2025-03-12T04:39:40.675Z,1741754380.675 [sci2_flat_and_level:DiveCmd:MaintainDepth:dive:SetSpeed:A.SetSpeed](DEBUG): Initialize.
2025-03-12T04:39:40.680Z,1741754380.680 [sci2_flat_and_level:DiveCmd:MaintainDepth] Stopped
2025-03-12T04:39:40.680Z,1741754380.680 [sci2_flat_and_level:DiveCmd:MaintainDepth](DEBUG): Aggregate::uninitialize sci2_flat_and_level:DiveCmd:MaintainDepth
2025-03-12T04:39:40.680Z,1741754380.680 [sci2_flat_and_level:DiveCmd:MaintainDepth:dive] Stopped
2025-03-12T04:39:40.680Z,1741754380.680 [sci2_flat_and_level:DiveCmd:MaintainDepth:dive](DEBUG): Aggregate::uninitialize sci2_flat_and_level:DiveCmd:MaintainDepth:dive
2025-03-12T04:39:40.680Z,1741754380.680 [sci2_flat_and_level:DiveCmd:MaintainDepth:dive:ThrusterDive] Stopped
2025-03-12T04:39:40.681Z,1741754380.681 [sci2_flat_and_level:DiveCmd:MaintainDepth:dive:ThrusterDive](DEBUG): Aggregate::uninitialize sci2_flat_and_level:DiveCmd:MaintainDepth:dive:ThrusterDive
2025-03-12T04:39:40.681Z,1741754380.681 [sci2_flat_and_level:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass] Stopped
2025-03-12T04:39:40.681Z,1741754380.681 [sci2_flat_and_level:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass](DEBUG): Uninitialize.
2025-03-12T04:39:40.681Z,1741754380.681 [sci2_flat_and_level:DiveCmd:MaintainDepth:dive:ThrusterDive:B.Buoyancy] Stopped
2025-03-12T04:39:40.681Z,1741754380.681 [sci2_flat_and_level:DiveCmd:MaintainDepth:dive:ThrusterDive:B.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-03-12T04:39:40.681Z,1741754380.681 [sci2_flat_and_level:DiveCmd:MaintainDepth:dive:SetSpeed] Stopped
2025-03-12T04:39:40.681Z,1741754380.681 [sci2_flat_and_level:DiveCmd:MaintainDepth:dive:SetSpeed](DEBUG): Aggregate::uninitialize sci2_flat_and_level:DiveCmd:MaintainDepth:dive:SetSpeed
2025-03-12T04:39:40.681Z,1741754380.681 [sci2_flat_and_level:DiveCmd:MaintainDepth:dive:SetSpeed:A.SetSpeed] Stopped
2025-03-12T04:39:40.681Z,1741754380.681 [sci2_flat_and_level:DiveCmd:MaintainDepth:dive:SetSpeed:A.SetSpeed](DEBUG): Uninitialize.
2025-03-12T04:39:40.681Z,1741754380.681 [sci2_flat_and_level:DiveCmd:MaintainDepth:dive:D.Pitch] Stopped
2025-03-12T04:39:40.681Z,1741754380.681 [sci2_flat_and_level:DiveCmd:SettleAtDepth] Stopped
2025-03-12T04:39:40.681Z,1741754380.681 [sci2_flat_and_level:DiveCmd:SettleAtDepth](DEBUG): Aggregate::uninitialize sci2_flat_and_level:DiveCmd:SettleAtDepth
2025-03-12T04:39:40.682Z,1741754380.682 [sci2_flat_and_level:DiveCmd:SettleAtDepth:dive] Stopped
2025-03-12T04:39:40.682Z,1741754380.682 [sci2_flat_and_level:DiveCmd:SettleAtDepth:dive](DEBUG): Aggregate::uninitialize sci2_flat_and_level:DiveCmd:SettleAtDepth:dive
2025-03-12T04:39:40.682Z,1741754380.682 [sci2_flat_and_level:DiveCmd:SettleAtDepth:dive:A] Stopped
2025-03-12T04:39:40.682Z,1741754380.682 [sci2_flat_and_level:DiveCmd:SettleAtDepth:dive:B.Pitch] Stopped
2025-03-12T04:39:40.682Z,1741754380.682 [sci2_flat_and_level:DiveCmd:InitialDive] Running Loop=1
2025-03-12T04:39:40.682Z,1741754380.682 [sci2_flat_and_level:DiveCmd:InitialDive:dive:E](INFO): Waiting for  1.000000 min while pumping down to neutral.
2025-03-12T04:39:40.682Z,1741754380.682 [sci2_flat_and_level:DiveCmd:InitialDive:dive:E] Stopped
2025-03-12T04:39:40.683Z,1741754380.683 [sci2_flat_and_level:DiveCmd:InitialDive:dive:F.Wait] Running Loop=1
2025-03-12T04:39:40.683Z,1741754380.683 [sci2_flat_and_level:DiveCmd:InitialDive:dive:F.Wait](DEBUG): Initialize Wait Component.
2025-03-12T04:39:40.683Z,1741754380.683 [sci2_flat_and_level:DiveCmd:InitialDive:dive:D.Buoyancy] Running Loop=1
2025-03-12T04:39:40.683Z,1741754380.683 [sci2_flat_and_level:DiveCmd:InitialDive:dive:C.Mass] Running Loop=1
2025-03-12T04:39:40.683Z,1741754380.683 [sci2_flat_and_level:DiveCmd:InitialDive:dive:B] Running Loop=1
2025-03-12T04:39:40.704Z,1741754380.704 [sci2_flat_and_level:DiveCmd:InitialDive:dive:A] Running Loop=1
2025-03-12T04:39:41.077Z,1741754381.077 [sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt1:A.Waypoint](INFO): Navigating to waypoint: 36.797001,-121.847000
2025-03-12T04:40:11.707Z,1741754411.707 [NAL9602](INFO): Not Powering down - fast GPS
2025-03-12T04:40:41.260Z,1741754441.260 [sci2_flat_and_level:DiveCmd:InitialDive:dive:F.Wait](INFO): Done Waiting.
2025-03-12T04:40:41.260Z,1741754441.260 [sci2_flat_and_level:DiveCmd:InitialDive:dive:F.Wait] Stopped
2025-03-12T04:40:41.260Z,1741754441.260 [sci2_flat_and_level:DiveCmd:InitialDive:dive:F.Wait](DEBUG): Uninitialize Wait Component.
2025-03-12T04:40:41.260Z,1741754441.260 [sci2_flat_and_level:DiveCmd:InitialDive:dive:G] Running Loop=1
2025-03-12T04:40:41.695Z,1741754441.695 [sci2_flat_and_level:DiveCmd:InitialDive:dive:G](INFO): Moving to  2.000000 m 
2025-03-12T04:40:41.695Z,1741754441.695 [sci2_flat_and_level:DiveCmd:InitialDive:dive:G] Stopped
2025-03-12T04:40:41.695Z,1741754441.695 [sci2_flat_and_level:DiveCmd:InitialDive:dive:ApproachDepth] Running Loop=1
2025-03-12T04:40:41.695Z,1741754441.695 [sci2_flat_and_level:DiveCmd:InitialDive:dive:ApproachDepth](DEBUG): Aggregate::initialize sci2_flat_and_level:DiveCmd:InitialDive:dive:ApproachDepth
2025-03-12T04:40:41.695Z,1741754441.695 [sci2_flat_and_level:DiveCmd:InitialDive:dive:ApproachDepth:A.SetSpeed] Running Loop=1
2025-03-12T04:40:41.695Z,1741754441.695 [sci2_flat_and_level:DiveCmd:InitialDive:dive:ApproachDepth:A.SetSpeed](DEBUG): Initialize.
2025-03-12T04:40:41.695Z,1741754441.695 [sci2_flat_and_level:DiveCmd:InitialDive:dive:ApproachDepth:B.Pitch] Running Loop=1
2025-03-12T04:40:41.695Z,1741754441.695 [sci2_flat_and_level:DiveCmd:InitialDive:dive:ApproachDepth:B.Pitch](DEBUG): Initialize.
2025-03-12T04:40:42.055Z,1741754442.055 [sci2_flat_and_level:DiveCmd:InitialDive:dive:ApproachDepth:A.SetSpeed] Running Loop=1
2025-03-12T04:41:12.718Z,1741754472.718 [ElevatorOffsetCalculator](INFO): New estimator for commanded vars: speed 0.70 m/s, pitch 30.00 deg, mass-position 22.00 mm (2 active estimators).
2025-03-12T04:41:26.497Z,1741754486.497 [sci2_flat_and_level:DiveCmd:InitialDive:dive:ApproachDepth:B.Pitch] Stopped
2025-03-12T04:41:26.497Z,1741754486.497 [sci2_flat_and_level:DiveCmd:InitialDive:dive:ApproachDepth](INFO): Completed sci2_flat_and_level:DiveCmd:InitialDive:dive:ApproachDepth
2025-03-12T04:41:26.498Z,1741754486.498 [sci2_flat_and_level:DiveCmd:InitialDive:dive:ApproachDepth] Stopped
2025-03-12T04:41:26.498Z,1741754486.498 [sci2_flat_and_level:DiveCmd:InitialDive:dive:ApproachDepth](DEBUG): Aggregate::uninitialize sci2_flat_and_level:DiveCmd:InitialDive:dive:ApproachDepth
2025-03-12T04:41:26.498Z,1741754486.498 [sci2_flat_and_level:DiveCmd:InitialDive:dive:ApproachDepth:A.SetSpeed] Stopped
2025-03-12T04:41:26.498Z,1741754486.498 [sci2_flat_and_level:DiveCmd:InitialDive:dive:ApproachDepth:A.SetSpeed](DEBUG): Uninitialize.
2025-03-12T04:41:26.498Z,1741754486.498 [sci2_flat_and_level:DiveCmd:InitialDive:dive:I] Running Loop=1
2025-03-12T04:41:26.861Z,1741754486.861 [sci2_flat_and_level:DiveCmd:InitialDive:dive:I] Stopped
2025-03-12T04:41:26.862Z,1741754486.862 [sci2_flat_and_level:DiveCmd:InitialDive:dive](INFO): Completed sci2_flat_and_level:DiveCmd:InitialDive:dive
2025-03-12T04:41:26.862Z,1741754486.862 [sci2_flat_and_level:DiveCmd:InitialDive:dive] Stopped
2025-03-12T04:41:26.862Z,1741754486.862 [sci2_flat_and_level:DiveCmd:InitialDive:dive](DEBUG): Aggregate::uninitialize sci2_flat_and_level:DiveCmd:InitialDive:dive
2025-03-12T04:41:26.862Z,1741754486.862 [sci2_flat_and_level:DiveCmd:InitialDive:dive:A] Stopped
2025-03-12T04:41:26.862Z,1741754486.862 [sci2_flat_and_level:DiveCmd:InitialDive:dive:B] Stopped
2025-03-12T04:41:26.862Z,1741754486.862 [sci2_flat_and_level:DiveCmd:InitialDive:dive:C.Mass] Stopped
2025-03-12T04:41:26.862Z,1741754486.862 [sci2_flat_and_level:DiveCmd:InitialDive:dive:C.Mass](DEBUG): Uninitialize.
2025-03-12T04:41:26.862Z,1741754486.862 [sci2_flat_and_level:DiveCmd:InitialDive:dive:D.Buoyancy] Stopped
2025-03-12T04:41:26.862Z,1741754486.862 [sci2_flat_and_level:DiveCmd:InitialDive:dive:D.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-03-12T04:41:26.862Z,1741754486.862 [sci2_flat_and_level:DiveCmd:InitialDive](INFO): Completed sci2_flat_and_level:DiveCmd:InitialDive
2025-03-12T04:41:27.263Z,1741754487.263 [sci2_flat_and_level:DiveCmd:SettleAtDepth] Running Loop=1
2025-03-12T04:41:27.264Z,1741754487.264 [sci2_flat_and_level:DiveCmd:SettleAtDepth](DEBUG): Aggregate::initialize sci2_flat_and_level:DiveCmd:SettleAtDepth
2025-03-12T04:41:27.264Z,1741754487.264 [sci2_flat_and_level:DiveCmd:SettleAtDepth:dive] Running Loop=1
2025-03-12T04:41:27.264Z,1741754487.264 [sci2_flat_and_level:DiveCmd:SettleAtDepth:dive](DEBUG): Aggregate::initialize sci2_flat_and_level:DiveCmd:SettleAtDepth:dive
2025-03-12T04:41:27.265Z,1741754487.265 [sci2_flat_and_level:DiveCmd:SettleAtDepth:dive:B.Pitch] Running Loop=1
2025-03-12T04:41:27.265Z,1741754487.265 [sci2_flat_and_level:DiveCmd:SettleAtDepth:dive:B.Pitch](DEBUG): Initialize.
2025-03-12T04:41:27.265Z,1741754487.265 [sci2_flat_and_level:DiveCmd:SettleAtDepth:dive:A] Running Loop=1
2025-03-12T04:41:27.265Z,1741754487.265 [sci2_flat_and_level:DiveCmd:SettleAtDepth] Running Loop=1
2025-03-12T04:41:27.265Z,1741754487.265 [sci2_flat_and_level:DiveCmd:SettleAtDepth:dive:B.Pitch] Running Loop=1
2025-03-12T04:41:27.266Z,1741754487.266 [sci2_flat_and_level:DiveCmd:SettleAtDepth:dive:A](INFO): Reached  2.047472 m , settling for  3.000000 min 
2025-03-12T04:41:27.266Z,1741754487.266 [sci2_flat_and_level:DiveCmd:SettleAtDepth:dive:A] Stopped
2025-03-12T04:41:27.266Z,1741754487.266 [sci2_flat_and_level:DiveCmd:SettleAtDepth:dive:C.Wait] Running Loop=1
2025-03-12T04:41:27.266Z,1741754487.266 [sci2_flat_and_level:DiveCmd:SettleAtDepth:dive:C.Wait](DEBUG): Initialize Wait Component.
2025-03-12T04:41:38.632Z,1741754498.632 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T04:42:09.756Z,1741754529.756 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T04:42:13.116Z,1741754533.116 [Radio_Surface](INFO): Powering down
2025-03-12T04:42:40.907Z,1741754560.907 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T04:42:41.909Z,1741754561.909 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-03-12T04:42:46.901Z,1741754566.901 [DVL_micro](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00000000000000,35.063,+00000,A
2025-03-12T04:42:46.902Z,1741754566.902 [DVL_micro](ERROR): Failed to parse:
:TS,00000000000000,35.063,+00000,A
2025-03-12T04:43:47.185Z,1741754627.185 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=180.799438
2025-03-12T04:44:27.934Z,1741754667.934 [sci2_flat_and_level:DiveCmd:SettleAtDepth:dive:C.Wait](INFO): Done Waiting.
2025-03-12T04:44:27.935Z,1741754667.935 [sci2_flat_and_level:DiveCmd:SettleAtDepth:dive:C.Wait] Stopped
2025-03-12T04:44:27.935Z,1741754667.935 [sci2_flat_and_level:DiveCmd:SettleAtDepth:dive:C.Wait](DEBUG): Uninitialize Wait Component.
2025-03-12T04:44:27.935Z,1741754667.935 [sci2_flat_and_level:DiveCmd:SettleAtDepth:dive:D] Running Loop=1
2025-03-12T04:44:28.364Z,1741754668.364 [sci2_flat_and_level:DiveCmd:SettleAtDepth:dive:D] Stopped
2025-03-12T04:44:28.365Z,1741754668.365 [sci2_flat_and_level:DiveCmd:SettleAtDepth:dive](INFO): Completed sci2_flat_and_level:DiveCmd:SettleAtDepth:dive
2025-03-12T04:44:28.365Z,1741754668.365 [sci2_flat_and_level:DiveCmd:SettleAtDepth:dive] Stopped
2025-03-12T04:44:28.365Z,1741754668.365 [sci2_flat_and_level:DiveCmd:SettleAtDepth:dive](DEBUG): Aggregate::uninitialize sci2_flat_and_level:DiveCmd:SettleAtDepth:dive
2025-03-12T04:44:28.365Z,1741754668.365 [sci2_flat_and_level:DiveCmd:SettleAtDepth:dive:B.Pitch] Stopped
2025-03-12T04:44:28.365Z,1741754668.365 [sci2_flat_and_level:DiveCmd:SettleAtDepth](INFO): Completed sci2_flat_and_level:DiveCmd:SettleAtDepth
2025-03-12T04:44:28.730Z,1741754668.730 [sci2_flat_and_level:DiveCmd:MaintainDepth] Running Loop=1
2025-03-12T04:44:28.730Z,1741754668.730 [sci2_flat_and_level:DiveCmd:MaintainDepth](DEBUG): Aggregate::initialize sci2_flat_and_level:DiveCmd:MaintainDepth
2025-03-12T04:44:28.730Z,1741754668.730 [sci2_flat_and_level:DiveCmd:MaintainDepth:dive] Running Loop=1
2025-03-12T04:44:28.730Z,1741754668.730 [sci2_flat_and_level:DiveCmd:MaintainDepth:dive](DEBUG): Aggregate::initialize sci2_flat_and_level:DiveCmd:MaintainDepth:dive
2025-03-12T04:44:28.730Z,1741754668.730 [sci2_flat_and_level:DiveCmd:MaintainDepth:dive:ThrusterDive] Running Loop=1
2025-03-12T04:44:28.730Z,1741754668.730 [sci2_flat_and_level:DiveCmd:MaintainDepth:dive:ThrusterDive](DEBUG): Aggregate::initialize sci2_flat_and_level:DiveCmd:MaintainDepth:dive:ThrusterDive
2025-03-12T04:44:28.730Z,1741754668.730 [sci2_flat_and_level:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass] Running Loop=1
2025-03-12T04:44:28.730Z,1741754668.730 [sci2_flat_and_level:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass](DEBUG): Initialize.
2025-03-12T04:44:28.730Z,1741754668.730 [sci2_flat_and_level:DiveCmd:MaintainDepth:dive:ThrusterDive:B.Buoyancy] Running Loop=1
2025-03-12T04:44:28.730Z,1741754668.730 [sci2_flat_and_level:DiveCmd:MaintainDepth:dive:ThrusterDive:B.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-03-12T04:44:28.731Z,1741754668.731 [sci2_flat_and_level:DiveCmd:MaintainDepth:dive:D.Pitch] Running Loop=1
2025-03-12T04:44:28.731Z,1741754668.731 [sci2_flat_and_level:DiveCmd:MaintainDepth:dive:D.Pitch](DEBUG): Initialize.
2025-03-12T04:44:28.731Z,1741754668.731 [sci2_flat_and_level:DiveCmd:MaintainDepth:dive:SetSpeed] Running Loop=1
2025-03-12T04:44:28.731Z,1741754668.731 [sci2_flat_and_level:DiveCmd:MaintainDepth:dive:SetSpeed](DEBUG): Aggregate::initialize sci2_flat_and_level:DiveCmd:MaintainDepth:dive:SetSpeed
2025-03-12T04:44:28.731Z,1741754668.731 [sci2_flat_and_level:DiveCmd:MaintainDepth:dive:SetSpeed:A.SetSpeed] Running Loop=1
2025-03-12T04:44:28.731Z,1741754668.731 [sci2_flat_and_level:DiveCmd:MaintainDepth:dive:SetSpeed:A.SetSpeed](DEBUG): Initialize.
2025-03-12T04:44:28.731Z,1741754668.731 [sci2_flat_and_level:DiveCmd:MaintainDepth] Running Loop=1
2025-03-12T04:44:28.731Z,1741754668.731 [sci2_flat_and_level:DiveCmd:MaintainDepth:dive] Running Loop=1
2025-03-12T04:44:28.731Z,1741754668.731 [sci2_flat_and_level:DiveCmd:MaintainDepth:dive:D.Pitch] Running Loop=1
2025-03-12T04:44:28.732Z,1741754668.732 [sci2_flat_and_level:DiveCmd:MaintainDepth:dive:SetSpeed:A.SetSpeed] Running Loop=1
2025-03-12T04:44:28.732Z,1741754668.732 [sci2_flat_and_level:DiveCmd:MaintainDepth:dive:ThrusterDive] Running Loop=1
2025-03-12T04:44:28.732Z,1741754668.732 [sci2_flat_and_level:DiveCmd:MaintainDepth:dive:ThrusterDive:B.Buoyancy] Running Loop=1
2025-03-12T04:44:28.733Z,1741754668.733 [sci2_flat_and_level:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass] Running Loop=1
2025-03-12T04:46:47.737Z,1741754807.737 [CTD_Seabird](ERROR): Failed to parse device response: 86,4222.91
2025-03-12T04:46:48.135Z,1741754808.135 [DVL_micro](ERROR): Failed to parse:
:SA,-09.40,+04.21,087.7
2025-03-12T04:59:14.975Z,1741755554.975 [DVL_micro](ERROR): Failed to parse::SA,-03.65,+03.54,082.3
2025-03-12T05:04:56.657Z,1741755896.657 [sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt1:A.Waypoint](IMPORTANT): Reached waypoint: 36.797001,-121.847000
2025-03-12T05:04:56.658Z,1741755896.658 [sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt1:A.Waypoint] Stopped
2025-03-12T05:04:56.658Z,1741755896.658 [sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt1:A.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-03-12T05:04:56.659Z,1741755896.659 [sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt1](INFO): Completed sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt1
2025-03-12T05:04:56.659Z,1741755896.659 [sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt1] Stopped
2025-03-12T05:04:56.659Z,1741755896.659 [sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt1](DEBUG): Aggregate::uninitialize sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt1
2025-03-12T05:04:56.659Z,1741755896.659 [sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt2] Running Loop=1
2025-03-12T05:04:56.664Z,1741755896.664 [sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt2](DEBUG): Aggregate::initialize sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt2
2025-03-12T05:04:56.664Z,1741755896.664 [sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt2:A.Waypoint] Running Loop=1
2025-03-12T05:04:56.664Z,1741755896.664 [sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt2:A.Waypoint](DEBUG): Initialize WaypointComponent.
2025-03-12T05:04:57.030Z,1741755897.030 [sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt2:A.Waypoint] Stopped
2025-03-12T05:04:57.030Z,1741755897.030 [sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt2:A.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-03-12T05:04:57.031Z,1741755897.031 [sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt2](INFO): Completed sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt2
2025-03-12T05:04:57.031Z,1741755897.031 [sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt2] Stopped
2025-03-12T05:04:57.031Z,1741755897.031 [sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt2](DEBUG): Aggregate::uninitialize sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt2
2025-03-12T05:04:57.031Z,1741755897.031 [sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt3] Running Loop=1
2025-03-12T05:04:57.031Z,1741755897.031 [sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt3](DEBUG): Aggregate::initialize sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt3
2025-03-12T05:04:57.031Z,1741755897.031 [sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt3:A.Waypoint] Running Loop=1
2025-03-12T05:04:57.031Z,1741755897.031 [sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt3:A.Waypoint](DEBUG): Initialize WaypointComponent.
2025-03-12T05:04:57.410Z,1741755897.410 [sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt3:A.Waypoint] Stopped
2025-03-12T05:04:57.411Z,1741755897.411 [sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt3:A.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-03-12T05:04:57.411Z,1741755897.411 [sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt3](INFO): Completed sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt3
2025-03-12T05:04:57.411Z,1741755897.411 [sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt3] Stopped
2025-03-12T05:04:57.411Z,1741755897.411 [sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt3](DEBUG): Aggregate::uninitialize sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt3
2025-03-12T05:04:57.411Z,1741755897.411 [sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt4] Running Loop=1
2025-03-12T05:04:57.411Z,1741755897.411 [sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt4](DEBUG): Aggregate::initialize sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt4
2025-03-12T05:04:57.411Z,1741755897.411 [sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt4:A.Waypoint] Running Loop=1
2025-03-12T05:04:57.411Z,1741755897.411 [sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt4:A.Waypoint](DEBUG): Initialize WaypointComponent.
2025-03-12T05:04:57.822Z,1741755897.822 [sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt4:A.Waypoint] Stopped
2025-03-12T05:04:57.822Z,1741755897.822 [sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt4:A.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-03-12T05:04:57.822Z,1741755897.822 [sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt4](INFO): Completed sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt4
2025-03-12T05:04:57.822Z,1741755897.822 [sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt4] Stopped
2025-03-12T05:04:57.822Z,1741755897.822 [sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt4](DEBUG): Aggregate::uninitialize sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt4
2025-03-12T05:04:57.823Z,1741755897.823 [sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt5] Running Loop=1
2025-03-12T05:04:57.823Z,1741755897.823 [sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt5](DEBUG): Aggregate::initialize sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt5
2025-03-12T05:04:57.823Z,1741755897.823 [sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt5:A.Waypoint] Running Loop=1
2025-03-12T05:04:57.823Z,1741755897.823 [sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt5:A.Waypoint](DEBUG): Initialize WaypointComponent.
2025-03-12T05:04:58.222Z,1741755898.222 [sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt5:A.Waypoint] Stopped
2025-03-12T05:04:58.222Z,1741755898.222 [sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt5:A.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-03-12T05:04:58.222Z,1741755898.222 [sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt5](INFO): Completed sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt5
2025-03-12T05:04:58.222Z,1741755898.222 [sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt5] Stopped
2025-03-12T05:04:58.223Z,1741755898.223 [sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt5](DEBUG): Aggregate::uninitialize sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt5
2025-03-12T05:04:58.223Z,1741755898.223 [sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt6] Running Loop=1
2025-03-12T05:04:58.223Z,1741755898.223 [sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt6](DEBUG): Aggregate::initialize sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt6
2025-03-12T05:04:58.223Z,1741755898.223 [sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt6:A.Waypoint] Running Loop=1
2025-03-12T05:04:58.223Z,1741755898.223 [sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt6:A.Waypoint](DEBUG): Initialize WaypointComponent.
2025-03-12T05:04:58.644Z,1741755898.644 [sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt6:A.Waypoint] Stopped
2025-03-12T05:04:58.644Z,1741755898.644 [sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt6:A.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-03-12T05:04:58.644Z,1741755898.644 [sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt6](INFO): Completed sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt6
2025-03-12T05:04:58.644Z,1741755898.644 [sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt6] Stopped
2025-03-12T05:04:58.645Z,1741755898.645 [sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt6](DEBUG): Aggregate::uninitialize sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt6
2025-03-12T05:04:58.645Z,1741755898.645 [sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt7] Running Loop=1
2025-03-12T05:04:58.645Z,1741755898.645 [sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt7](DEBUG): Aggregate::initialize sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt7
2025-03-12T05:04:58.645Z,1741755898.645 [sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt7:A.Waypoint] Running Loop=1
2025-03-12T05:04:58.645Z,1741755898.645 [sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt7:A.Waypoint](DEBUG): Initialize WaypointComponent.
2025-03-12T05:04:59.034Z,1741755899.034 [sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt7:A.Waypoint] Stopped
2025-03-12T05:04:59.034Z,1741755899.034 [sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt7:A.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-03-12T05:04:59.034Z,1741755899.034 [sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt7](INFO): Completed sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt7
2025-03-12T05:04:59.034Z,1741755899.034 [sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt7] Stopped
2025-03-12T05:04:59.034Z,1741755899.034 [sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt7](DEBUG): Aggregate::uninitialize sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt7
2025-03-12T05:04:59.034Z,1741755899.034 [sci2_flat_and_level:Lap:DepthByLap:Leg1](INFO): Completed sci2_flat_and_level:Lap:DepthByLap:Leg1
2025-03-12T05:04:59.034Z,1741755899.034 [sci2_flat_and_level:Lap:DepthByLap:Leg1] Stopped
2025-03-12T05:04:59.035Z,1741755899.035 [sci2_flat_and_level:Lap:DepthByLap:Leg1](DEBUG): Aggregate::uninitialize sci2_flat_and_level:Lap:DepthByLap:Leg1
2025-03-12T05:04:59.035Z,1741755899.035 [sci2_flat_and_level:Lap:DepthByLap:Leg2] Running Loop=1
2025-03-12T05:04:59.035Z,1741755899.035 [sci2_flat_and_level:Lap:DepthByLap:Leg2](DEBUG): Aggregate::initialize sci2_flat_and_level:Lap:DepthByLap:Leg2
2025-03-12T05:04:59.035Z,1741755899.035 [sci2_flat_and_level:Lap:DepthByLap:Leg2:A] Running Loop=1
2025-03-12T05:04:59.449Z,1741755899.449 [sci2_flat_and_level:Lap:DepthByLap:Leg2] Stopped
2025-03-12T05:04:59.449Z,1741755899.449 [sci2_flat_and_level:Lap:DepthByLap:Leg2](DEBUG): Aggregate::uninitialize sci2_flat_and_level:Lap:DepthByLap:Leg2
2025-03-12T05:04:59.449Z,1741755899.449 [sci2_flat_and_level:Lap:DepthByLap:Leg2:A] Stopped
2025-03-12T05:04:59.449Z,1741755899.449 [sci2_flat_and_level:Lap:DepthByLap:Leg3] Running Loop=1
2025-03-12T05:04:59.450Z,1741755899.450 [sci2_flat_and_level:Lap:DepthByLap:Leg3](DEBUG): Aggregate::initialize sci2_flat_and_level:Lap:DepthByLap:Leg3
2025-03-12T05:04:59.450Z,1741755899.450 [sci2_flat_and_level:Lap:DepthByLap:Leg3:A] Running Loop=1
2025-03-12T05:04:59.864Z,1741755899.864 [sci2_flat_and_level:Lap:DepthByLap:Leg3] Stopped
2025-03-12T05:04:59.864Z,1741755899.864 [sci2_flat_and_level:Lap:DepthByLap:Leg3](DEBUG): Aggregate::uninitialize sci2_flat_and_level:Lap:DepthByLap:Leg3
2025-03-12T05:04:59.864Z,1741755899.864 [sci2_flat_and_level:Lap:DepthByLap:Leg3:A] Stopped
2025-03-12T05:04:59.864Z,1741755899.864 [sci2_flat_and_level:Lap:DepthByLap:Leg4] Running Loop=1
2025-03-12T05:04:59.864Z,1741755899.864 [sci2_flat_and_level:Lap:DepthByLap:Leg4](DEBUG): Aggregate::initialize sci2_flat_and_level:Lap:DepthByLap:Leg4
2025-03-12T05:04:59.864Z,1741755899.864 [sci2_flat_and_level:Lap:DepthByLap:Leg4:A] Running Loop=1
2025-03-12T05:05:00.235Z,1741755900.235 [sci2_flat_and_level:Lap:DepthByLap:Leg4] Stopped
2025-03-12T05:05:00.235Z,1741755900.235 [sci2_flat_and_level:Lap:DepthByLap:Leg4](DEBUG): Aggregate::uninitialize sci2_flat_and_level:Lap:DepthByLap:Leg4
2025-03-12T05:05:00.235Z,1741755900.235 [sci2_flat_and_level:Lap:DepthByLap:Leg4:A] Stopped
2025-03-12T05:05:00.235Z,1741755900.235 [sci2_flat_and_level:Lap:DepthByLap:Leg5] Running Loop=1
2025-03-12T05:05:00.256Z,1741755900.256 [sci2_flat_and_level:Lap:DepthByLap:Leg5](DEBUG): Aggregate::initialize sci2_flat_and_level:Lap:DepthByLap:Leg5
2025-03-12T05:05:00.256Z,1741755900.256 [sci2_flat_and_level:Lap:DepthByLap:Leg5:A] Running Loop=1
2025-03-12T05:05:00.639Z,1741755900.639 [sci2_flat_and_level:Lap:DepthByLap:Leg5] Stopped
2025-03-12T05:05:00.639Z,1741755900.639 [sci2_flat_and_level:Lap:DepthByLap:Leg5](DEBUG): Aggregate::uninitialize sci2_flat_and_level:Lap:DepthByLap:Leg5
2025-03-12T05:05:00.639Z,1741755900.639 [sci2_flat_and_level:Lap:DepthByLap:Leg5:A] Stopped
2025-03-12T05:05:00.640Z,1741755900.640 [sci2_flat_and_level:Lap:DepthByLap:Leg6] Running Loop=1
2025-03-12T05:05:00.640Z,1741755900.640 [sci2_flat_and_level:Lap:DepthByLap:Leg6](DEBUG): Aggregate::initialize sci2_flat_and_level:Lap:DepthByLap:Leg6
2025-03-12T05:05:00.640Z,1741755900.640 [sci2_flat_and_level:Lap:DepthByLap:Leg6:A] Running Loop=1
2025-03-12T05:05:01.049Z,1741755901.049 [sci2_flat_and_level:Lap:DepthByLap:Leg6] Stopped
2025-03-12T05:05:01.050Z,1741755901.050 [sci2_flat_and_level:Lap:DepthByLap:Leg6](DEBUG): Aggregate::uninitialize sci2_flat_and_level:Lap:DepthByLap:Leg6
2025-03-12T05:05:01.050Z,1741755901.050 [sci2_flat_and_level:Lap:DepthByLap:Leg6:A] Stopped
2025-03-12T05:05:01.050Z,1741755901.050 [sci2_flat_and_level:Lap:DepthByLap:Leg7] Running Loop=1
2025-03-12T05:05:01.050Z,1741755901.050 [sci2_flat_and_level:Lap:DepthByLap:Leg7](DEBUG): Aggregate::initialize sci2_flat_and_level:Lap:DepthByLap:Leg7
2025-03-12T05:05:01.050Z,1741755901.050 [sci2_flat_and_level:Lap:DepthByLap:Leg7:A] Running Loop=1
2025-03-12T05:05:01.452Z,1741755901.452 [sci2_flat_and_level:Lap:DepthByLap:Leg7] Stopped
2025-03-12T05:05:01.452Z,1741755901.452 [sci2_flat_and_level:Lap:DepthByLap:Leg7](DEBUG): Aggregate::uninitialize sci2_flat_and_level:Lap:DepthByLap:Leg7
2025-03-12T05:05:01.452Z,1741755901.452 [sci2_flat_and_level:Lap:DepthByLap:Leg7:A] Stopped
2025-03-12T05:05:01.453Z,1741755901.453 [sci2_flat_and_level:Lap:DepthByLap:Leg8] Running Loop=1
2025-03-12T05:05:01.453Z,1741755901.453 [sci2_flat_and_level:Lap:DepthByLap:Leg8](DEBUG): Aggregate::initialize sci2_flat_and_level:Lap:DepthByLap:Leg8
2025-03-12T05:05:01.453Z,1741755901.453 [sci2_flat_and_level:Lap:DepthByLap:Leg8:A] Running Loop=1
2025-03-12T05:05:01.871Z,1741755901.871 [sci2_flat_and_level:Lap:DepthByLap:Leg8] Stopped
2025-03-12T05:05:01.871Z,1741755901.871 [sci2_flat_and_level:Lap:DepthByLap:Leg8](DEBUG): Aggregate::uninitialize sci2_flat_and_level:Lap:DepthByLap:Leg8
2025-03-12T05:05:01.871Z,1741755901.871 [sci2_flat_and_level:Lap:DepthByLap:Leg8:A] Stopped
2025-03-12T05:05:01.871Z,1741755901.871 [sci2_flat_and_level:Lap:DepthByLap:Leg9] Running Loop=1
2025-03-12T05:05:01.876Z,1741755901.876 [sci2_flat_and_level:Lap:DepthByLap:Leg9](DEBUG): Aggregate::initialize sci2_flat_and_level:Lap:DepthByLap:Leg9
2025-03-12T05:05:01.878Z,1741755901.878 [sci2_flat_and_level:Lap:DepthByLap:Leg9:A] Running Loop=1
2025-03-12T05:05:02.285Z,1741755902.285 [sci2_flat_and_level:Lap:DepthByLap:Leg9] Stopped
2025-03-12T05:05:02.285Z,1741755902.285 [sci2_flat_and_level:Lap:DepthByLap:Leg9](DEBUG): Aggregate::uninitialize sci2_flat_and_level:Lap:DepthByLap:Leg9
2025-03-12T05:05:02.285Z,1741755902.285 [sci2_flat_and_level:Lap:DepthByLap:Leg9:A] Stopped
2025-03-12T05:05:02.285Z,1741755902.285 [sci2_flat_and_level:Lap:DepthByLap:Leg10] Running Loop=1
2025-03-12T05:05:02.285Z,1741755902.285 [sci2_flat_and_level:Lap:DepthByLap:Leg10](DEBUG): Aggregate::initialize sci2_flat_and_level:Lap:DepthByLap:Leg10
2025-03-12T05:05:02.285Z,1741755902.285 [sci2_flat_and_level:Lap:DepthByLap:Leg10:A] Running Loop=1
2025-03-12T05:05:02.661Z,1741755902.661 [sci2_flat_and_level:Lap:DepthByLap:Leg10] Stopped
2025-03-12T05:05:02.662Z,1741755902.662 [sci2_flat_and_level:Lap:DepthByLap:Leg10](DEBUG): Aggregate::uninitialize sci2_flat_and_level:Lap:DepthByLap:Leg10
2025-03-12T05:05:02.662Z,1741755902.662 [sci2_flat_and_level:Lap:DepthByLap:Leg10:A] Stopped
2025-03-12T05:05:02.662Z,1741755902.662 [sci2_flat_and_level:Lap:DepthByLap](INFO): Completed sci2_flat_and_level:Lap:DepthByLap
2025-03-12T05:05:02.662Z,1741755902.662 [sci2_flat_and_level:Lap:DepthByLap] Stopped
2025-03-12T05:05:02.662Z,1741755902.662 [sci2_flat_and_level:Lap:DepthByLap](DEBUG): Aggregate::uninitialize sci2_flat_and_level:Lap:DepthByLap
2025-03-12T05:05:02.662Z,1741755902.662 [sci2_flat_and_level:Lap:DepthByLeg] Running Loop=1
2025-03-12T05:05:02.662Z,1741755902.662 [sci2_flat_and_level:Lap:DepthByLeg](DEBUG): Aggregate::initialize sci2_flat_and_level:Lap:DepthByLeg
2025-03-12T05:05:02.662Z,1741755902.662 [sci2_flat_and_level:Lap:DepthByLeg:Leg1] Running Loop=1
2025-03-12T05:05:02.662Z,1741755902.662 [sci2_flat_and_level:Lap:DepthByLeg:Leg1](DEBUG): Aggregate::initialize sci2_flat_and_level:Lap:DepthByLeg:Leg1
2025-03-12T05:05:02.663Z,1741755902.663 [sci2_flat_and_level:Lap:DepthByLeg:Leg1:A] Running Loop=1
2025-03-12T05:05:03.088Z,1741755903.088 [sci2_flat_and_level:Lap:DepthByLeg] Stopped
2025-03-12T05:05:03.088Z,1741755903.088 [sci2_flat_and_level:Lap:DepthByLeg](DEBUG): Aggregate::uninitialize sci2_flat_and_level:Lap:DepthByLeg
2025-03-12T05:05:03.088Z,1741755903.088 [sci2_flat_and_level:Lap:DepthByLeg:Leg1] Stopped
2025-03-12T05:05:03.088Z,1741755903.088 [sci2_flat_and_level:Lap:DepthByLeg:Leg1](DEBUG): Aggregate::uninitialize sci2_flat_and_level:Lap:DepthByLeg:Leg1
2025-03-12T05:05:03.088Z,1741755903.088 [sci2_flat_and_level:Lap:DepthByLeg:Leg1:A] Stopped
2025-03-12T05:05:03.088Z,1741755903.088 [sci2_flat_and_level:Lap](INFO): Completed sci2_flat_and_level:Lap
2025-03-12T05:05:03.089Z,1741755903.089 [sci2_flat_and_level:Lap] Stopped
2025-03-12T05:05:03.089Z,1741755903.089 [sci2_flat_and_level:Lap](DEBUG): Aggregate::uninitialize sci2_flat_and_level:Lap
2025-03-12T05:05:03.089Z,1741755903.089 [sci2_flat_and_level:Lap:Dive] Stopped
2025-03-12T05:05:03.089Z,1741755903.089 [sci2_flat_and_level:Lap:Dive](DEBUG): Aggregate::uninitialize sci2_flat_and_level:Lap:Dive
2025-03-12T05:05:03.089Z,1741755903.089 [sci2_flat_and_level:Lap:Dive:A] Stopped
2025-03-12T05:05:03.089Z,1741755903.089 [sci2_flat_and_level:Lap:Dive:A](DEBUG): Aggregate::uninitialize sci2_flat_and_level:Lap:Dive:A
2025-03-12T05:05:03.094Z,1741755903.094 [sci2_flat_and_level](INFO): Completed sci2_flat_and_level
2025-03-12T05:05:03.094Z,1741755903.094 [MissionManager](INFO): sci2_flat_and_level is completed.
2025-03-12T05:05:03.094Z,1741755903.094 [MissionManager](INFO): Uninitializing Mission sci2_flat_and_level
2025-03-12T05:05:03.094Z,1741755903.094 [sci2_flat_and_level] Stopped
2025-03-12T05:05:03.094Z,1741755903.094 [sci2_flat_and_level](DEBUG): Aggregate::uninitialize sci2_flat_and_level
2025-03-12T05:05:03.095Z,1741755903.095 [sci2_flat_and_level:Science] Stopped
2025-03-12T05:05:03.095Z,1741755903.095 [sci2_flat_and_level:Science](DEBUG): Aggregate::uninitialize sci2_flat_and_level:Science
2025-03-12T05:05:03.095Z,1741755903.095 [sci2_flat_and_level:Science:B] Stopped
2025-03-12T05:05:03.095Z,1741755903.095 [sci2_flat_and_level:Science:C] Stopped
2025-03-12T05:05:03.095Z,1741755903.095 [sci2_flat_and_level:Science:E] Stopped
2025-03-12T05:05:03.095Z,1741755903.095 [sci2_flat_and_level:Science:OceanCurrent] Stopped
2025-03-12T05:05:03.095Z,1741755903.095 [sci2_flat_and_level:Science:OceanCurrent](DEBUG): Aggregate::uninitialize sci2_flat_and_level:Science:OceanCurrent
2025-03-12T05:05:03.095Z,1741755903.095 [sci2_flat_and_level:Science:OceanCurrent:A.] Stopped
2025-03-12T05:05:03.096Z,1741755903.096 [sci2_flat_and_level:StandardEnvelopes] Stopped
2025-03-12T05:05:03.096Z,1741755903.096 [sci2_flat_and_level:StandardEnvelopes](DEBUG): Aggregate::uninitialize sci2_flat_and_level:StandardEnvelopes
2025-03-12T05:05:03.096Z,1741755903.096 [sci2_flat_and_level:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-03-12T05:05:03.096Z,1741755903.096 [sci2_flat_and_level:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-03-12T05:05:03.097Z,1741755903.097 [sci2_flat_and_level:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-03-12T05:05:03.097Z,1741755903.097 [sci2_flat_and_level:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-03-12T05:05:03.097Z,1741755903.097 [sci2_flat_and_level:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-03-12T05:05:03.097Z,1741755903.097 [sci2_flat_and_level:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-03-12T05:05:03.097Z,1741755903.097 [sci2_flat_and_level:BackseatDriver] Stopped
2025-03-12T05:05:03.097Z,1741755903.097 [sci2_flat_and_level:BackseatDriver](DEBUG): Aggregate::uninitialize sci2_flat_and_level:BackseatDriver
2025-03-12T05:05:03.097Z,1741755903.097 [sci2_flat_and_level:BackseatDriver:A.BackseatDriver] Stopped
2025-03-12T05:05:03.098Z,1741755903.098 [sci2_flat_and_level:PowerOnly] Stopped
2025-03-12T05:05:03.098Z,1741755903.098 [sci2_flat_and_level:PowerOnly](DEBUG): Aggregate::uninitialize sci2_flat_and_level:PowerOnly
2025-03-12T05:05:03.098Z,1741755903.098 [sci2_flat_and_level:PowerOnly:E.Wait] Stopped
2025-03-12T05:05:03.098Z,1741755903.098 [sci2_flat_and_level:PowerOnly:E.Wait](DEBUG): Uninitialize Wait Component.
2025-03-12T05:05:03.098Z,1741755903.098 [sci2_flat_and_level:DiveCmd] Stopped
2025-03-12T05:05:03.098Z,1741755903.098 [sci2_flat_and_level:DiveCmd](DEBUG): Aggregate::uninitialize sci2_flat_and_level:DiveCmd
2025-03-12T05:05:03.098Z,1741755903.098 [sci2_flat_and_level:DiveCmd:InitialDive] Stopped
2025-03-12T05:05:03.098Z,1741755903.098 [sci2_flat_and_level:DiveCmd:InitialDive](DEBUG): Aggregate::uninitialize sci2_flat_and_level:DiveCmd:InitialDive
2025-03-12T05:05:03.099Z,1741755903.099 [sci2_flat_and_level:DiveCmd:SettleAtDepth] Stopped
2025-03-12T05:05:03.099Z,1741755903.099 [sci2_flat_and_level:DiveCmd:SettleAtDepth](DEBUG): Aggregate::uninitialize sci2_flat_and_level:DiveCmd:SettleAtDepth
2025-03-12T05:05:03.099Z,1741755903.099 [sci2_flat_and_level:DiveCmd:MaintainDepth] Stopped
2025-03-12T05:05:03.099Z,1741755903.099 [sci2_flat_and_level:DiveCmd:MaintainDepth](DEBUG): Aggregate::uninitialize sci2_flat_and_level:DiveCmd:MaintainDepth
2025-03-12T05:05:03.099Z,1741755903.099 [sci2_flat_and_level:DiveCmd:MaintainDepth:dive] Stopped
2025-03-12T05:05:03.099Z,1741755903.099 [sci2_flat_and_level:DiveCmd:MaintainDepth:dive](DEBUG): Aggregate::uninitialize sci2_flat_and_level:DiveCmd:MaintainDepth:dive
2025-03-12T05:05:03.099Z,1741755903.099 [sci2_flat_and_level:DiveCmd:MaintainDepth:dive:ThrusterDive] Stopped
2025-03-12T05:05:03.100Z,1741755903.100 [sci2_flat_and_level:DiveCmd:MaintainDepth:dive:ThrusterDive](DEBUG): Aggregate::uninitialize sci2_flat_and_level:DiveCmd:MaintainDepth:dive:ThrusterDive
2025-03-12T05:05:03.100Z,1741755903.100 [sci2_flat_and_level:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass] Stopped
2025-03-12T05:05:03.100Z,1741755903.100 [sci2_flat_and_level:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass](DEBUG): Uninitialize.
2025-03-12T05:05:03.100Z,1741755903.100 [sci2_flat_and_level:DiveCmd:MaintainDepth:dive:ThrusterDive:B.Buoyancy] Stopped
2025-03-12T05:05:03.101Z,1741755903.101 [sci2_flat_and_level:DiveCmd:MaintainDepth:dive:ThrusterDive:B.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-03-12T05:05:03.101Z,1741755903.101 [sci2_flat_and_level:DiveCmd:MaintainDepth:dive:SetSpeed] Stopped
2025-03-12T05:05:03.101Z,1741755903.101 [sci2_flat_and_level:DiveCmd:MaintainDepth:dive:SetSpeed](DEBUG): Aggregate::uninitialize sci2_flat_and_level:DiveCmd:MaintainDepth:dive:SetSpeed
2025-03-12T05:05:03.101Z,1741755903.101 [sci2_flat_and_level:DiveCmd:MaintainDepth:dive:SetSpeed:A.SetSpeed] Stopped
2025-03-12T05:05:03.101Z,1741755903.101 [sci2_flat_and_level:DiveCmd:MaintainDepth:dive:SetSpeed:A.SetSpeed](DEBUG): Uninitialize.
2025-03-12T05:05:03.101Z,1741755903.101 [sci2_flat_and_level:DiveCmd:MaintainDepth:dive:D.Pitch] Stopped
2025-03-12T05:05:03.559Z,1741755903.559 [MissionManager](IMPORTANT): Started mission Default
2025-03-12T05:05:03.560Z,1741755903.560 [Default] Running Loop=1
2025-03-12T05:05:03.560Z,1741755903.560 [Default](DEBUG): Aggregate::initialize Default
2025-03-12T05:05:03.560Z,1741755903.560 [Default:B.GoToSurface] Running Loop=1
2025-03-12T05:05:03.560Z,1741755903.560 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-03-12T05:05:03.560Z,1741755903.560 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-03-12T05:05:03.561Z,1741755903.561 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-03-12T05:05:03.561Z,1741755903.561 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-03-12T05:05:03.561Z,1741755903.561 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-03-12T05:05:03.562Z,1741755903.562 [Default:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-03-12T05:05:03.562Z,1741755903.562 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-03-12T05:05:03.562Z,1741755903.562 [Default:A.Wait] Running Loop=1
2025-03-12T05:05:03.562Z,1741755903.562 [Default:A.Wait](DEBUG): Initialize Wait Component.
2025-03-12T05:05:03.682Z,1741755903.682 [WetLabsBB2FL](INFO): Powering down
2025-03-12T05:05:04.216Z,1741755904.216 [Radio_Surface](INFO): Powering up
2025-03-12T05:05:06.496Z,1741755906.496 [ElevatorServo](FAULT): Overload Error
2025-03-12T05:05:06.496Z,1741755906.496 [ElevatorServo] Hardware Fault, FailCount= 1
2025-03-12T05:05:06.496Z,1741755906.496 [ElevatorServo](ERROR): Hardware Fault
2025-03-12T05:05:06.832Z,1741755906.832 [CBIT](ERROR): Hardware Fault in component: ElevatorServo
2025-03-12T05:05:06.896Z,1741755906.896 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2025-03-12T05:05:06.896Z,1741755906.896 [ElevatorServo](INFO): Powering down
2025-03-12T05:05:07.681Z,1741755907.681 [ElevatorServo](DEBUG): Initializing EZServoServo.
2025-03-12T05:05:07.797Z,1741755907.797 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2025-03-12T05:05:07.895Z,1741755907.895 [CBIT](INFO): Clearing failed state for component ElevatorServo
2025-03-12T05:05:07.895Z,1741755907.895 [ElevatorServo] No Fault, FailCount= 1
2025-03-12T05:05:09.580Z,1741755909.580 [DataOverHttps](INFO): Radio surface powered ON.
2025-03-12T05:05:16.580Z,1741755916.580 [Default:A.Wait](INFO): Done Waiting.
2025-03-12T05:05:16.580Z,1741755916.580 [Default:A.Wait] Stopped
2025-03-12T05:05:16.580Z,1741755916.580 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2025-03-12T05:05:39.709Z,1741755939.709 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T05:05:59.405Z,1741755959.405 [Default:CheckIn] Running Loop=1
2025-03-12T05:05:59.405Z,1741755959.405 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-03-12T05:05:59.405Z,1741755959.405 [Default:CheckIn:Read_GPS] Running Loop=1
2025-03-12T05:06:10.832Z,1741755970.832 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T05:06:19.195Z,1741755979.195 [NAL9602](INFO): SBD MO Status=2, MOMSN=18950, MT Status=2, MTMSN=0
2025-03-12T05:06:19.195Z,1741755979.195 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-03-12T05:06:21.668Z,1741755981.668 [DVL_micro](ERROR): DVL uart error: serial timeout
2025-03-12T05:06:21.668Z,1741755981.668 [DVL_micro] Communications Fault, FailCount= 1
2025-03-12T05:06:21.668Z,1741755981.668 [DVL_micro](ERROR): Communications Fault
2025-03-12T05:06:21.668Z,1741755981.668 [DVL_micro](ERROR): Failed to parse:
2025-03-12T05:06:21.746Z,1741755981.746 [CBIT](ERROR): Communications Fault in component: DVL_micro
2025-03-12T05:06:22.108Z,1741755982.108 [DVL_micro](INFO): Powering down
2025-03-12T05:06:22.898Z,1741755982.898 [CBIT](INFO): Clearing failed state for component DVL_micro
2025-03-12T05:06:22.898Z,1741755982.898 [DVL_micro] No Fault, FailCount= 1
2025-03-12T05:06:38.983Z,1741755998.983 [NAL9602](INFO): SBD MO Status=0, MOMSN=18950, MT Status=0, MTMSN=0
2025-03-12T05:06:38.983Z,1741755998.983 [NAL9602](INFO): No messages in MT queue
2025-03-12T05:06:40.194Z,1741756000.194 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,050635.00,A,3647.84156,N,12150.85790,W,0.505,299.26,120325,,,D*71
2025-03-12T05:06:40.196Z,1741756000.196 [NAL9602](INFO): GPS fix at 20250312T050635: (36.797359, -121.847632)
2025-03-12T05:06:40.213Z,1741756000.213 [UniversalFixResidualReporter](INFO): Fix residual: 8.2 %DT, over the last 1325.2 m. Residual distance 108.2 m at bearing 106.8 degrees. Fix at (36.7974, -121.8476) with 1045.1 m made good.
2025-03-12T05:06:40.214Z,1741756000.214 [Default:CheckIn:Read_GPS] Stopped
2025-03-12T05:06:40.214Z,1741756000.214 [Default:CheckIn:Read_Iridium] Running Loop=1
2025-03-12T05:06:41.956Z,1741756001.956 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T05:07:00.971Z,1741756020.971 [NAL9602](INFO): SBD MO Status=1, MOMSN=18951, MT Status=0, MTMSN=0
2025-03-12T05:07:01.020Z,1741756021.020 [NAL9602](INFO): Sent 86 bytes from file Logs/20250312T040137/Courier0025.lzma
2025-03-12T05:07:01.020Z,1741756021.020 [NAL9602](INFO): Packets left to send: 0
2025-03-12T05:07:12.094Z,1741756032.094 [NAL9602](INFO): SBD MO Status=1, MOMSN=18952, MT Status=0, MTMSN=0
2025-03-12T05:07:12.152Z,1741756032.152 [NAL9602](INFO): Sent 332 bytes from file Logs/20250312T040137/Express0026.lzma
2025-03-12T05:07:12.152Z,1741756032.152 [NAL9602](INFO): Packets left to send: 1
2025-03-12T05:07:13.080Z,1741756033.080 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T05:07:21.953Z,1741756041.953 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003600
2025-03-12T05:07:29.897Z,1741756049.897 [DataOverHttps](INFO): Sending 650 bytes from file Logs/20250312T040137/Express0026.lzma
2025-03-12T05:07:30.900Z,1741756050.900 [DataOverHttps](INFO): Moved sent file to Logs/20250312T040137/Express0026.lzma.bak
2025-03-12T05:07:30.900Z,1741756050.900 [DataOverHttps](INFO): SBD MOMSN=24182416
2025-03-12T05:07:32.377Z,1741756052.377 [Default:CheckIn:Read_Iridium] Stopped
2025-03-12T05:07:32.377Z,1741756052.377 [Default:CheckIn:C.Wait] Running Loop=1
2025-03-12T05:07:32.377Z,1741756052.377 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2025-03-12T05:07:35.595Z,1741756055.595 [NAL9602](INFO): SBD MO Status=1, MOMSN=18953, MT Status=0, MTMSN=0
2025-03-12T05:07:35.644Z,1741756055.644 [NAL9602](INFO): Sent 318 bytes from file Logs/20250312T040137/Express0026.lzma
2025-03-12T05:07:35.644Z,1741756055.644 [NAL9602](INFO): Packets left to send: 0
2025-03-12T05:08:06.331Z,1741756086.331 [NAL9602](INFO): Not Powering down - fast GPS
2025-03-12T05:09:44.317Z,1741756184.317 [DataOverHttps](IMPORTANT): SBD MTMSN=20250312T050939
2025-03-12T05:09:51.992Z,1741756191.992 [DataOverHttps](INFO): Received command: configSet VerticalControl.kdDepth 0 radian_second_per_meter persist
2025-03-12T05:09:52.439Z,1741756192.439 [CommandExec](IMPORTANT): got command configSet VerticalControl.kdDepth 0 radian_second_per_meter persist
2025-03-12T05:09:52.440Z,1741756192.440 [CommandExec](FAULT): Not allowing to overwrite existing Data/persisted.cfg after unclean shutdown.
2025-03-12T05:10:23.867Z,1741756223.867 [DataOverHttps](IMPORTANT): SBD MTMSN=20250312T051018
2025-03-12T05:10:31.568Z,1741756231.568 [DataOverHttps](INFO): Received command: sched asap "load Science/sci2_flat_and_level.tl;set sci2_flat_and_level.MissionTimeout 0.5 h;set sci2_flat_and_level.Depth1 30 m;set sci2_flat_and_level.Lat1 36.797 degree;set sci2_flat_and_level.Lon1 -121.857 degree" 31nov 1 2
2025-03-12T05:10:31.585Z,1741756231.585 [CommandExec](IMPORTANT): got command schedule asap "load Science/sci2_flat_and_level.tl;set sci2_flat_and_level.MissionTimeout 0.5 h;set sci2_flat_and_level.Depth1 30 m;set sci2_flat_and_level.Lat1 36.797 degree;set sci2_flat_and_level.Lon1 -121.857 degree" 31nov 1 2.000000
2025-03-12T05:10:31.585Z,1741756231.585 [CommandExec](IMPORTANT): Scheduling command #1 of 2 with id=31nov
2025-03-12T05:10:31.586Z,1741756231.586 [CommandExec](IMPORTANT): Scheduled #5 (#1 of 2 with id='31nov'): "load Science/sci2_flat_and_level.tl;set sci2_flat_and_level.MissionTimeout 0.5 h;set sci2_flat_and_level.Depth1 30 m;set sci2_flat_and_level.Lat1 36.797 degree;set sci2_flat_and_level.Lon1 -121.857 degree", ASAP
2025-03-12T05:10:32.569Z,1741756232.569 [DataOverHttps](IMPORTANT): SBD MTMSN=20250312T051027
2025-03-12T05:10:42.772Z,1741756242.772 [DataOverHttps](INFO): Received command: sched asap "set sci2_flat_and_level.MaxDepth 40 m;run" 31nov 2 2
2025-03-12T05:10:42.835Z,1741756242.835 [CommandExec](IMPORTANT): got command schedule asap "set sci2_flat_and_level.MaxDepth 40 m;run" 31nov 2 2.000000
2025-03-12T05:10:42.835Z,1741756242.835 [CommandExec](IMPORTANT): Scheduling command #2 of 2 with id=31nov
2025-03-12T05:10:42.837Z,1741756242.837 [CommandExec](IMPORTANT): Scheduled #6 (#2 of 2 with id='31nov'): "set sci2_flat_and_level.MaxDepth 40 m;run", ASAP
2025-03-12T05:10:42.994Z,1741756242.994 [CommandExec](IMPORTANT): got command load ./Missions/Science/sci2_flat_and_level.tl
2025-03-12T05:10:42.995Z,1741756242.995 [MissionManager](INFO): Loading Mission from file: ./Missions/Science/sci2_flat_and_level.tl
2025-03-12T05:10:42.995Z,1741756242.995 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Science/sci2_flat_and_level.tl
2025-03-12T05:10:42.998Z,1741756242.998 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Science/sci2_flat_and_level.tl
2025-03-12T05:10:48.681Z,1741756248.681 [MissionManager](DEBUG): TethyslAPI: ./Missions/Science/sci2_flat_and_level.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Mission Id="sci2_flat_and_level">
    <DefineArg Name="MissionTimeout">
        <Units:hour />
        <Value>2</Value>
    </DefineArg>
    <DefineArg Name="NeedCommsTime">
        <Units:minute />
        <Value>60</Value>
    </DefineArg>
    <DefineArg Name="Depth1">
        <Units:meter />
        <Value>3</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="Depth9">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Depth10">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Repeat">
        <Units:count />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="DepthPerLeg">
        <False />
    </DefineArg>
    <DefineArg Name="Lat1">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lat2">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lat3">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lat4">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lat5">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lat6">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lat7">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lon1">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lon2">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lon3">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lon4">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lon5">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lon6">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lon7">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Speed">
        <Units:meter_per_second />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="RollOptimizeSpeed">
        <False />
    </DefineArg>
    <DefineArg Name="TargetRollAngle">
        <Units:degree />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="RollError">
        <Units:degree />
        <Value>2</Value>
    </DefineArg>
    <DefineArg Name="MaxRollSpeed">
        <Units:meter_per_second />
        <Value>1.1</Value>
    </DefineArg>
    <DefineArg Name="MinRollSpeed">
        <Units:meter_per_second />
        <Value>0.6</Value>
    </DefineArg>
    <DefineArg Name="RollWindowLen">
        <Units:minute />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="RollInitStep">
        <Units:degree />
        <Value>0.1</Value>
    </DefineArg>
    <DefineArg Name="RollMinStep">
        <Units:degree />
        <Value>0.025</Value>
    </DefineArg>
    <DefineArg Name="RollVerbose">
        <True />
    </DefineArg>
    <DefineArg Name="ApproachDepth">
        <Units:meter />
        <Value>2</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="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>15</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" />
    <Insert Filename="Insert/PowerOnly.tl" />
    <Aggregate Id="SurfaceComms">
        <When>
            <Called />
            <Or>
                <Elapsed>
                    <Universal:time_fix />
                </Elapsed>
                <Gt>
                    <Arg Name="NeedCommsTime" />
                </Gt>
            </Or>
        </When>
        <Assign>
            <Sequence />
            <Arg Name="DiveMode" />
            <Arg Name="DoingComms" />
        </Assign>
        <Call RefId="NeedComms" />
        <Assign>
            <Sequence />
            <Arg Name="DiveMode" />
            <Arg Name="InitialDive" />
        </Assign>
    </Aggregate>
    <Assign>
        <Sequence />
        <Arg Name="LegDepth" />
        <Arg Name="Depth1" />
    </Assign>
    <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>
                <Guidance:Buoyancy>
                    <Parallel />
                    <Setting>
                        <Guidance:Buoyancy.position />
                        <Arg Name="BuoyancyNeutral" />
                    </Setting>
                </Guidance:Buoyancy>
                <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="ApproachDepth" />
                    </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>
            </While>
            <Aggregate Id="dive">
                <Parallel />
                <Aggregate Id="ThrusterDive">
                    <While>
                        <Arg Name="Speed" />
                        <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:Buoyancy>
                        <Parallel />
                        <Setting>
                            <Guidance:Buoyancy.position />
                            <Arg Name="BuoyancyNeutral" />
                        </Setting>
                    </Guidance:Buoyancy>
                </Aggregate>
                <Aggregate Id="SetSpeed">
                    <Sequence />
                    <Break>
                        <Arg Name="RollOptimizeSpeed" />
                    </Break>
                    <Guidance:SetSpeed>
                        <Parallel />
                        <Setting>
                            <Guidance:SetSpeed.speed />
                            <Arg Name="Speed" />
                        </Setting>
                    </Guidance:SetSpeed>
                </Aggregate>
                <Aggregate Id="SetRollSpeed">
                    <Sequence />
                    <Break>
                        <Not>
                            <Arg Name="RollOptimizeSpeed" />
                        </Not>
                    </Break>
                    <Guidance:SetRollSpeed>
                        <Parallel />
                        <Setting>
                            <Guidance:SetRollSpeed.targetRoll />
                            <Arg Name="TargetRollAngle" />
                        </Setting>
                        <Setting>
                            <Guidance:SetRollSpeed.rollError />
                            <Arg Name="RollError" />
                        </Setting>
                        <Setting>
                            <Guidance:SetRollSpeed.maxSpeed />
                            <Arg Name="MaxRollSpeed" />
                        </Setting>
                        <Setting>
                            <Guidance:SetRollSpeed.startSpeed />
                            <Arg Name="Speed" />
                        </Setting>
                        <Setting>
                            <Guidance:SetRollSpeed.minSpeed />
                            <Arg Name="MinRollSpeed" />
                        </Setting>
                        <Setting>
                            <Guidance:SetRollSpeed.estimationWindow />
                            <Arg Name="RollWindowLen" />
                        </Setting>
                        <Setting>
                            <Guidance:SetRollSpeed.initStep />
                            <Arg Name="RollInitStep" />
                        </Setting>
                        <Setting>
                            <Guidance:SetRollSpeed.minStep />
                            <Arg Name="RollMinStep" />
                        </Setting>
                        <Setting>
                            <Guidance:SetRollSpeed.verbose />
                            <Arg Name="RollVerbose" />
                        </Setting>
                    </Guidance:SetRollSpeed>
                </Aggregate>
                <Guidance:Pitch>
                    <Parallel />
                    <Setting>
                        <Guidance:Pitch.depth />
                        <Arg Name="LegDepth" />
                    </Setting>
                </Guidance:Pitch>
            </Aggregate>
        </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>
            <Aggregate Id="Leg1">
                <Sequence />
                <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>
            <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>
            <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>
            <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>
            <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>
            <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>
            <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>
            <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>
            <Aggregate Id="Leg9">
                <Sequence />
                <Break>
                    <IsNaN>
                        <Arg Name="Depth9" />
                    </IsNaN>
                </Break>
                <Syslog Severity="Important">
                    Transiting waypoints at depth
                    <Arg Name="Depth9" />
                    <Units:meter />
                </Syslog>
                <Assign>
                    <Sequence />
                    <Arg Name="LegDepth" />
                    <Arg Name="Depth9" />
                </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>
            <Aggregate Id="Leg10">
                <Sequence />
                <Break>
                    <IsNaN>
                        <Arg Name="Depth10" />
                    </IsNaN>
                </Break>
                <Syslog Severity="Important">
                    Transiting waypoints at depth
                    <Arg Name="Depth10" />
                    <Units:meter />
                </Syslog>
                <Assign>
                    <Sequence />
                    <Arg Name="LegDepth" />
                    <Arg Name="Depth10" />
                </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>
        </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>
    </Aggregate>
</Mission>

2025-03-12T05:10:48.706Z,1741756248.706 [MissionManager](INFO): DefineArg sci2_flat_and_level.MissionTimeout = 2.000000 h
2025-03-12T05:10:48.708Z,1741756248.708 [MissionManager](INFO): DefineArg sci2_flat_and_level.NeedCommsTime = 60.000000 min
2025-03-12T05:10:48.710Z,1741756248.710 [MissionManager](INFO): DefineArg sci2_flat_and_level.Depth1 = 3.000000 m
2025-03-12T05:10:48.712Z,1741756248.712 [MissionManager](INFO): DefineArg sci2_flat_and_level.Depth2 = nan m
2025-03-12T05:10:48.714Z,1741756248.714 [MissionManager](INFO): DefineArg sci2_flat_and_level.Depth3 = nan m
2025-03-12T05:10:48.741Z,1741756248.741 [MissionManager](INFO): DefineArg sci2_flat_and_level.Depth4 = nan m
2025-03-12T05:10:48.743Z,1741756248.743 [MissionManager](INFO): DefineArg sci2_flat_and_level.Depth5 = nan m
2025-03-12T05:10:48.750Z,1741756248.750 [MissionManager](INFO): DefineArg sci2_flat_and_level.Depth6 = nan m
2025-03-12T05:10:48.753Z,1741756248.753 [MissionManager](INFO): DefineArg sci2_flat_and_level.Depth7 = nan m
2025-03-12T05:10:48.755Z,1741756248.755 [MissionManager](INFO): DefineArg sci2_flat_and_level.Depth8 = nan m
2025-03-12T05:10:48.770Z,1741756248.770 [MissionManager](INFO): DefineArg sci2_flat_and_level.Depth9 = nan m
2025-03-12T05:10:48.777Z,1741756248.777 [MissionManager](INFO): DefineArg sci2_flat_and_level.Depth10 = nan m
2025-03-12T05:10:48.790Z,1741756248.790 [MissionManager](INFO): DefineArg sci2_flat_and_level.Repeat = 1.000000 count
2025-03-12T05:10:48.808Z,1741756248.808 [MissionManager](INFO): DefineArg sci2_flat_and_level.DepthPerLeg = 0 bool
2025-03-12T05:10:48.810Z,1741756248.810 [MissionManager](INFO): DefineArg sci2_flat_and_level.Lat1 = nan arcdeg
2025-03-12T05:10:48.819Z,1741756248.819 [MissionManager](INFO): DefineArg sci2_flat_and_level.Lat2 = nan arcdeg
2025-03-12T05:10:48.842Z,1741756248.842 [MissionManager](INFO): DefineArg sci2_flat_and_level.Lat3 = nan arcdeg
2025-03-12T05:10:48.856Z,1741756248.856 [MissionManager](INFO): DefineArg sci2_flat_and_level.Lat4 = nan arcdeg
2025-03-12T05:10:48.858Z,1741756248.858 [MissionManager](INFO): DefineArg sci2_flat_and_level.Lat5 = nan arcdeg
2025-03-12T05:10:48.881Z,1741756248.881 [MissionManager](INFO): DefineArg sci2_flat_and_level.Lat6 = nan arcdeg
2025-03-12T05:10:48.883Z,1741756248.883 [MissionManager](INFO): DefineArg sci2_flat_and_level.Lat7 = nan arcdeg
2025-03-12T05:10:48.898Z,1741756248.898 [MissionManager](INFO): DefineArg sci2_flat_and_level.Lon1 = nan arcdeg
2025-03-12T05:10:48.908Z,1741756248.908 [MissionManager](INFO): DefineArg sci2_flat_and_level.Lon2 = nan arcdeg
2025-03-12T05:10:48.910Z,1741756248.910 [MissionManager](INFO): DefineArg sci2_flat_and_level.Lon3 = nan arcdeg
2025-03-12T05:10:48.918Z,1741756248.918 [MissionManager](INFO): DefineArg sci2_flat_and_level.Lon4 = nan arcdeg
2025-03-12T05:10:48.931Z,1741756248.931 [MissionManager](INFO): DefineArg sci2_flat_and_level.Lon5 = nan arcdeg
2025-03-12T05:10:48.933Z,1741756248.933 [MissionManager](INFO): DefineArg sci2_flat_and_level.Lon6 = nan arcdeg
2025-03-12T05:10:48.935Z,1741756248.935 [MissionManager](INFO): DefineArg sci2_flat_and_level.Lon7 = nan arcdeg
2025-03-12T05:10:48.946Z,1741756248.946 [MissionManager](INFO): DefineArg sci2_flat_and_level.Speed = 1.000000 m/s
2025-03-12T05:10:48.952Z,1741756248.952 [MissionManager](INFO): DefineArg sci2_flat_and_level.RollOptimizeSpeed = 0 bool
2025-03-12T05:10:48.954Z,1741756248.954 [MissionManager](INFO): DefineArg sci2_flat_and_level.TargetRollAngle = 0.000000 arcdeg
2025-03-12T05:10:48.965Z,1741756248.965 [MissionManager](INFO): DefineArg sci2_flat_and_level.RollError = 2.000000 arcdeg
2025-03-12T05:10:48.967Z,1741756248.967 [MissionManager](INFO): DefineArg sci2_flat_and_level.MaxRollSpeed = 1.100000 m/s
2025-03-12T05:10:48.974Z,1741756248.974 [MissionManager](INFO): DefineArg sci2_flat_and_level.MinRollSpeed = 0.600000 m/s
2025-03-12T05:10:48.980Z,1741756248.980 [MissionManager](INFO): DefineArg sci2_flat_and_level.RollWindowLen = 5.000000 min
2025-03-12T05:10:48.982Z,1741756248.982 [MissionManager](INFO): DefineArg sci2_flat_and_level.RollInitStep = 0.100000 arcdeg
2025-03-12T05:10:48.989Z,1741756248.989 [MissionManager](INFO): DefineArg sci2_flat_and_level.RollMinStep = 0.025000 arcdeg
2025-03-12T05:10:48.991Z,1741756248.991 [MissionManager](INFO): DefineArg sci2_flat_and_level.RollVerbose = 1 bool
2025-03-12T05:10:49.001Z,1741756249.001 [MissionManager](INFO): DefineArg sci2_flat_and_level.ApproachDepth = 2.000000 m
2025-03-12T05:10:49.008Z,1741756249.008 [MissionManager](INFO): DefineArg sci2_flat_and_level.ApproachSpeed = 0.700000 m/s
2025-03-12T05:10:49.010Z,1741756249.010 [MissionManager](INFO): DefineArg sci2_flat_and_level.ApproachDepthRate = 0.050000 m/s
2025-03-12T05:10:49.016Z,1741756249.016 [MissionManager](INFO): DefineArg sci2_flat_and_level.ApproachPitchLimit = 20.000000 arcdeg
2025-03-12T05:10:49.019Z,1741756249.019 [MissionManager](INFO): DefineArg sci2_flat_and_level.ApproachDepthTimeout = 15.000000 min
2025-03-12T05:10:49.025Z,1741756249.025 [MissionManager](INFO): DefineArg sci2_flat_and_level.ApproachSettleTimePreDive = 1.000000 min
2025-03-12T05:10:49.027Z,1741756249.027 [MissionManager](INFO): DefineArg sci2_flat_and_level.ApproachSettleTimePostDive = 3.000000 min
2025-03-12T05:10:49.034Z,1741756249.034 [MissionManager](INFO): DefineArg sci2_flat_and_level.kpDepth = 0.070000 rad/m
2025-03-12T05:10:49.037Z,1741756249.037 [MissionManager](INFO): DefineArg sci2_flat_and_level.BuoyancyNeutral = 200.000000 cc
2025-03-12T05:10:49.039Z,1741756249.039 [MissionManager](INFO): DefineArg sci2_flat_and_level.MassDefault = 2.200000 cm
2025-03-12T05:10:49.057Z,1741756249.057 [MissionManager](INFO): DefineArg sci2_flat_and_level.MinAltitude = 2.000000 m
2025-03-12T05:10:49.059Z,1741756249.059 [MissionManager](INFO): DefineArg sci2_flat_and_level.MaxDepth = 15.000000 m
2025-03-12T05:10:49.066Z,1741756249.066 [MissionManager](INFO): DefineArg sci2_flat_and_level.MinOffshore = 2.000000 km
2025-03-12T05:10:49.072Z,1741756249.072 [MissionManager](INFO): DefineOutput sci2_flat_and_level.DiveMode = 0.000000 count
2025-03-12T05:10:49.075Z,1741756249.075 [MissionManager](INFO): DefineOutput sci2_flat_and_level.DoingComms = 0.000000 count
2025-03-12T05:10:49.081Z,1741756249.081 [MissionManager](INFO): DefineOutput sci2_flat_and_level.InitialDive = 1.000000 count
2025-03-12T05:10:49.088Z,1741756249.088 [MissionManager](INFO): DefineOutput sci2_flat_and_level.SettleAtDepth = 2.000000 count
2025-03-12T05:10:49.090Z,1741756249.090 [MissionManager](INFO): DefineOutput sci2_flat_and_level.MaintainDepth = 3.000000 count
2025-03-12T05:10:49.097Z,1741756249.097 [MissionManager](INFO): DefineOutput sci2_flat_and_level.LegDepth = 3.000000 m
2025-03-12T05:10:49.097Z,1741756249.097 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/Science.tl
2025-03-12T05:10:49.098Z,1741756249.098 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/Science.tl
2025-03-12T05:10:49.106Z,1741756249.106 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/Science.tl
2025-03-12T05:10:52.139Z,1741756252.139 [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>

2025-03-12T05:10:52.169Z,1741756252.169 [MissionManager](INFO): DefineArg sci2_flat_and_level:Science.PeakDetectChlActive = 0 bool
2025-03-12T05:10:52.171Z,1741756252.171 [MissionManager](INFO): DefineArg sci2_flat_and_level:Science.EdgeDetectChlActive = 0 bool
2025-03-12T05:10:52.174Z,1741756252.174 [MissionManager](INFO): DefineArg sci2_flat_and_level:Science.TimeWindowPeakReport = nan min
2025-03-12T05:10:52.188Z,1741756252.188 [MissionManager](INFO): DefineArg sci2_flat_and_level:Science.HighestChlPeakReportActive = 0 bool
2025-03-12T05:10:52.190Z,1741756252.190 [MissionManager](INFO): DefineArg sci2_flat_and_level:Science.HighestSaltPeakReportActive = 0 bool
2025-03-12T05:10:52.197Z,1741756252.197 [MissionManager](INFO): DefineArg sci2_flat_and_level:Science.HighestOilPeakReportActive = 0 bool
2025-03-12T05:10:52.199Z,1741756252.199 [MissionManager](INFO): DefineArg sci2_flat_and_level:Science.PatchTracking = 0 bool
2025-03-12T05:10:52.201Z,1741756252.201 [MissionManager](INFO): DefineArg sci2_flat_and_level:Science.FilterWidthHorizontal = 3.000000 count
2025-03-12T05:10:52.203Z,1741756252.203 [MissionManager](INFO): DefineArg sci2_flat_and_level:Science.NumProfilesSlidingwindow = 100.000000 count
2025-03-12T05:10:52.222Z,1741756252.222 [MissionManager](INFO): DefineArg sci2_flat_and_level:Science.OffPeakFractionHorizontal = 80.000000 %
2025-03-12T05:10:52.228Z,1741756252.228 [MissionManager](INFO): DefineArg sci2_flat_and_level:Science.PeakDetectNO3Active = 0 bool
2025-03-12T05:10:52.230Z,1741756252.230 [MissionManager](INFO): DefineArg sci2_flat_and_level:Science.PeakDetectOilActive = 0 bool
2025-03-12T05:10:52.236Z,1741756252.236 [MissionManager](INFO): DefineArg sci2_flat_and_level:Science.PeakDetectFDOMActive = 0 bool
2025-03-12T05:10:52.238Z,1741756252.238 [MissionManager](INFO): DefineArg sci2_flat_and_level:Science.PeakDetectSalinityActive = 0 bool
2025-03-12T05:10:52.245Z,1741756252.245 [MissionManager](INFO): DefineArg sci2_flat_and_level:Science.PeakDetectPlanktivoreLMavgROIActive = 0 bool
2025-03-12T05:10:52.247Z,1741756252.247 [MissionManager](INFO): DefineArg sci2_flat_and_level:Science.EdgeDetectPlanktivoreLMavgROIActive = 0 bool
2025-03-12T05:10:52.251Z,1741756252.251 [MissionManager](INFO): DefineArg sci2_flat_and_level:Science.PeakDetectPlanktivoreHMavgROIActive = 0 bool
2025-03-12T05:10:52.262Z,1741756252.262 [MissionManager](INFO): DefineArg sci2_flat_and_level:Science.PeakDetectPlanktivoreDiatomsActive = 0 bool
2025-03-12T05:10:52.268Z,1741756252.268 [MissionManager](INFO): DefineArg sci2_flat_and_level:Science.PeakDetectPlanktivoreDinoflagellatesActive = 0 bool
2025-03-12T05:10:52.270Z,1741756252.270 [MissionManager](INFO): DefineArg sci2_flat_and_level:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2025-03-12T05:10:52.277Z,1741756252.277 [MissionManager](INFO): DefineArg sci2_flat_and_level:Science.EnabledAanderaaO2 = 0 bool
2025-03-12T05:10:52.279Z,1741756252.279 [MissionManager](INFO): DefineArg sci2_flat_and_level:Science.EnabledNeilBrown = 0 bool
2025-03-12T05:10:52.286Z,1741756252.286 [MissionManager](INFO): DefineArg sci2_flat_and_level:Science.EnabledSeabird = 1 bool
2025-03-12T05:10:52.288Z,1741756252.288 [MissionManager](INFO): DefineArg sci2_flat_and_level:Science.EnabledWetLabsBB2FL = 1 bool
2025-03-12T05:10:52.291Z,1741756252.291 [MissionManager](INFO): DefineArg sci2_flat_and_level:Science.EnabledWetLabsSeaOWL_UV_A = 0 bool
2025-03-12T05:10:52.293Z,1741756252.293 [MissionManager](INFO): DefineArg sci2_flat_and_level:Science.EnabledWetLabsUBAT = 0 bool
2025-03-12T05:10:52.295Z,1741756252.295 [MissionManager](INFO): DefineArg sci2_flat_and_level:Science.LowPassWindowLength = 20.000000 count
2025-03-12T05:10:52.317Z,1741756252.317 [MissionManager](INFO): DefineArg sci2_flat_and_level:Science.MedianFilterLen = 5.000000 count
2025-03-12T05:10:52.319Z,1741756252.319 [MissionManager](INFO): DefineArg sci2_flat_and_level:Science.ShallowBound = nan m
2025-03-12T05:10:52.321Z,1741756252.321 [MissionManager](INFO): DefineArg sci2_flat_and_level:Science.DeepBound = nan m
2025-03-12T05:10:52.323Z,1741756252.323 [MissionManager](INFO): DefineArg sci2_flat_and_level:Science.DepChangeThreshForAttitudeFlip = 2.000000 m
2025-03-12T05:10:52.342Z,1741756252.342 [MissionManager](INFO): DefineArg sci2_flat_and_level:Science.OffPeakFractionVertical = nan %
2025-03-12T05:10:52.344Z,1741756252.344 [MissionManager](INFO): DefineArg sci2_flat_and_level:Science.ChlPeakThresh = 0.000000 ug/l
2025-03-12T05:10:52.346Z,1741756252.346 [MissionManager](INFO): DefineArg sci2_flat_and_level:Science.ChlThreshTriggerActive = 0 bool
2025-03-12T05:10:52.348Z,1741756252.348 [MissionManager](INFO): DefineArg sci2_flat_and_level:Science.ChlLowerThresh = nan ug/l
2025-03-12T05:10:52.351Z,1741756252.351 [MissionManager](INFO): DefineArg sci2_flat_and_level:Science.ChlUpperThresh = nan ug/l
2025-03-12T05:10:52.376Z,1741756252.376 [MissionManager](INFO): DefineArg sci2_flat_and_level:Science.NumProfilesThresh = 5.000000 count
2025-03-12T05:10:52.378Z,1741756252.378 [MissionManager](INFO): DefineArg sci2_flat_and_level:Science.PlanktivoreLMavgROIPeakThresh = 0.000000 count/s
2025-03-12T05:10:52.381Z,1741756252.381 [MissionManager](INFO): DefineOutput sci2_flat_and_level:Science.GoDown = 1 bool
2025-03-12T05:10:52.383Z,1741756252.383 [MissionManager](INFO): DefineOutput sci2_flat_and_level:Science.PeakChl = nan ug/l
2025-03-12T05:10:52.398Z,1741756252.398 [MissionManager](INFO): DefineOutput sci2_flat_and_level:Science.PeakChlDepth = nan m
2025-03-12T05:10:52.400Z,1741756252.400 [MissionManager](INFO): DefineOutput sci2_flat_and_level:Science.PeakChlTemperature = nan degC
2025-03-12T05:10:52.402Z,1741756252.402 [MissionManager](INFO): DefineOutput sci2_flat_and_level:Science.PeakChlLatitude = nan arcdeg
2025-03-12T05:10:52.405Z,1741756252.405 [MissionManager](INFO): DefineOutput sci2_flat_and_level:Science.PeakChlLongitude = nan arcdeg
2025-03-12T05:10:52.407Z,1741756252.407 [MissionManager](INFO): DefineOutput sci2_flat_and_level:Science.EdgeChl = nan ug/l
2025-03-12T05:10:52.451Z,1741756252.451 [MissionManager](INFO): DefineOutput sci2_flat_and_level:Science.EdgeChlDepth = nan m
2025-03-12T05:10:52.453Z,1741756252.453 [MissionManager](INFO): DefineOutput sci2_flat_and_level:Science.EdgeChlTemperature = nan degC
2025-03-12T05:10:52.476Z,1741756252.476 [MissionManager](INFO): DefineOutput sci2_flat_and_level:Science.EdgeChlLatitude = nan arcdeg
2025-03-12T05:10:52.481Z,1741756252.481 [MissionManager](INFO): DefineOutput sci2_flat_and_level:Science.EdgeChlLongitude = nan arcdeg
2025-03-12T05:10:52.492Z,1741756252.492 [MissionManager](INFO): DefineOutput sci2_flat_and_level:Science.PeakNO3 = nan umol/l
2025-03-12T05:10:52.520Z,1741756252.520 [MissionManager](INFO): DefineOutput sci2_flat_and_level:Science.PeakNO3Depth = nan m
2025-03-12T05:10:52.522Z,1741756252.522 [MissionManager](INFO): DefineOutput sci2_flat_and_level:Science.PeakNO3Latitude = nan arcdeg
2025-03-12T05:10:52.529Z,1741756252.529 [MissionManager](INFO): DefineOutput sci2_flat_and_level:Science.PeakNO3Longitude = nan arcdeg
2025-03-12T05:10:52.531Z,1741756252.531 [MissionManager](INFO): DefineOutput sci2_flat_and_level:Science.PeakOil = nan kg/m3
2025-03-12T05:10:52.556Z,1741756252.556 [MissionManager](INFO): DefineOutput sci2_flat_and_level:Science.PeakOilDepth = nan m
2025-03-12T05:10:52.558Z,1741756252.558 [MissionManager](INFO): DefineOutput sci2_flat_and_level:Science.PeakOilLatitude = nan arcdeg
2025-03-12T05:10:52.563Z,1741756252.563 [MissionManager](INFO): DefineOutput sci2_flat_and_level:Science.PeakOilLongitude = nan arcdeg
2025-03-12T05:10:52.578Z,1741756252.578 [MissionManager](INFO): DefineOutput sci2_flat_and_level:Science.PeakFDOM = nan ppb
2025-03-12T05:10:52.585Z,1741756252.585 [MissionManager](INFO): DefineOutput sci2_flat_and_level:Science.PeakFDOMDepth = nan m
2025-03-12T05:10:52.587Z,1741756252.587 [MissionManager](INFO): DefineOutput sci2_flat_and_level:Science.PeakFDOMTemperature = nan degC
2025-03-12T05:10:52.594Z,1741756252.594 [MissionManager](INFO): DefineOutput sci2_flat_and_level:Science.PeakFDOMLatitude = nan arcdeg
2025-03-12T05:10:52.601Z,1741756252.601 [MissionManager](INFO): DefineOutput sci2_flat_and_level:Science.PeakFDOMLongitude = nan arcdeg
2025-03-12T05:10:52.609Z,1741756252.609 [MissionManager](INFO): DefineOutput sci2_flat_and_level:Science.PeakSalt = nan psu
2025-03-12T05:10:52.613Z,1741756252.613 [MissionManager](INFO): DefineOutput sci2_flat_and_level:Science.PeakSaltDepth = nan m
2025-03-12T05:10:52.625Z,1741756252.625 [MissionManager](INFO): DefineOutput sci2_flat_and_level:Science.PeakSaltTemperature = nan degC
2025-03-12T05:10:52.633Z,1741756252.633 [MissionManager](INFO): DefineOutput sci2_flat_and_level:Science.PeakSaltLatitude = nan arcdeg
2025-03-12T05:10:52.645Z,1741756252.645 [MissionManager](INFO): DefineOutput sci2_flat_and_level:Science.PeakSaltLongitude = nan arcdeg
2025-03-12T05:10:52.656Z,1741756252.656 [MissionManager](INFO): DefineOutput sci2_flat_and_level:Science.PeakPlanktivoreLMavgROI = nan count/s
2025-03-12T05:10:52.664Z,1741756252.664 [MissionManager](INFO): DefineOutput sci2_flat_and_level:Science.PeakPlanktivoreLMavgROIDepth = nan m
2025-03-12T05:10:52.672Z,1741756252.672 [MissionManager](INFO): DefineOutput sci2_flat_and_level:Science.PeakPlanktivoreLMavgROITemperature = nan degC
2025-03-12T05:10:52.675Z,1741756252.675 [MissionManager](INFO): DefineOutput sci2_flat_and_level:Science.PeakPlanktivoreLMavgROILatitude = nan arcdeg
2025-03-12T05:10:52.683Z,1741756252.683 [MissionManager](INFO): DefineOutput sci2_flat_and_level:Science.PeakPlanktivoreLMavgROILongitude = nan arcdeg
2025-03-12T05:10:52.691Z,1741756252.691 [MissionManager](INFO): DefineOutput sci2_flat_and_level:Science.EdgePlanktivoreLMavgROI = nan count/s
2025-03-12T05:10:52.699Z,1741756252.699 [MissionManager](INFO): DefineOutput sci2_flat_and_level:Science.EdgePlanktivoreLMavgROIDepth = nan m
2025-03-12T05:10:52.707Z,1741756252.707 [MissionManager](INFO): DefineOutput sci2_flat_and_level:Science.EdgePlanktivoreLMavgROITemperature = nan degC
2025-03-12T05:10:52.718Z,1741756252.718 [MissionManager](INFO): DefineOutput sci2_flat_and_level:Science.EdgePlanktivoreLMavgROILatitude = nan arcdeg
2025-03-12T05:10:52.725Z,1741756252.725 [MissionManager](INFO): DefineOutput sci2_flat_and_level:Science.EdgePlanktivoreLMavgROILongitude = nan arcdeg
2025-03-12T05:10:52.727Z,1741756252.727 [MissionManager](INFO): DefineOutput sci2_flat_and_level:Science.PeakPlanktivoreHMavgROI = nan count/s
2025-03-12T05:10:52.737Z,1741756252.737 [MissionManager](INFO): DefineOutput sci2_flat_and_level:Science.PeakPlanktivoreHMavgROIDepth = nan m
2025-03-12T05:10:52.739Z,1741756252.739 [MissionManager](INFO): DefineOutput sci2_flat_and_level:Science.PeakPlanktivoreHMavgROITemperature = nan degC
2025-03-12T05:10:52.742Z,1741756252.742 [MissionManager](INFO): DefineOutput sci2_flat_and_level:Science.PeakPlanktivoreHMavgROILatitude = nan arcdeg
2025-03-12T05:10:52.747Z,1741756252.747 [MissionManager](INFO): DefineOutput sci2_flat_and_level:Science.PeakPlanktivoreHMavgROILongitude = nan arcdeg
2025-03-12T05:10:52.762Z,1741756252.762 [MissionManager](INFO): DefineOutput sci2_flat_and_level:Science.PeakPlanktivoreDiatoms = nan count/ml
2025-03-12T05:10:52.777Z,1741756252.777 [MissionManager](INFO): DefineOutput sci2_flat_and_level:Science.PeakPlanktivoreDiatomsDepth = nan m
2025-03-12T05:10:52.779Z,1741756252.779 [MissionManager](INFO): DefineOutput sci2_flat_and_level:Science.PeakPlanktivoreDiatomsTemperature = nan degC
2025-03-12T05:10:52.786Z,1741756252.786 [MissionManager](INFO): DefineOutput sci2_flat_and_level:Science.PeakPlanktivoreDiatomsLatitude = nan arcdeg
2025-03-12T05:10:52.805Z,1741756252.805 [MissionManager](INFO): DefineOutput sci2_flat_and_level:Science.PeakPlanktivoreDiatomsLongitude = nan arcdeg
2025-03-12T05:10:52.812Z,1741756252.812 [MissionManager](INFO): DefineOutput sci2_flat_and_level:Science.PeakPlanktivoreDinoflagellates = nan count/ml
2025-03-12T05:10:52.814Z,1741756252.814 [MissionManager](INFO): DefineOutput sci2_flat_and_level:Science.PeakPlanktivoreDinoflagellatesDepth = nan m
2025-03-12T05:10:52.844Z,1741756252.844 [MissionManager](INFO): DefineOutput sci2_flat_and_level:Science.PeakPlanktivoreDinoflagellatesTemperature = nan degC
2025-03-12T05:10:52.847Z,1741756252.847 [MissionManager](INFO): DefineOutput sci2_flat_and_level:Science.PeakPlanktivoreDinoflagellatesLatitude = nan arcdeg
2025-03-12T05:10:52.888Z,1741756252.888 [MissionManager](INFO): DefineOutput sci2_flat_and_level:Science.PeakPlanktivoreDinoflagellatesLongitude = nan arcdeg
2025-03-12T05:10:52.891Z,1741756252.891 [MissionManager](INFO): DefineOutput sci2_flat_and_level:Science.PatchChl = nan ug/l
2025-03-12T05:10:52.902Z,1741756252.902 [MissionManager](INFO): DefineOutput sci2_flat_and_level:Science.PatchChlDepth = nan m
2025-03-12T05:10:52.920Z,1741756252.920 [MissionManager](INFO): DefineOutput sci2_flat_and_level:Science.PatchChlLatitude = nan arcdeg
2025-03-12T05:10:52.923Z,1741756252.923 [MissionManager](INFO): DefineOutput sci2_flat_and_level:Science.PatchChlLongitude = nan arcdeg
2025-03-12T05:10:52.929Z,1741756252.929 [MissionManager](INFO): DefineOutput sci2_flat_and_level:Science.PatchChlDistance = nan m
2025-03-12T05:10:52.931Z,1741756252.931 [MissionManager](INFO): DefineOutput sci2_flat_and_level:Science.PatchSalt = nan psu
2025-03-12T05:10:52.950Z,1741756252.950 [MissionManager](INFO): DefineOutput sci2_flat_and_level:Science.PatchSaltDepth = nan m
2025-03-12T05:10:52.965Z,1741756252.965 [MissionManager](INFO): DefineOutput sci2_flat_and_level:Science.PatchSaltLatitude = nan arcdeg
2025-03-12T05:10:52.967Z,1741756252.967 [MissionManager](INFO): DefineOutput sci2_flat_and_level:Science.PatchSaltLongitude = nan arcdeg
2025-03-12T05:10:52.988Z,1741756252.988 [MissionManager](INFO): DefineOutput sci2_flat_and_level:Science.PatchSaltDistance = nan m
2025-03-12T05:10:52.990Z,1741756252.990 [MissionManager](INFO): DefineOutput sci2_flat_and_level:Science.PatchOil = nan psu
2025-03-12T05:10:53.001Z,1741756253.001 [MissionManager](INFO): DefineOutput sci2_flat_and_level:Science.PatchOilDepth = nan m
2025-03-12T05:10:53.003Z,1741756253.003 [MissionManager](INFO): DefineOutput sci2_flat_and_level:Science.PatchOilLatitude = nan arcdeg
2025-03-12T05:10:53.010Z,1741756253.010 [MissionManager](INFO): DefineOutput sci2_flat_and_level:Science.PatchOilLongitude = nan arcdeg
2025-03-12T05:10:53.017Z,1741756253.017 [MissionManager](INFO): DefineOutput sci2_flat_and_level:Science.PatchOilDistance = nan m
2025-03-12T05:10:53.019Z,1741756253.019 [MissionManager](INFO): DefineOutput sci2_flat_and_level:Science.TriggeredOnChl = 0 bool
2025-03-12T05:10:53.034Z,1741756253.034 [MissionManager](INFO): DefineOutput sci2_flat_and_level:Science.ChlTriggering = nan ug/l
2025-03-12T05:10:53.087Z,1741756253.087 [sci2_flat_and_level:Science:PeakDetectChl:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-03-12T05:10:53.121Z,1741756253.121 [sci2_flat_and_level:Science:EdgeDetectChl:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-03-12T05:10:53.165Z,1741756253.165 [sci2_flat_and_level:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-03-12T05:10:53.183Z,1741756253.183 [sci2_flat_and_level:Science:PeakDetectNO3:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-03-12T05:10:53.211Z,1741756253.211 [sci2_flat_and_level:Science:PeakDetectOil:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-03-12T05:10:53.269Z,1741756253.269 [sci2_flat_and_level:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-03-12T05:10:53.330Z,1741756253.330 [sci2_flat_and_level:Science:PeakDetectFDOM:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-03-12T05:10:53.354Z,1741756253.354 [sci2_flat_and_level:Science:PeakDetectSalinity:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-03-12T05:10:53.382Z,1741756253.382 [sci2_flat_and_level:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-03-12T05:10:53.411Z,1741756253.411 [sci2_flat_and_level:Science:PeakDetectPlanktivoreLMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-03-12T05:10:53.444Z,1741756253.444 [sci2_flat_and_level:Science:EdgeDetectPlanktivoreLMavgROI:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-03-12T05:10:53.473Z,1741756253.473 [sci2_flat_and_level:Science:PeakDetectPlanktivoreHMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-03-12T05:10:53.485Z,1741756253.485 [sci2_flat_and_level:Science:PeakDetectPlanktivoreDiatoms:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-03-12T05:10:53.501Z,1741756253.501 [sci2_flat_and_level:Science:PeakDetectPlanktivoreDinoflagellates:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-03-12T05:10:53.513Z,1741756253.513 [sci2_flat_and_level:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Construct ValueDetect.
2025-03-12T05:10:53.520Z,1741756253.520 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-03-12T05:10:53.520Z,1741756253.520 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-03-12T05:10:53.521Z,1741756253.521 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-03-12T05:10:53.593Z,1741756253.593 [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>

2025-03-12T05:10:53.596Z,1741756253.596 [MissionManager](INFO): DefineArg sci2_flat_and_level:StandardEnvelopes.MinAltitude = 5.000000 m
2025-03-12T05:10:53.599Z,1741756253.599 [MissionManager](INFO): DefineArg sci2_flat_and_level:StandardEnvelopes.MaxDepthIgnore = 0.000000 m
2025-03-12T05:10:53.613Z,1741756253.613 [MissionManager](INFO): DefineArg sci2_flat_and_level:StandardEnvelopes.MaxDepth = 200.000000 m
2025-03-12T05:10:53.615Z,1741756253.615 [MissionManager](INFO): DefineArg sci2_flat_and_level:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-03-12T05:10:53.617Z,1741756253.617 [sci2_flat_and_level:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-03-12T05:10:53.623Z,1741756253.623 [sci2_flat_and_level:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-03-12T05:10:53.688Z,1741756253.688 [sci2_flat_and_level:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-03-12T05:10:53.740Z,1741756253.740 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl
2025-03-12T05:10:53.741Z,1741756253.741 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl
2025-03-12T05:10:53.747Z,1741756253.747 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl
2025-03-12T05:10:53.955Z,1741756253.955 [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>

2025-03-12T05:10:53.959Z,1741756253.959 [MissionManager](INFO): DefineArg sci2_flat_and_level:NeedComms.DiveInterval = 1.000000 h
2025-03-12T05:10:53.965Z,1741756253.965 [MissionManager](INFO): DefineArg sci2_flat_and_level:NeedComms.WaitForPitchUp = 10.000000 min
2025-03-12T05:10:53.967Z,1741756253.967 [MissionManager](INFO): DefineArg sci2_flat_and_level:NeedComms.SurfacePitch = 20.000000 arcdeg
2025-03-12T05:10:53.995Z,1741756253.995 [MissionManager](INFO): DefineArg sci2_flat_and_level:NeedComms.SurfaceDepthRate = nan m/s
2025-03-12T05:10:53.000Z,1741756254.000 [MissionManager](INFO): DefineArg sci2_flat_and_level:NeedComms.SurfaceSpeed = 1.000000 m/s
2025-03-12T05:10:54.002Z,1741756254.002 [MissionManager](INFO): DefineArg sci2_flat_and_level:NeedComms.SurfacingTimeout = 1000.000000 s
2025-03-12T05:10:54.004Z,1741756254.004 [MissionManager](INFO): DefineArg sci2_flat_and_level:NeedComms.GPSTimeout = 7.000000 min
2025-03-12T05:10:54.006Z,1741756254.006 [MissionManager](INFO): DefineArg sci2_flat_and_level:NeedComms.CommsTimeout = 30.000000 min
2025-03-12T05:10:54.013Z,1741756254.013 [sci2_flat_and_level:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2025-03-12T05:10:54.094Z,1741756254.094 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2025-03-12T05:10:54.094Z,1741756254.094 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2025-03-12T05:10:54.104Z,1741756254.104 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2025-03-12T05:10:54.155Z,1741756254.155 [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>

2025-03-12T05:10:54.166Z,1741756254.166 [MissionManager](INFO): DefineArg sci2_flat_and_level:BackseatDriver.EnableBackseat = 0 bool
2025-03-12T05:10:54.177Z,1741756254.177 [sci2_flat_and_level:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2025-03-12T05:10:54.179Z,1741756254.179 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2025-03-12T05:10:54.179Z,1741756254.179 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2025-03-12T05:10:54.188Z,1741756254.188 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2025-03-12T05:10:54.351Z,1741756254.351 [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>

2025-03-12T05:10:54.358Z,1741756254.358 [MissionManager](INFO): DefineArg sci2_flat_and_level:PowerOnly.SampleAll = 0 bool
2025-03-12T05:10:54.360Z,1741756254.360 [MissionManager](INFO): DefineArg sci2_flat_and_level:PowerOnly.SampleLoad1 = 0 bool
2025-03-12T05:10:54.362Z,1741756254.362 [MissionManager](INFO): DefineArg sci2_flat_and_level:PowerOnly.SampleLoad2 = 0 bool
2025-03-12T05:10:54.364Z,1741756254.364 [MissionManager](INFO): DefineArg sci2_flat_and_level:PowerOnly.SampleLoad3 = 0 bool
2025-03-12T05:10:54.366Z,1741756254.366 [MissionManager](INFO): DefineArg sci2_flat_and_level:PowerOnly.EnabledPowerOnly = 1 bool
2025-03-12T05:10:54.373Z,1741756254.373 [sci2_flat_and_level:PowerOnly:E.Wait](DEBUG): Construct Wait.
2025-03-12T05:10:54.386Z,1741756254.386 [sci2_flat_and_level:DiveCmd:InitialDive:dive:C.Mass](DEBUG): Construct.
2025-03-12T05:10:54.389Z,1741756254.389 [sci2_flat_and_level:DiveCmd:InitialDive:dive:D.Buoyancy](DEBUG): Construct Buoyancy.
2025-03-12T05:10:54.392Z,1741756254.392 [sci2_flat_and_level:DiveCmd:InitialDive:dive:F.Wait](DEBUG): Construct Wait.
2025-03-12T05:10:54.395Z,1741756254.395 [sci2_flat_and_level:DiveCmd:InitialDive:dive:ApproachDepth:A.SetSpeed](DEBUG): Construct.
2025-03-12T05:10:54.398Z,1741756254.398 [sci2_flat_and_level:DiveCmd:InitialDive:dive:ApproachDepth:B.Pitch](DEBUG): Construct.
2025-03-12T05:10:54.460Z,1741756254.460 [sci2_flat_and_level:DiveCmd:InitialDive:dive:ApproachDepth:B.Pitch:A_Timeout:B.Execute](DEBUG): Construct Execute.
2025-03-12T05:10:54.475Z,1741756254.475 [sci2_flat_and_level:DiveCmd:SettleAtDepth:dive:B.Pitch](DEBUG): Construct.
2025-03-12T05:10:54.496Z,1741756254.496 [sci2_flat_and_level:DiveCmd:SettleAtDepth:dive:C.Wait](DEBUG): Construct Wait.
2025-03-12T05:10:54.511Z,1741756254.511 [sci2_flat_and_level:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass](DEBUG): Construct.
2025-03-12T05:10:54.531Z,1741756254.531 [sci2_flat_and_level:DiveCmd:MaintainDepth:dive:ThrusterDive:B.Buoyancy](DEBUG): Construct Buoyancy.
2025-03-12T05:10:54.541Z,1741756254.541 [sci2_flat_and_level:DiveCmd:MaintainDepth:dive:SetSpeed:A.SetSpeed](DEBUG): Construct.
2025-03-12T05:10:54.549Z,1741756254.549 [sci2_flat_and_level:DiveCmd:MaintainDepth:dive:SetRollSpeed:A.SetRollSpeed](DEBUG): Construct.
2025-03-12T05:10:54.559Z,1741756254.559 [sci2_flat_and_level:DiveCmd:MaintainDepth:dive:D.Pitch](DEBUG): Construct.
2025-03-12T05:10:54.585Z,1741756254.585 [sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt1:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T05:10:54.598Z,1741756254.598 [sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt2:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T05:10:54.603Z,1741756254.603 [sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt3:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T05:10:54.609Z,1741756254.609 [sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt4:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T05:10:54.614Z,1741756254.614 [sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt5:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T05:10:54.619Z,1741756254.619 [sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt6:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T05:10:54.633Z,1741756254.633 [sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt7:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T05:10:54.642Z,1741756254.642 [sci2_flat_and_level:Lap:DepthByLap:Leg2:Wpt1:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T05:10:54.647Z,1741756254.647 [sci2_flat_and_level:Lap:DepthByLap:Leg2:Wpt2:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T05:10:54.653Z,1741756254.653 [sci2_flat_and_level:Lap:DepthByLap:Leg2:Wpt3:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T05:10:54.659Z,1741756254.659 [sci2_flat_and_level:Lap:DepthByLap:Leg2:Wpt4:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T05:10:54.665Z,1741756254.665 [sci2_flat_and_level:Lap:DepthByLap:Leg2:Wpt5:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T05:10:54.670Z,1741756254.670 [sci2_flat_and_level:Lap:DepthByLap:Leg2:Wpt6:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T05:10:54.686Z,1741756254.686 [sci2_flat_and_level:Lap:DepthByLap:Leg2:Wpt7:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T05:10:54.695Z,1741756254.695 [sci2_flat_and_level:Lap:DepthByLap:Leg3:Wpt1:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T05:10:54.700Z,1741756254.700 [sci2_flat_and_level:Lap:DepthByLap:Leg3:Wpt2:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T05:10:54.705Z,1741756254.705 [sci2_flat_and_level:Lap:DepthByLap:Leg3:Wpt3:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T05:10:54.711Z,1741756254.711 [sci2_flat_and_level:Lap:DepthByLap:Leg3:Wpt4:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T05:10:54.716Z,1741756254.716 [sci2_flat_and_level:Lap:DepthByLap:Leg3:Wpt5:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T05:10:54.722Z,1741756254.722 [sci2_flat_and_level:Lap:DepthByLap:Leg3:Wpt6:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T05:10:54.737Z,1741756254.737 [sci2_flat_and_level:Lap:DepthByLap:Leg3:Wpt7:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T05:10:54.746Z,1741756254.746 [sci2_flat_and_level:Lap:DepthByLap:Leg4:Wpt1:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T05:10:54.751Z,1741756254.751 [sci2_flat_and_level:Lap:DepthByLap:Leg4:Wpt2:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T05:10:54.757Z,1741756254.757 [sci2_flat_and_level:Lap:DepthByLap:Leg4:Wpt3:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T05:10:54.762Z,1741756254.762 [sci2_flat_and_level:Lap:DepthByLap:Leg4:Wpt4:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T05:10:54.767Z,1741756254.767 [sci2_flat_and_level:Lap:DepthByLap:Leg4:Wpt5:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T05:10:54.773Z,1741756254.773 [sci2_flat_and_level:Lap:DepthByLap:Leg4:Wpt6:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T05:10:54.787Z,1741756254.787 [sci2_flat_and_level:Lap:DepthByLap:Leg4:Wpt7:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T05:10:54.798Z,1741756254.798 [sci2_flat_and_level:Lap:DepthByLap:Leg5:Wpt1:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T05:10:54.803Z,1741756254.803 [sci2_flat_and_level:Lap:DepthByLap:Leg5:Wpt2:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T05:10:54.808Z,1741756254.808 [sci2_flat_and_level:Lap:DepthByLap:Leg5:Wpt3:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T05:10:54.814Z,1741756254.814 [sci2_flat_and_level:Lap:DepthByLap:Leg5:Wpt4:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T05:10:54.820Z,1741756254.820 [sci2_flat_and_level:Lap:DepthByLap:Leg5:Wpt5:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T05:10:54.825Z,1741756254.825 [sci2_flat_and_level:Lap:DepthByLap:Leg5:Wpt6:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T05:10:54.878Z,1741756254.878 [sci2_flat_and_level:Lap:DepthByLap:Leg5:Wpt7:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T05:10:54.910Z,1741756254.910 [sci2_flat_and_level:Lap:DepthByLap:Leg6:Wpt1:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T05:10:54.919Z,1741756254.919 [sci2_flat_and_level:Lap:DepthByLap:Leg6:Wpt2:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T05:10:54.929Z,1741756254.929 [sci2_flat_and_level:Lap:DepthByLap:Leg6:Wpt3:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T05:10:54.955Z,1741756254.955 [sci2_flat_and_level:Lap:DepthByLap:Leg6:Wpt4:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T05:10:54.989Z,1741756254.989 [sci2_flat_and_level:Lap:DepthByLap:Leg6:Wpt5:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T05:10:54.995Z,1741756254.995 [sci2_flat_and_level:Lap:DepthByLap:Leg6:Wpt6:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T05:10:55.001Z,1741756255.001 [sci2_flat_and_level:Lap:DepthByLap:Leg6:Wpt7:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T05:10:55.010Z,1741756255.010 [sci2_flat_and_level:Lap:DepthByLap:Leg7:Wpt1:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T05:10:55.015Z,1741756255.015 [sci2_flat_and_level:Lap:DepthByLap:Leg7:Wpt2:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T05:10:55.021Z,1741756255.021 [sci2_flat_and_level:Lap:DepthByLap:Leg7:Wpt3:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T05:10:55.026Z,1741756255.026 [sci2_flat_and_level:Lap:DepthByLap:Leg7:Wpt4:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T05:10:55.032Z,1741756255.032 [sci2_flat_and_level:Lap:DepthByLap:Leg7:Wpt5:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T05:10:55.050Z,1741756255.050 [sci2_flat_and_level:Lap:DepthByLap:Leg7:Wpt6:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T05:10:55.056Z,1741756255.056 [sci2_flat_and_level:Lap:DepthByLap:Leg7:Wpt7:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T05:10:55.065Z,1741756255.065 [sci2_flat_and_level:Lap:DepthByLap:Leg8:Wpt1:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T05:10:55.071Z,1741756255.071 [sci2_flat_and_level:Lap:DepthByLap:Leg8:Wpt2:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T05:10:55.076Z,1741756255.076 [sci2_flat_and_level:Lap:DepthByLap:Leg8:Wpt3:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T05:10:55.082Z,1741756255.082 [sci2_flat_and_level:Lap:DepthByLap:Leg8:Wpt4:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T05:10:55.087Z,1741756255.087 [sci2_flat_and_level:Lap:DepthByLap:Leg8:Wpt5:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T05:10:55.102Z,1741756255.102 [sci2_flat_and_level:Lap:DepthByLap:Leg8:Wpt6:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T05:10:55.107Z,1741756255.107 [sci2_flat_and_level:Lap:DepthByLap:Leg8:Wpt7:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T05:10:55.116Z,1741756255.116 [sci2_flat_and_level:Lap:DepthByLap:Leg9:Wpt1:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T05:10:55.122Z,1741756255.122 [sci2_flat_and_level:Lap:DepthByLap:Leg9:Wpt2:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T05:10:55.127Z,1741756255.127 [sci2_flat_and_level:Lap:DepthByLap:Leg9:Wpt3:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T05:10:55.133Z,1741756255.133 [sci2_flat_and_level:Lap:DepthByLap:Leg9:Wpt4:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T05:10:55.138Z,1741756255.138 [sci2_flat_and_level:Lap:DepthByLap:Leg9:Wpt5:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T05:10:55.154Z,1741756255.154 [sci2_flat_and_level:Lap:DepthByLap:Leg9:Wpt6:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T05:10:55.159Z,1741756255.159 [sci2_flat_and_level:Lap:DepthByLap:Leg9:Wpt7:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T05:10:55.168Z,1741756255.168 [sci2_flat_and_level:Lap:DepthByLap:Leg10:Wpt1:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T05:10:55.173Z,1741756255.173 [sci2_flat_and_level:Lap:DepthByLap:Leg10:Wpt2:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T05:10:55.179Z,1741756255.179 [sci2_flat_and_level:Lap:DepthByLap:Leg10:Wpt3:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T05:10:55.184Z,1741756255.184 [sci2_flat_and_level:Lap:DepthByLap:Leg10:Wpt4:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T05:10:55.190Z,1741756255.190 [sci2_flat_and_level:Lap:DepthByLap:Leg10:Wpt5:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T05:10:55.205Z,1741756255.205 [sci2_flat_and_level:Lap:DepthByLap:Leg10:Wpt6:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T05:10:55.211Z,1741756255.211 [sci2_flat_and_level:Lap:DepthByLap:Leg10:Wpt7:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T05:10:55.223Z,1741756255.223 [sci2_flat_and_level:Lap:DepthByLeg:Leg1:B.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T05:10:55.237Z,1741756255.237 [sci2_flat_and_level:Lap:DepthByLeg:Leg2:Wpt2:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T05:10:55.298Z,1741756255.298 [sci2_flat_and_level:Lap:DepthByLeg:Leg3:Wpt3:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T05:10:55.338Z,1741756255.338 [sci2_flat_and_level:Lap:DepthByLeg:Leg4:Wpt4:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T05:10:55.373Z,1741756255.373 [sci2_flat_and_level:Lap:DepthByLeg:Leg5:Wpt5:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T05:10:55.385Z,1741756255.385 [sci2_flat_and_level:Lap:DepthByLeg:Leg6:Wpt6:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T05:10:55.394Z,1741756255.394 [sci2_flat_and_level:Lap:DepthByLeg:Leg7:Wpt7:A.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T05:10:55.481Z,1741756255.481 [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_flat_and_level {
  """
  Vehicle transits to the specified waypoints at the commanded depth
  (flat-and-level) with science turned on.
  """

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

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

    Depth1 = 3 meter
      """
      Depth of flat and level flight during the mission for the first transit leg or lap
      """

    Depth[2..10] = NaN meter
      """
      Depth of flat and level flight during the mission for subsequent transit legs or laps
      Skipped if NaN.
      """

    Repeat = 1 count
      """
      Number of times the vehicle should try to cycle through waypoints and depths.
      By default, one run of all waypoints at all target depths is one repetition.
      Set DepthPerLeg to true to change depths between waypoints instead.
      """

    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).
      Note: cannot use depths 7-10 in depth-per-leg mode (yes, it's weird, sorry)
      """

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

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

    Speed = 1 meter_per_second
      """
      Speed while transiting to waypoints. Used as starting speed if RollOptimizeSpeed is true.
      """

    RollOptimizeSpeed = false
      """
      If true, optimize speed based on roll angle.
      """

    TargetRollAngle = 0 degree
      """
      Target roll angle for roll speed optimization.
      """

    RollError = 2 degree
      """
      Error tolerance for roll angle during speed optimization.
      """

    MaxRollSpeed = 1.1 meter_per_second
      """
      Maximum speed for roll speed optimization.
      """

    MinRollSpeed = 0.6 meter_per_second
      """
      Minimum speed for roll speed optimization.
      """

    RollWindowLen = 5 minute
      """
      Time window for roll speed optimization.
      """

    RollInitStep = 0.1 degree
      """
      Initial step size for roll speed optimization.
      """

    RollMinStep = 0.025 degree
      """
      Minimum step size for roll speed optimization.
      """

    RollVerbose = true
      """
      Enable verbose logging for roll speed optimization.
      """

    ApproachDepth = 2 meter
      """
      Depth for initial descent form the surface.
      """

    ApproachSpeed = 0.7 meter_per_second
      """
      Speed while descending to target depth. Used regardless of RollOptimizeSpeed.
      """

    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).
      """

    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 = 15 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 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

  insert Insert/PowerOnly.tl

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

    assign in sequence DiveMode = DoingComms

    call refId="NeedComms"

    assign in sequence DiveMode = InitialDive
  }

  assign in sequence LegDepth = Depth1

  aggregate DiveCmd {
    """
    Called when the vehicle should be underwater. Arbitrates between 3
    dive modes: 1) descend from the surface to initial depth. 2) settle
    at target depth using the VB. 3) cruise at target depth.
    """

    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 vechile 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 = ApproachDepth
        }

        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 )

      aggregate dive {
        run in parallel

        aggregate ThrusterDive {
          run while ( Speed > 0.0 meter_per_second )

          behavior Guidance:Mass {
            run in parallel

            set position = MassDefault
          }

          behavior Guidance:Buoyancy {
            run in parallel

            set position = BuoyancyNeutral
          }
        }

        aggregate SetSpeed {
          run in sequence

          break if ( RollOptimizeSpeed )

          behavior Guidance:SetSpeed {
            run in parallel

            set speed = Speed
          }
        }

        aggregate SetRollSpeed {
          run in sequence

          break if ( not RollOptimizeSpeed )

          behavior Guidance:SetRollSpeed {
            run in parallel

            set targetRoll = TargetRollAngle
            set rollError = RollError
            set maxSpeed = MaxRollSpeed
            set startSpeed = Speed
            set minSpeed = MinRollSpeed
            set estimationWindow = RollWindowLen
            set initStep = RollInitStep
            set minStep = RollMinStep
            set verbose = RollVerbose
          }
        }

        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 )

      aggregate Leg1 {
        run in sequence

        assign in sequence LegDepth = Depth1

        macro $i = 1..7 {
          aggregate Wpt$i {
            run in sequence

            behavior Guidance:Waypoint {
              run in sequence

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

      macro $j = 2..10 {
        aggregate Leg$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 $i = 1..7 {
            aggregate Wpt$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 $i = 2..7 {
        aggregate Leg$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]
            }
          }
        }
      }
    }
  }
}


2025-03-12T05:10:55.482Z,1741756255.482 [CommandExec](IMPORTANT): Loaded ./Missions/Science/sci2_flat_and_level.tl id=sci2_flat_and_level
2025-03-12T05:11:19.507Z,1741756279.507 [CommandExec](IMPORTANT): got command set sci2_flat_and_level.MissionTimeout 0.5 hour
2025-03-12T05:11:19.520Z,1741756279.520 [CommandExec](IMPORTANT): got command set sci2_flat_and_level.Depth1 30 meter
2025-03-12T05:11:19.521Z,1741756279.521 [CommandExec](IMPORTANT): got command set sci2_flat_and_level.Lat1 36.797 degree
2025-03-12T05:11:19.522Z,1741756279.522 [CommandExec](IMPORTANT): got command set sci2_flat_and_level.Lon1 -121.857 degree
2025-03-12T05:11:24.954Z,1741756284.954 [CommandExec](IMPORTANT): got command set sci2_flat_and_level.MaxDepth 40 meter
2025-03-12T05:11:24.954Z,1741756284.954 [CommandExec](IMPORTANT): got command run
2025-03-12T05:11:24.956Z,1741756284.956 [CommandExec](IMPORTANT): Running 
2025-03-12T05:11:25.192Z,1741756285.192 [Default] Stopped
2025-03-12T05:11:25.193Z,1741756285.193 [Default](DEBUG): Aggregate::uninitialize Default
2025-03-12T05:11:25.193Z,1741756285.193 [Default:B.GoToSurface] Stopped
2025-03-12T05:11:25.193Z,1741756285.193 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-03-12T05:11:25.193Z,1741756285.193 [Default:CheckIn] Stopped
2025-03-12T05:11:25.193Z,1741756285.193 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-03-12T05:11:25.193Z,1741756285.193 [Default:CheckIn:C.Wait] Stopped
2025-03-12T05:11:25.193Z,1741756285.193 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2025-03-12T05:11:25.193Z,1741756285.193 [MissionManager](IMPORTANT): Started mission sci2_flat_and_level
2025-03-12T05:11:25.193Z,1741756285.193 [sci2_flat_and_level] Running Loop=1
2025-03-12T05:11:25.194Z,1741756285.194 [sci2_flat_and_level](DEBUG): Aggregate::initialize sci2_flat_and_level
2025-03-12T05:11:25.194Z,1741756285.194 [sci2_flat_and_level:Science] Running Loop=1
2025-03-12T05:11:25.194Z,1741756285.194 [sci2_flat_and_level:Science](DEBUG): Aggregate::initialize sci2_flat_and_level:Science
2025-03-12T05:11:25.194Z,1741756285.194 [sci2_flat_and_level:Science:A] Running Loop=1
2025-03-12T05:11:25.194Z,1741756285.194 [sci2_flat_and_level:Science:B] Running Loop=1
2025-03-12T05:11:25.194Z,1741756285.194 [sci2_flat_and_level:Science:C] Running Loop=1
2025-03-12T05:11:25.194Z,1741756285.194 [sci2_flat_and_level:Science:D] Running Loop=1
2025-03-12T05:11:25.194Z,1741756285.194 [sci2_flat_and_level:Science:E] Running Loop=1
2025-03-12T05:11:25.194Z,1741756285.194 [sci2_flat_and_level:Science:F] Running Loop=1
2025-03-12T05:11:25.194Z,1741756285.194 [sci2_flat_and_level:Science:Read_Oil] Running Loop=1
2025-03-12T05:11:25.194Z,1741756285.194 [sci2_flat_and_level:Science:PeakDetectChl] Running Loop=1
2025-03-12T05:11:25.194Z,1741756285.194 [sci2_flat_and_level:Science:PeakDetectChl](DEBUG): Aggregate::initialize sci2_flat_and_level:Science:PeakDetectChl
2025-03-12T05:11:25.195Z,1741756285.195 [sci2_flat_and_level:Science:PeakDetectChl:A] Running Loop=1
2025-03-12T05:11:25.195Z,1741756285.195 [sci2_flat_and_level:Science:EdgeDetectChl] Running Loop=1
2025-03-12T05:11:25.195Z,1741756285.195 [sci2_flat_and_level:Science:EdgeDetectChl](DEBUG): Aggregate::initialize sci2_flat_and_level:Science:EdgeDetectChl
2025-03-12T05:11:25.195Z,1741756285.195 [sci2_flat_and_level:Science:EdgeDetectChl:A] Running Loop=1
2025-03-12T05:11:25.195Z,1741756285.195 [sci2_flat_and_level:Science:HighestChlPeakReport] Running Loop=1
2025-03-12T05:11:25.195Z,1741756285.195 [sci2_flat_and_level:Science:HighestChlPeakReport](DEBUG): Aggregate::initialize sci2_flat_and_level:Science:HighestChlPeakReport
2025-03-12T05:11:25.195Z,1741756285.195 [sci2_flat_and_level:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-03-12T05:11:25.195Z,1741756285.195 [sci2_flat_and_level:Science:HighestChlPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-03-12T05:11:25.196Z,1741756285.196 [sci2_flat_and_level:Science:PeakDetectNO3] Running Loop=1
2025-03-12T05:11:25.196Z,1741756285.196 [sci2_flat_and_level:Science:PeakDetectNO3](DEBUG): Aggregate::initialize sci2_flat_and_level:Science:PeakDetectNO3
2025-03-12T05:11:25.196Z,1741756285.196 [sci2_flat_and_level:Science:PeakDetectNO3:A] Running Loop=1
2025-03-12T05:11:25.196Z,1741756285.196 [sci2_flat_and_level:Science:PeakDetectOil] Running Loop=1
2025-03-12T05:11:25.196Z,1741756285.196 [sci2_flat_and_level:Science:PeakDetectOil](DEBUG): Aggregate::initialize sci2_flat_and_level:Science:PeakDetectOil
2025-03-12T05:11:25.197Z,1741756285.197 [sci2_flat_and_level:Science:PeakDetectOil:A] Running Loop=1
2025-03-12T05:11:25.197Z,1741756285.197 [sci2_flat_and_level:Science:HighestOilPeakReport] Running Loop=1
2025-03-12T05:11:25.197Z,1741756285.197 [sci2_flat_and_level:Science:HighestOilPeakReport](DEBUG): Aggregate::initialize sci2_flat_and_level:Science:HighestOilPeakReport
2025-03-12T05:11:25.197Z,1741756285.197 [sci2_flat_and_level:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-03-12T05:11:25.197Z,1741756285.197 [sci2_flat_and_level:Science:HighestOilPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-03-12T05:11:25.197Z,1741756285.197 [sci2_flat_and_level:Science:PeakDetectFDOM] Running Loop=1
2025-03-12T05:11:25.197Z,1741756285.197 [sci2_flat_and_level:Science:PeakDetectFDOM](DEBUG): Aggregate::initialize sci2_flat_and_level:Science:PeakDetectFDOM
2025-03-12T05:11:25.198Z,1741756285.198 [sci2_flat_and_level:Science:PeakDetectFDOM:A] Running Loop=1
2025-03-12T05:11:25.198Z,1741756285.198 [sci2_flat_and_level:Science:PeakDetectSalinity] Running Loop=1
2025-03-12T05:11:25.198Z,1741756285.198 [sci2_flat_and_level:Science:PeakDetectSalinity](DEBUG): Aggregate::initialize sci2_flat_and_level:Science:PeakDetectSalinity
2025-03-12T05:11:25.198Z,1741756285.198 [sci2_flat_and_level:Science:PeakDetectSalinity:A] Running Loop=1
2025-03-12T05:11:25.198Z,1741756285.198 [sci2_flat_and_level:Science:HighestSaltPeakReport] Running Loop=1
2025-03-12T05:11:25.198Z,1741756285.198 [sci2_flat_and_level:Science:HighestSaltPeakReport](DEBUG): Aggregate::initialize sci2_flat_and_level:Science:HighestSaltPeakReport
2025-03-12T05:11:25.198Z,1741756285.198 [sci2_flat_and_level:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-03-12T05:11:25.198Z,1741756285.198 [sci2_flat_and_level:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-03-12T05:11:25.199Z,1741756285.199 [sci2_flat_and_level:Science:PeakDetectPlanktivoreLMavgROI] Running Loop=1
2025-03-12T05:11:25.199Z,1741756285.199 [sci2_flat_and_level:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::initialize sci2_flat_and_level:Science:PeakDetectPlanktivoreLMavgROI
2025-03-12T05:11:25.199Z,1741756285.199 [sci2_flat_and_level:Science:PeakDetectPlanktivoreLMavgROI:A] Running Loop=1
2025-03-12T05:11:25.199Z,1741756285.199 [sci2_flat_and_level:Science:EdgeDetectPlanktivoreLMavgROI] Running Loop=1
2025-03-12T05:11:25.199Z,1741756285.199 [sci2_flat_and_level:Science:EdgeDetectPlanktivoreLMavgROI](DEBUG): Aggregate::initialize sci2_flat_and_level:Science:EdgeDetectPlanktivoreLMavgROI
2025-03-12T05:11:25.199Z,1741756285.199 [sci2_flat_and_level:Science:EdgeDetectPlanktivoreLMavgROI:A] Running Loop=1
2025-03-12T05:11:25.199Z,1741756285.199 [sci2_flat_and_level:Science:PeakDetectPlanktivoreHMavgROI] Running Loop=1
2025-03-12T05:11:25.199Z,1741756285.199 [sci2_flat_and_level:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::initialize sci2_flat_and_level:Science:PeakDetectPlanktivoreHMavgROI
2025-03-12T05:11:25.200Z,1741756285.200 [sci2_flat_and_level:Science:PeakDetectPlanktivoreHMavgROI:A] Running Loop=1
2025-03-12T05:11:25.200Z,1741756285.200 [sci2_flat_and_level:Science:PeakDetectPlanktivoreDiatoms] Running Loop=1
2025-03-12T05:11:25.200Z,1741756285.200 [sci2_flat_and_level:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::initialize sci2_flat_and_level:Science:PeakDetectPlanktivoreDiatoms
2025-03-12T05:11:25.200Z,1741756285.200 [sci2_flat_and_level:Science:PeakDetectPlanktivoreDiatoms:A] Running Loop=1
2025-03-12T05:11:25.201Z,1741756285.201 [sci2_flat_and_level:Science:PeakDetectPlanktivoreDinoflagellates] Running Loop=1
2025-03-12T05:11:25.201Z,1741756285.201 [sci2_flat_and_level:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::initialize sci2_flat_and_level:Science:PeakDetectPlanktivoreDinoflagellates
2025-03-12T05:11:25.201Z,1741756285.201 [sci2_flat_and_level:Science:PeakDetectPlanktivoreDinoflagellates:A] Running Loop=1
2025-03-12T05:11:25.201Z,1741756285.201 [sci2_flat_and_level:Science:ChlThreshTrigger] Running Loop=1
2025-03-12T05:11:25.201Z,1741756285.201 [sci2_flat_and_level:Science:ChlThreshTrigger](DEBUG): Aggregate::initialize sci2_flat_and_level:Science:ChlThreshTrigger
2025-03-12T05:11:25.201Z,1741756285.201 [sci2_flat_and_level:Science:ChlThreshTrigger:A.ValueDetect] Running Loop=1
2025-03-12T05:11:25.201Z,1741756285.201 [sci2_flat_and_level:Science:ChlThreshTrigger:A.ValueDetect](INFO): Initialize.
2025-03-12T05:11:25.202Z,1741756285.202 [sci2_flat_and_level:Science:OceanCurrent] Running Loop=1
2025-03-12T05:11:25.202Z,1741756285.202 [sci2_flat_and_level:Science:OceanCurrent](DEBUG): Aggregate::initialize sci2_flat_and_level:Science:OceanCurrent
2025-03-12T05:11:25.202Z,1741756285.202 [sci2_flat_and_level:Science:OceanCurrent:A.] Running Loop=1
2025-03-12T05:11:25.202Z,1741756285.202 [sci2_flat_and_level:Science:OceanCurrent:A.](INFO): Initializing CurrentEstimator.
2025-03-12T05:11:25.202Z,1741756285.202 [sci2_flat_and_level:StandardEnvelopes] Running Loop=1
2025-03-12T05:11:25.202Z,1741756285.202 [sci2_flat_and_level:StandardEnvelopes](DEBUG): Aggregate::initialize sci2_flat_and_level:StandardEnvelopes
2025-03-12T05:11:25.202Z,1741756285.202 [sci2_flat_and_level:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-03-12T05:11:25.202Z,1741756285.202 [sci2_flat_and_level:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-03-12T05:11:25.202Z,1741756285.202 [sci2_flat_and_level:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-03-12T05:11:25.202Z,1741756285.202 [sci2_flat_and_level:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-03-12T05:11:25.203Z,1741756285.203 [sci2_flat_and_level:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-03-12T05:11:25.203Z,1741756285.203 [sci2_flat_and_level:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-03-12T05:11:25.203Z,1741756285.203 [sci2_flat_and_level:BackseatDriver] Running Loop=1
2025-03-12T05:11:25.203Z,1741756285.203 [sci2_flat_and_level:BackseatDriver](DEBUG): Aggregate::initialize sci2_flat_and_level:BackseatDriver
2025-03-12T05:11:25.203Z,1741756285.203 [sci2_flat_and_level:BackseatDriver:A.BackseatDriver] Running Loop=1
2025-03-12T05:11:25.203Z,1741756285.203 [sci2_flat_and_level:PowerOnly] Running Loop=1
2025-03-12T05:11:25.203Z,1741756285.203 [sci2_flat_and_level:PowerOnly](DEBUG): Aggregate::initialize sci2_flat_and_level:PowerOnly
2025-03-12T05:11:25.203Z,1741756285.203 [sci2_flat_and_level:PowerOnly:A] Running Loop=1
2025-03-12T05:11:25.203Z,1741756285.203 [sci2_flat_and_level:PowerOnly:B] Running Loop=1
2025-03-12T05:11:25.203Z,1741756285.203 [sci2_flat_and_level:PowerOnly:C] Running Loop=1
2025-03-12T05:11:25.203Z,1741756285.203 [sci2_flat_and_level:PowerOnly:D] Running Loop=1
2025-03-12T05:11:25.204Z,1741756285.204 [sci2_flat_and_level:PowerOnly:E.Wait] Running Loop=1
2025-03-12T05:11:25.204Z,1741756285.204 [sci2_flat_and_level:PowerOnly:E.Wait](DEBUG): Initialize Wait Component.
2025-03-12T05:11:25.204Z,1741756285.204 [sci2_flat_and_level:C] Running Loop=1
2025-03-12T05:11:25.205Z,1741756285.205 [sci2_flat_and_level:PowerOnly] Running Loop=1
2025-03-12T05:11:25.206Z,1741756285.206 [sci2_flat_and_level:PowerOnly:D] Stopped
2025-03-12T05:11:25.206Z,1741756285.206 [sci2_flat_and_level:PowerOnly:C] Stopped
2025-03-12T05:11:25.206Z,1741756285.206 [sci2_flat_and_level:PowerOnly:B] Stopped
2025-03-12T05:11:25.206Z,1741756285.206 [sci2_flat_and_level:PowerOnly:A] Stopped
2025-03-12T05:11:25.206Z,1741756285.206 [sci2_flat_and_level:BackseatDriver] Running Loop=1
2025-03-12T05:11:25.206Z,1741756285.206 [sci2_flat_and_level:C] Stopped
2025-03-12T05:11:25.206Z,1741756285.206 [sci2_flat_and_level:D] Running Loop=1
2025-03-12T05:11:25.206Z,1741756285.206 [sci2_flat_and_level:StandardEnvelopes] Running Loop=1
2025-03-12T05:11:25.206Z,1741756285.206 [sci2_flat_and_level:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-03-12T05:11:25.207Z,1741756285.207 [sci2_flat_and_level:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-03-12T05:11:25.207Z,1741756285.207 [sci2_flat_and_level:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-03-12T05:11:25.207Z,1741756285.207 [sci2_flat_and_level:Science] Running Loop=1
2025-03-12T05:11:25.225Z,1741756285.225 [sci2_flat_and_level:Science:ChlThreshTrigger] Stopped
2025-03-12T05:11:25.225Z,1741756285.225 [sci2_flat_and_level:Science:ChlThreshTrigger](DEBUG): Aggregate::uninitialize sci2_flat_and_level:Science:ChlThreshTrigger
2025-03-12T05:11:25.225Z,1741756285.225 [sci2_flat_and_level:Science:ChlThreshTrigger:A.ValueDetect] Stopped
2025-03-12T05:11:25.225Z,1741756285.225 [sci2_flat_and_level:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Uninitialize.
2025-03-12T05:11:25.225Z,1741756285.225 [sci2_flat_and_level:Science:PeakDetectPlanktivoreDinoflagellates] Stopped
2025-03-12T05:11:25.226Z,1741756285.226 [sci2_flat_and_level:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::uninitialize sci2_flat_and_level:Science:PeakDetectPlanktivoreDinoflagellates
2025-03-12T05:11:25.226Z,1741756285.226 [sci2_flat_and_level:Science:PeakDetectPlanktivoreDinoflagellates:A] Stopped
2025-03-12T05:11:25.226Z,1741756285.226 [sci2_flat_and_level:Science:PeakDetectPlanktivoreDiatoms] Stopped
2025-03-12T05:11:25.226Z,1741756285.226 [sci2_flat_and_level:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::uninitialize sci2_flat_and_level:Science:PeakDetectPlanktivoreDiatoms
2025-03-12T05:11:25.226Z,1741756285.226 [sci2_flat_and_level:Science:PeakDetectPlanktivoreDiatoms:A] Stopped
2025-03-12T05:11:25.226Z,1741756285.226 [sci2_flat_and_level:Science:PeakDetectPlanktivoreHMavgROI] Stopped
2025-03-12T05:11:25.226Z,1741756285.226 [sci2_flat_and_level:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::uninitialize sci2_flat_and_level:Science:PeakDetectPlanktivoreHMavgROI
2025-03-12T05:11:25.226Z,1741756285.226 [sci2_flat_and_level:Science:PeakDetectPlanktivoreHMavgROI:A] Stopped
2025-03-12T05:11:25.226Z,1741756285.226 [sci2_flat_and_level:Science:EdgeDetectPlanktivoreLMavgROI] Stopped
2025-03-12T05:11:25.226Z,1741756285.226 [sci2_flat_and_level:Science:EdgeDetectPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize sci2_flat_and_level:Science:EdgeDetectPlanktivoreLMavgROI
2025-03-12T05:11:25.226Z,1741756285.226 [sci2_flat_and_level:Science:EdgeDetectPlanktivoreLMavgROI:A] Stopped
2025-03-12T05:11:25.226Z,1741756285.226 [sci2_flat_and_level:Science:PeakDetectPlanktivoreLMavgROI] Stopped
2025-03-12T05:11:25.226Z,1741756285.226 [sci2_flat_and_level:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize sci2_flat_and_level:Science:PeakDetectPlanktivoreLMavgROI
2025-03-12T05:11:25.227Z,1741756285.227 [sci2_flat_and_level:Science:PeakDetectPlanktivoreLMavgROI:A] Stopped
2025-03-12T05:11:25.227Z,1741756285.227 [sci2_flat_and_level:Science:HighestSaltPeakReport] Stopped
2025-03-12T05:11:25.227Z,1741756285.227 [sci2_flat_and_level:Science:HighestSaltPeakReport](DEBUG): Aggregate::uninitialize sci2_flat_and_level:Science:HighestSaltPeakReport
2025-03-12T05:11:25.227Z,1741756285.227 [sci2_flat_and_level:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Stopped
2025-03-12T05:11:25.227Z,1741756285.227 [sci2_flat_and_level:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-03-12T05:11:25.227Z,1741756285.227 [sci2_flat_and_level:Science:PeakDetectSalinity] Stopped
2025-03-12T05:11:25.227Z,1741756285.227 [sci2_flat_and_level:Science:PeakDetectSalinity](DEBUG): Aggregate::uninitialize sci2_flat_and_level:Science:PeakDetectSalinity
2025-03-12T05:11:25.227Z,1741756285.227 [sci2_flat_and_level:Science:PeakDetectSalinity:A] Stopped
2025-03-12T05:11:25.227Z,1741756285.227 [sci2_flat_and_level:Science:PeakDetectFDOM] Stopped
2025-03-12T05:11:25.227Z,1741756285.227 [sci2_flat_and_level:Science:PeakDetectFDOM](DEBUG): Aggregate::uninitialize sci2_flat_and_level:Science:PeakDetectFDOM
2025-03-12T05:11:25.227Z,1741756285.227 [sci2_flat_and_level:Science:PeakDetectFDOM:A] Stopped
2025-03-12T05:11:25.227Z,1741756285.227 [sci2_flat_and_level:Science:HighestOilPeakReport] Stopped
2025-03-12T05:11:25.227Z,1741756285.227 [sci2_flat_and_level:Science:HighestOilPeakReport](DEBUG): Aggregate::uninitialize sci2_flat_and_level:Science:HighestOilPeakReport
2025-03-12T05:11:25.232Z,1741756285.232 [sci2_flat_and_level:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Stopped
2025-03-12T05:11:25.232Z,1741756285.232 [sci2_flat_and_level:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-03-12T05:11:25.232Z,1741756285.232 [sci2_flat_and_level:Science:PeakDetectOil] Stopped
2025-03-12T05:11:25.232Z,1741756285.232 [sci2_flat_and_level:Science:PeakDetectOil](DEBUG): Aggregate::uninitialize sci2_flat_and_level:Science:PeakDetectOil
2025-03-12T05:11:25.232Z,1741756285.232 [sci2_flat_and_level:Science:PeakDetectOil:A] Stopped
2025-03-12T05:11:25.232Z,1741756285.232 [sci2_flat_and_level:Science:PeakDetectNO3] Stopped
2025-03-12T05:11:25.232Z,1741756285.232 [sci2_flat_and_level:Science:PeakDetectNO3](DEBUG): Aggregate::uninitialize sci2_flat_and_level:Science:PeakDetectNO3
2025-03-12T05:11:25.232Z,1741756285.232 [sci2_flat_and_level:Science:PeakDetectNO3:A] Stopped
2025-03-12T05:11:25.232Z,1741756285.232 [sci2_flat_and_level:Science:HighestChlPeakReport] Stopped
2025-03-12T05:11:25.233Z,1741756285.233 [sci2_flat_and_level:Science:HighestChlPeakReport](DEBUG): Aggregate::uninitialize sci2_flat_and_level:Science:HighestChlPeakReport
2025-03-12T05:11:25.233Z,1741756285.233 [sci2_flat_and_level:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Stopped
2025-03-12T05:11:25.233Z,1741756285.233 [sci2_flat_and_level:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-03-12T05:11:25.233Z,1741756285.233 [sci2_flat_and_level:Science:EdgeDetectChl] Stopped
2025-03-12T05:11:25.233Z,1741756285.233 [sci2_flat_and_level:Science:EdgeDetectChl](DEBUG): Aggregate::uninitialize sci2_flat_and_level:Science:EdgeDetectChl
2025-03-12T05:11:25.233Z,1741756285.233 [sci2_flat_and_level:Science:EdgeDetectChl:A] Stopped
2025-03-12T05:11:25.233Z,1741756285.233 [sci2_flat_and_level:Science:PeakDetectChl] Stopped
2025-03-12T05:11:25.233Z,1741756285.233 [sci2_flat_and_level:Science:PeakDetectChl](DEBUG): Aggregate::uninitialize sci2_flat_and_level:Science:PeakDetectChl
2025-03-12T05:11:25.233Z,1741756285.233 [sci2_flat_and_level:Science:PeakDetectChl:A] Stopped
2025-03-12T05:11:25.233Z,1741756285.233 [sci2_flat_and_level:Science:OceanCurrent:A.] Running Loop=1
2025-03-12T05:11:25.233Z,1741756285.233 [sci2_flat_and_level:Science:Read_Oil] Stopped
2025-03-12T05:11:25.233Z,1741756285.233 [sci2_flat_and_level:Science:F] Stopped
2025-03-12T05:11:25.233Z,1741756285.233 [sci2_flat_and_level:Science:E] Running Loop=1
2025-03-12T05:11:25.234Z,1741756285.234 [sci2_flat_and_level:Science:E](DEBUG): Initialize ReadDataComponent to sense mass_concentration_of_chlorophyll_in_sea_water
2025-03-12T05:11:25.234Z,1741756285.234 [sci2_flat_and_level:Science:D] Stopped
2025-03-12T05:11:25.234Z,1741756285.234 [sci2_flat_and_level:Science:C] Running Loop=1
2025-03-12T05:11:25.235Z,1741756285.235 [sci2_flat_and_level:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_temperature
2025-03-12T05:11:25.235Z,1741756285.235 [sci2_flat_and_level:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_salinity
2025-03-12T05:11:25.235Z,1741756285.235 [sci2_flat_and_level:Science:B] Running Loop=1
2025-03-12T05:11:25.240Z,1741756285.240 [sci2_flat_and_level:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_temperature
2025-03-12T05:11:25.240Z,1741756285.240 [sci2_flat_and_level:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_salinity
2025-03-12T05:11:25.240Z,1741756285.240 [sci2_flat_and_level:Science:A] Stopped
2025-03-12T05:11:25.325Z,1741756285.325 [WetLabsBB2FL](INFO): Powering up
2025-03-12T05:11:25.588Z,1741756285.588 [sci2_flat_and_level:D] Stopped
2025-03-12T05:11:25.588Z,1741756285.588 [sci2_flat_and_level:E] Running Loop=1
2025-03-12T05:11:26.110Z,1741756286.110 [sci2_flat_and_level:E] Stopped
2025-03-12T05:11:26.111Z,1741756286.111 [sci2_flat_and_level:G] Running Loop=1
2025-03-12T05:11:26.391Z,1741756286.391 [sci2_flat_and_level:G] Stopped
2025-03-12T05:11:26.391Z,1741756286.391 [sci2_flat_and_level:H] Running Loop=1
2025-03-12T05:11:26.809Z,1741756286.809 [sci2_flat_and_level:H] Stopped
2025-03-12T05:11:26.809Z,1741756286.809 [sci2_flat_and_level:L] Running Loop=1
2025-03-12T05:11:27.212Z,1741756287.212 [sci2_flat_and_level:L] Stopped
2025-03-12T05:11:27.213Z,1741756287.213 [sci2_flat_and_level:StartingMission] Running Loop=1
2025-03-12T05:11:27.213Z,1741756287.213 [sci2_flat_and_level:StartingMission](DEBUG): Aggregate::initialize sci2_flat_and_level:StartingMission
2025-03-12T05:11:27.624Z,1741756287.624 [sci2_flat_and_level:SurfaceComms] Running Loop=1
2025-03-12T05:11:27.624Z,1741756287.624 [sci2_flat_and_level:SurfaceComms](DEBUG): Aggregate::initialize sci2_flat_and_level:SurfaceComms
2025-03-12T05:11:27.624Z,1741756287.624 [sci2_flat_and_level:SurfaceComms:A] Running Loop=1
2025-03-12T05:11:27.624Z,1741756287.624 [sci2_flat_and_level:SurfaceComms:A] Stopped
2025-03-12T05:11:27.625Z,1741756287.625 [sci2_flat_and_level:SurfaceComms:B] Running Loop=1
2025-03-12T05:11:27.625Z,1741756287.625 [sci2_flat_and_level:SurfaceComms:B](DEBUG): Aggregate::initialize sci2_flat_and_level:SurfaceComms:B
2025-03-12T05:11:28.000Z,1741756288.000 [sci2_flat_and_level:NeedComms] Running Loop=1
2025-03-12T05:11:28.000Z,1741756288.000 [sci2_flat_and_level:NeedComms](DEBUG): Aggregate::initialize sci2_flat_and_level:NeedComms
2025-03-12T05:11:28.000Z,1741756288.000 [sci2_flat_and_level:NeedComms:B.GoToSurface] Running Loop=1
2025-03-12T05:11:28.000Z,1741756288.000 [sci2_flat_and_level:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-03-12T05:11:28.001Z,1741756288.001 [sci2_flat_and_level:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-03-12T05:11:28.001Z,1741756288.001 [sci2_flat_and_level:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-03-12T05:11:28.001Z,1741756288.001 [sci2_flat_and_level:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-03-12T05:11:28.002Z,1741756288.002 [sci2_flat_and_level:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-03-12T05:11:28.002Z,1741756288.002 [sci2_flat_and_level:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-03-12T05:11:28.002Z,1741756288.002 [sci2_flat_and_level:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-03-12T05:11:28.003Z,1741756288.003 [sci2_flat_and_level:NeedComms:A] Running Loop=1
2025-03-12T05:11:28.004Z,1741756288.004 [sci2_flat_and_level:NeedComms:A](INFO): last time_fix was:  1741755995.000000 second since 1970/01/01T00:00:00Z 
2025-03-12T05:11:28.004Z,1741756288.004 [sci2_flat_and_level:NeedComms:A] Stopped
2025-03-12T05:11:28.427Z,1741756288.427 [sci2_flat_and_level:NeedComms:C] Running Loop=1
2025-03-12T05:11:28.826Z,1741756288.826 [sci2_flat_and_level:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-03-12T05:11:28.993Z,1741756288.993 [CTD_Seabird](ERROR): Failed to parse device response: <!--startlogging-->
2025-03-12T05:11:30.410Z,1741756290.410 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,051125.00,A,3647.85784,N,12150.89368,W,0.428,291.53,120325,,,D*75
2025-03-12T05:11:30.413Z,1741756290.413 [NAL9602](INFO): GPS fix at 20250312T051125: (36.797631, -121.848228)
2025-03-12T05:11:30.440Z,1741756290.440 [sci2_flat_and_level:NeedComms:C] Stopped
2025-03-12T05:11:30.440Z,1741756290.440 [sci2_flat_and_level:NeedComms:D] Running Loop=1
2025-03-12T05:11:30.877Z,1741756290.877 [sci2_flat_and_level:NeedComms:D](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-03-12T05:11:40.812Z,1741756300.812 [DataOverHttps](INFO): Sending 76 bytes from file Logs/20250312T040137/Courier0028.lzma
2025-03-12T05:11:41.814Z,1741756301.814 [DataOverHttps](INFO): Moved sent file to Logs/20250312T040137/Courier0028.lzma.bak
2025-03-12T05:11:41.814Z,1741756301.814 [DataOverHttps](INFO): SBD MOMSN=24182439
2025-03-12T05:11:47.498Z,1741756307.498 [NAL9602](INFO): SBD MO Status=0, MOMSN=18954, MT Status=0, MTMSN=0
2025-03-12T05:11:47.498Z,1741756307.498 [NAL9602](INFO): No messages in MT queue
2025-03-12T05:11:58.937Z,1741756318.937 [DataOverHttps](INFO): Sending 676 bytes from file Logs/20250312T040137/Express0029.lzma
2025-03-12T05:11:59.938Z,1741756319.938 [DataOverHttps](INFO): Moved sent file to Logs/20250312T040137/Express0029.lzma.bak
2025-03-12T05:11:59.938Z,1741756319.938 [DataOverHttps](INFO): SBD MOMSN=24182443
2025-03-12T05:12:17.304Z,1741756337.304 [DataOverHttps](INFO): Sending 64 bytes from file Logs/20250312T040137/Express0032.lzma
2025-03-12T05:12:18.158Z,1741756338.158 [NAL9602](INFO): Not Powering down - fast GPS
2025-03-12T05:12:18.310Z,1741756338.310 [DataOverHttps](INFO): Moved sent file to Logs/20250312T040137/Express0032.lzma.bak
2025-03-12T05:12:18.310Z,1741756338.310 [DataOverHttps](INFO): SBD MOMSN=24182466
2025-03-12T05:12:19.813Z,1741756339.813 [sci2_flat_and_level:NeedComms:D] Stopped
2025-03-12T05:12:19.813Z,1741756339.813 [sci2_flat_and_level:NeedComms:E] Running Loop=1
2025-03-12T05:12:20.212Z,1741756340.212 [sci2_flat_and_level:NeedComms:E](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-03-12T05:12:21.795Z,1741756341.795 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,051217.00,A,3647.85956,N,12150.90030,W,1.555,226.97,120325,,,D*7E
2025-03-12T05:12:21.798Z,1741756341.798 [NAL9602](INFO): GPS fix at 20250312T051217: (36.797659, -121.848338)
2025-03-12T05:12:21.837Z,1741756341.837 [sci2_flat_and_level:NeedComms:E] Stopped
2025-03-12T05:12:21.838Z,1741756341.838 [sci2_flat_and_level:NeedComms](INFO): Completed sci2_flat_and_level:NeedComms
2025-03-12T05:12:21.838Z,1741756341.838 [sci2_flat_and_level:NeedComms] Stopped
2025-03-12T05:12:21.838Z,1741756341.838 [sci2_flat_and_level:NeedComms](DEBUG): Aggregate::uninitialize sci2_flat_and_level:NeedComms
2025-03-12T05:12:21.838Z,1741756341.838 [sci2_flat_and_level:NeedComms:B.GoToSurface] Stopped
2025-03-12T05:12:21.838Z,1741756341.838 [sci2_flat_and_level:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-03-12T05:12:22.269Z,1741756342.269 [sci2_flat_and_level:SurfaceComms:B](INFO): Completed sci2_flat_and_level:SurfaceComms:B
2025-03-12T05:12:22.269Z,1741756342.269 [sci2_flat_and_level:SurfaceComms:B] Stopped
2025-03-12T05:12:22.269Z,1741756342.269 [sci2_flat_and_level:SurfaceComms:B](DEBUG): Aggregate::uninitialize sci2_flat_and_level:SurfaceComms:B
2025-03-12T05:12:22.270Z,1741756342.270 [sci2_flat_and_level:SurfaceComms:C] Running Loop=1
2025-03-12T05:12:22.636Z,1741756342.636 [sci2_flat_and_level:SurfaceComms:C] Stopped
2025-03-12T05:12:22.637Z,1741756342.637 [sci2_flat_and_level:SurfaceComms](INFO): Completed sci2_flat_and_level:SurfaceComms
2025-03-12T05:12:22.637Z,1741756342.637 [sci2_flat_and_level:SurfaceComms] Stopped
2025-03-12T05:12:22.637Z,1741756342.637 [sci2_flat_and_level:SurfaceComms](DEBUG): Aggregate::uninitialize sci2_flat_and_level:SurfaceComms
2025-03-12T05:12:23.040Z,1741756343.040 [sci2_flat_and_level:StartingMission](INFO): Completed sci2_flat_and_level:StartingMission
2025-03-12T05:12:23.041Z,1741756343.041 [sci2_flat_and_level:StartingMission] Stopped
2025-03-12T05:12:23.041Z,1741756343.041 [sci2_flat_and_level:StartingMission](DEBUG): Aggregate::uninitialize sci2_flat_and_level:StartingMission
2025-03-12T05:12:23.041Z,1741756343.041 [sci2_flat_and_level:Lap] Running Loop=1
2025-03-12T05:12:23.041Z,1741756343.041 [sci2_flat_and_level:Lap](DEBUG): Aggregate::initialize sci2_flat_and_level:Lap
2025-03-12T05:12:23.041Z,1741756343.041 [sci2_flat_and_level:Lap:Dive] Running Loop=1
2025-03-12T05:12:23.041Z,1741756343.041 [sci2_flat_and_level:Lap:Dive](DEBUG): Aggregate::initialize sci2_flat_and_level:Lap:Dive
2025-03-12T05:12:23.041Z,1741756343.041 [sci2_flat_and_level:Lap:Dive:A] Running Loop=1
2025-03-12T05:12:23.041Z,1741756343.041 [sci2_flat_and_level:Lap:Dive:A](DEBUG): Aggregate::initialize sci2_flat_and_level:Lap:Dive:A
2025-03-12T05:12:23.041Z,1741756343.041 [sci2_flat_and_level:Lap:DepthByLap] Running Loop=1
2025-03-12T05:12:23.042Z,1741756343.042 [sci2_flat_and_level:Lap:DepthByLap](DEBUG): Aggregate::initialize sci2_flat_and_level:Lap:DepthByLap
2025-03-12T05:12:23.042Z,1741756343.042 [sci2_flat_and_level:Lap:DepthByLap:Leg1] Running Loop=1
2025-03-12T05:12:23.042Z,1741756343.042 [sci2_flat_and_level:Lap:DepthByLap:Leg1](DEBUG): Aggregate::initialize sci2_flat_and_level:Lap:DepthByLap:Leg1
2025-03-12T05:12:23.042Z,1741756343.042 [sci2_flat_and_level:Lap:DepthByLap:Leg1:A] Running Loop=1
2025-03-12T05:12:23.475Z,1741756343.475 [sci2_flat_and_level:Lap:DepthByLap:Leg1:A] Stopped
2025-03-12T05:12:23.475Z,1741756343.475 [sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt1] Running Loop=1
2025-03-12T05:12:23.475Z,1741756343.475 [sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt1](DEBUG): Aggregate::initialize sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt1
2025-03-12T05:12:23.480Z,1741756343.480 [sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt1:A.Waypoint] Running Loop=1
2025-03-12T05:12:23.480Z,1741756343.480 [sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt1:A.Waypoint](DEBUG): Initialize WaypointComponent.
2025-03-12T05:12:23.481Z,1741756343.481 [sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt1:A.Waypoint](IMPORTANT): Navigating to waypoint: 36.797001,-121.857002
2025-03-12T05:12:23.481Z,1741756343.481 [sci2_flat_and_level:Lap:Dive] Running Loop=1
2025-03-12T05:12:23.481Z,1741756343.481 [sci2_flat_and_level:DiveCmd] Running Loop=1
2025-03-12T05:12:23.481Z,1741756343.481 [sci2_flat_and_level:DiveCmd](DEBUG): Aggregate::initialize sci2_flat_and_level:DiveCmd
2025-03-12T05:12:23.481Z,1741756343.481 [sci2_flat_and_level:DiveCmd:InitialDive] Running Loop=1
2025-03-12T05:12:23.481Z,1741756343.481 [sci2_flat_and_level:DiveCmd:InitialDive](DEBUG): Aggregate::initialize sci2_flat_and_level:DiveCmd:InitialDive
2025-03-12T05:12:23.481Z,1741756343.481 [sci2_flat_and_level:DiveCmd:InitialDive:dive] Running Loop=1
2025-03-12T05:12:23.481Z,1741756343.481 [sci2_flat_and_level:DiveCmd:InitialDive:dive](DEBUG): Aggregate::initialize sci2_flat_and_level:DiveCmd:InitialDive:dive
2025-03-12T05:12:23.482Z,1741756343.482 [sci2_flat_and_level:DiveCmd:InitialDive:dive:A] Running Loop=1
2025-03-12T05:12:23.482Z,1741756343.482 [sci2_flat_and_level:DiveCmd:InitialDive:dive:B] Running Loop=1
2025-03-12T05:12:23.482Z,1741756343.482 [sci2_flat_and_level:DiveCmd:InitialDive:dive:C.Mass] Running Loop=1
2025-03-12T05:12:23.482Z,1741756343.482 [sci2_flat_and_level:DiveCmd:InitialDive:dive:C.Mass](DEBUG): Initialize.
2025-03-12T05:12:23.482Z,1741756343.482 [sci2_flat_and_level:DiveCmd:InitialDive:dive:D.Buoyancy] Running Loop=1
2025-03-12T05:12:23.482Z,1741756343.482 [sci2_flat_and_level:DiveCmd:InitialDive:dive:D.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-03-12T05:12:23.482Z,1741756343.482 [sci2_flat_and_level:DiveCmd:InitialDive:dive:E] Running Loop=1
2025-03-12T05:12:23.482Z,1741756343.482 [sci2_flat_and_level:DiveCmd:SettleAtDepth] Running Loop=1
2025-03-12T05:12:23.482Z,1741756343.482 [sci2_flat_and_level:DiveCmd:SettleAtDepth](DEBUG): Aggregate::initialize sci2_flat_and_level:DiveCmd:SettleAtDepth
2025-03-12T05:12:23.482Z,1741756343.482 [sci2_flat_and_level:DiveCmd:SettleAtDepth:dive] Running Loop=1
2025-03-12T05:12:23.483Z,1741756343.483 [sci2_flat_and_level:DiveCmd:SettleAtDepth:dive](DEBUG): Aggregate::initialize sci2_flat_and_level:DiveCmd:SettleAtDepth:dive
2025-03-12T05:12:23.483Z,1741756343.483 [sci2_flat_and_level:DiveCmd:SettleAtDepth:dive:B.Pitch] Running Loop=1
2025-03-12T05:12:23.483Z,1741756343.483 [sci2_flat_and_level:DiveCmd:SettleAtDepth:dive:B.Pitch](DEBUG): Initialize.
2025-03-12T05:12:23.483Z,1741756343.483 [sci2_flat_and_level:DiveCmd:SettleAtDepth:dive:A] Running Loop=1
2025-03-12T05:12:23.483Z,1741756343.483 [sci2_flat_and_level:DiveCmd:MaintainDepth] Running Loop=1
2025-03-12T05:12:23.483Z,1741756343.483 [sci2_flat_and_level:DiveCmd:MaintainDepth](DEBUG): Aggregate::initialize sci2_flat_and_level:DiveCmd:MaintainDepth
2025-03-12T05:12:23.483Z,1741756343.483 [sci2_flat_and_level:DiveCmd:MaintainDepth:dive] Running Loop=1
2025-03-12T05:12:23.483Z,1741756343.483 [sci2_flat_and_level:DiveCmd:MaintainDepth:dive](DEBUG): Aggregate::initialize sci2_flat_and_level:DiveCmd:MaintainDepth:dive
2025-03-12T05:12:23.483Z,1741756343.483 [sci2_flat_and_level:DiveCmd:MaintainDepth:dive:ThrusterDive] Running Loop=1
2025-03-12T05:12:23.483Z,1741756343.483 [sci2_flat_and_level:DiveCmd:MaintainDepth:dive:ThrusterDive](DEBUG): Aggregate::initialize sci2_flat_and_level:DiveCmd:MaintainDepth:dive:ThrusterDive
2025-03-12T05:12:23.488Z,1741756343.488 [sci2_flat_and_level:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass] Running Loop=1
2025-03-12T05:12:23.488Z,1741756343.488 [sci2_flat_and_level:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass](DEBUG): Initialize.
2025-03-12T05:12:23.488Z,1741756343.488 [sci2_flat_and_level:DiveCmd:MaintainDepth:dive:ThrusterDive:B.Buoyancy] Running Loop=1
2025-03-12T05:12:23.488Z,1741756343.488 [sci2_flat_and_level:DiveCmd:MaintainDepth:dive:ThrusterDive:B.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-03-12T05:12:23.488Z,1741756343.488 [sci2_flat_and_level:DiveCmd:MaintainDepth:dive:D.Pitch] Running Loop=1
2025-03-12T05:12:23.488Z,1741756343.488 [sci2_flat_and_level:DiveCmd:MaintainDepth:dive:D.Pitch](DEBUG): Initialize.
2025-03-12T05:12:23.489Z,1741756343.489 [sci2_flat_and_level:DiveCmd:MaintainDepth:dive:SetSpeed] Running Loop=1
2025-03-12T05:12:23.489Z,1741756343.489 [sci2_flat_and_level:DiveCmd:MaintainDepth:dive:SetSpeed](DEBUG): Aggregate::initialize sci2_flat_and_level:DiveCmd:MaintainDepth:dive:SetSpeed
2025-03-12T05:12:23.489Z,1741756343.489 [sci2_flat_and_level:DiveCmd:MaintainDepth:dive:SetSpeed:A.SetSpeed] Running Loop=1
2025-03-12T05:12:23.489Z,1741756343.489 [sci2_flat_and_level:DiveCmd:MaintainDepth:dive:SetSpeed:A.SetSpeed](DEBUG): Initialize.
2025-03-12T05:12:23.490Z,1741756343.490 [sci2_flat_and_level:DiveCmd:MaintainDepth] Stopped
2025-03-12T05:12:23.490Z,1741756343.490 [sci2_flat_and_level:DiveCmd:MaintainDepth](DEBUG): Aggregate::uninitialize sci2_flat_and_level:DiveCmd:MaintainDepth
2025-03-12T05:12:23.490Z,1741756343.490 [sci2_flat_and_level:DiveCmd:MaintainDepth:dive] Stopped
2025-03-12T05:12:23.490Z,1741756343.490 [sci2_flat_and_level:DiveCmd:MaintainDepth:dive](DEBUG): Aggregate::uninitialize sci2_flat_and_level:DiveCmd:MaintainDepth:dive
2025-03-12T05:12:23.490Z,1741756343.490 [sci2_flat_and_level:DiveCmd:MaintainDepth:dive:ThrusterDive] Stopped
2025-03-12T05:12:23.491Z,1741756343.491 [sci2_flat_and_level:DiveCmd:MaintainDepth:dive:ThrusterDive](DEBUG): Aggregate::uninitialize sci2_flat_and_level:DiveCmd:MaintainDepth:dive:ThrusterDive
2025-03-12T05:12:23.491Z,1741756343.491 [sci2_flat_and_level:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass] Stopped
2025-03-12T05:12:23.491Z,1741756343.491 [sci2_flat_and_level:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass](DEBUG): Uninitialize.
2025-03-12T05:12:23.491Z,1741756343.491 [sci2_flat_and_level:DiveCmd:MaintainDepth:dive:ThrusterDive:B.Buoyancy] Stopped
2025-03-12T05:12:23.491Z,1741756343.491 [sci2_flat_and_level:DiveCmd:MaintainDepth:dive:ThrusterDive:B.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-03-12T05:12:23.491Z,1741756343.491 [sci2_flat_and_level:DiveCmd:MaintainDepth:dive:SetSpeed] Stopped
2025-03-12T05:12:23.491Z,1741756343.491 [sci2_flat_and_level:DiveCmd:MaintainDepth:dive:SetSpeed](DEBUG): Aggregate::uninitialize sci2_flat_and_level:DiveCmd:MaintainDepth:dive:SetSpeed
2025-03-12T05:12:23.491Z,1741756343.491 [sci2_flat_and_level:DiveCmd:MaintainDepth:dive:SetSpeed:A.SetSpeed] Stopped
2025-03-12T05:12:23.491Z,1741756343.491 [sci2_flat_and_level:DiveCmd:MaintainDepth:dive:SetSpeed:A.SetSpeed](DEBUG): Uninitialize.
2025-03-12T05:12:23.491Z,1741756343.491 [sci2_flat_and_level:DiveCmd:MaintainDepth:dive:D.Pitch] Stopped
2025-03-12T05:12:23.491Z,1741756343.491 [sci2_flat_and_level:DiveCmd:SettleAtDepth] Stopped
2025-03-12T05:12:23.491Z,1741756343.491 [sci2_flat_and_level:DiveCmd:SettleAtDepth](DEBUG): Aggregate::uninitialize sci2_flat_and_level:DiveCmd:SettleAtDepth
2025-03-12T05:12:23.491Z,1741756343.491 [sci2_flat_and_level:DiveCmd:SettleAtDepth:dive] Stopped
2025-03-12T05:12:23.492Z,1741756343.492 [sci2_flat_and_level:DiveCmd:SettleAtDepth:dive](DEBUG): Aggregate::uninitialize sci2_flat_and_level:DiveCmd:SettleAtDepth:dive
2025-03-12T05:12:23.496Z,1741756343.496 [sci2_flat_and_level:DiveCmd:SettleAtDepth:dive:A] Stopped
2025-03-12T05:12:23.496Z,1741756343.496 [sci2_flat_and_level:DiveCmd:SettleAtDepth:dive:B.Pitch] Stopped
2025-03-12T05:12:23.496Z,1741756343.496 [sci2_flat_and_level:DiveCmd:InitialDive] Running Loop=1
2025-03-12T05:12:23.496Z,1741756343.496 [sci2_flat_and_level:DiveCmd:InitialDive:dive:E](INFO): Waiting for  1.000000 min while pumping down to neutral.
2025-03-12T05:12:23.497Z,1741756343.497 [sci2_flat_and_level:DiveCmd:InitialDive:dive:E] Stopped
2025-03-12T05:12:23.497Z,1741756343.497 [sci2_flat_and_level:DiveCmd:InitialDive:dive:F.Wait] Running Loop=1
2025-03-12T05:12:23.497Z,1741756343.497 [sci2_flat_and_level:DiveCmd:InitialDive:dive:F.Wait](DEBUG): Initialize Wait Component.
2025-03-12T05:12:23.497Z,1741756343.497 [sci2_flat_and_level:DiveCmd:InitialDive:dive:D.Buoyancy] Running Loop=1
2025-03-12T05:12:23.497Z,1741756343.497 [sci2_flat_and_level:DiveCmd:InitialDive:dive:C.Mass] Running Loop=1
2025-03-12T05:12:23.497Z,1741756343.497 [sci2_flat_and_level:DiveCmd:InitialDive:dive:B] Running Loop=1
2025-03-12T05:12:23.498Z,1741756343.498 [sci2_flat_and_level:DiveCmd:InitialDive:dive:A] Running Loop=1
2025-03-12T05:12:23.887Z,1741756343.887 [sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt1:A.Waypoint](INFO): Navigating to waypoint: 36.797001,-121.857002
2025-03-12T05:12:31.525Z,1741756351.525 [NAL9602](INFO): SBD MO Status=0, MOMSN=18955, MT Status=0, MTMSN=0
2025-03-12T05:12:31.525Z,1741756351.525 [NAL9602](INFO): No messages in MT queue
2025-03-12T05:13:02.200Z,1741756382.200 [NAL9602](INFO): Not Powering down - fast GPS
2025-03-12T05:13:24.106Z,1741756404.106 [sci2_flat_and_level:DiveCmd:InitialDive:dive:F.Wait](INFO): Done Waiting.
2025-03-12T05:13:24.106Z,1741756404.106 [sci2_flat_and_level:DiveCmd:InitialDive:dive:F.Wait] Stopped
2025-03-12T05:13:24.106Z,1741756404.106 [sci2_flat_and_level:DiveCmd:InitialDive:dive:F.Wait](DEBUG): Uninitialize Wait Component.
2025-03-12T05:13:24.106Z,1741756404.106 [sci2_flat_and_level:DiveCmd:InitialDive:dive:G] Running Loop=1
2025-03-12T05:13:24.484Z,1741756404.484 [sci2_flat_and_level:DiveCmd:InitialDive:dive:G](INFO): Moving to  2.000000 m 
2025-03-12T05:13:24.484Z,1741756404.484 [sci2_flat_and_level:DiveCmd:InitialDive:dive:G] Stopped
2025-03-12T05:13:24.484Z,1741756404.484 [sci2_flat_and_level:DiveCmd:InitialDive:dive:ApproachDepth] Running Loop=1
2025-03-12T05:13:24.485Z,1741756404.485 [sci2_flat_and_level:DiveCmd:InitialDive:dive:ApproachDepth](DEBUG): Aggregate::initialize sci2_flat_and_level:DiveCmd:InitialDive:dive:ApproachDepth
2025-03-12T05:13:24.485Z,1741756404.485 [sci2_flat_and_level:DiveCmd:InitialDive:dive:ApproachDepth:A.SetSpeed] Running Loop=1
2025-03-12T05:13:24.485Z,1741756404.485 [sci2_flat_and_level:DiveCmd:InitialDive:dive:ApproachDepth:A.SetSpeed](DEBUG): Initialize.
2025-03-12T05:13:24.485Z,1741756404.485 [sci2_flat_and_level:DiveCmd:InitialDive:dive:ApproachDepth:B.Pitch] Running Loop=1
2025-03-12T05:13:24.485Z,1741756404.485 [sci2_flat_and_level:DiveCmd:InitialDive:dive:ApproachDepth:B.Pitch](DEBUG): Initialize.
2025-03-12T05:13:24.885Z,1741756404.885 [sci2_flat_and_level:DiveCmd:InitialDive:dive:ApproachDepth:A.SetSpeed] Running Loop=1
2025-03-12T05:13:49.148Z,1741756429.148 [sci2_flat_and_level:DiveCmd:InitialDive:dive:ApproachDepth:B.Pitch] Stopped
2025-03-12T05:13:49.149Z,1741756429.149 [sci2_flat_and_level:DiveCmd:InitialDive:dive:ApproachDepth](INFO): Completed sci2_flat_and_level:DiveCmd:InitialDive:dive:ApproachDepth
2025-03-12T05:13:49.149Z,1741756429.149 [sci2_flat_and_level:DiveCmd:InitialDive:dive:ApproachDepth] Stopped
2025-03-12T05:13:49.149Z,1741756429.149 [sci2_flat_and_level:DiveCmd:InitialDive:dive:ApproachDepth](DEBUG): Aggregate::uninitialize sci2_flat_and_level:DiveCmd:InitialDive:dive:ApproachDepth
2025-03-12T05:13:49.149Z,1741756429.149 [sci2_flat_and_level:DiveCmd:InitialDive:dive:ApproachDepth:A.SetSpeed] Stopped
2025-03-12T05:13:49.149Z,1741756429.149 [sci2_flat_and_level:DiveCmd:InitialDive:dive:ApproachDepth:A.SetSpeed](DEBUG): Uninitialize.
2025-03-12T05:13:49.149Z,1741756429.149 [sci2_flat_and_level:DiveCmd:InitialDive:dive:I] Running Loop=1
2025-03-12T05:13:49.558Z,1741756429.558 [sci2_flat_and_level:DiveCmd:InitialDive:dive:I] Stopped
2025-03-12T05:13:49.559Z,1741756429.559 [sci2_flat_and_level:DiveCmd:InitialDive:dive](INFO): Completed sci2_flat_and_level:DiveCmd:InitialDive:dive
2025-03-12T05:13:49.560Z,1741756429.560 [sci2_flat_and_level:DiveCmd:InitialDive:dive] Stopped
2025-03-12T05:13:49.560Z,1741756429.560 [sci2_flat_and_level:DiveCmd:InitialDive:dive](DEBUG): Aggregate::uninitialize sci2_flat_and_level:DiveCmd:InitialDive:dive
2025-03-12T05:13:49.560Z,1741756429.560 [sci2_flat_and_level:DiveCmd:InitialDive:dive:A] Stopped
2025-03-12T05:13:49.560Z,1741756429.560 [sci2_flat_and_level:DiveCmd:InitialDive:dive:B] Stopped
2025-03-12T05:13:49.560Z,1741756429.560 [sci2_flat_and_level:DiveCmd:InitialDive:dive:C.Mass] Stopped
2025-03-12T05:13:49.560Z,1741756429.560 [sci2_flat_and_level:DiveCmd:InitialDive:dive:C.Mass](DEBUG): Uninitialize.
2025-03-12T05:13:49.560Z,1741756429.560 [sci2_flat_and_level:DiveCmd:InitialDive:dive:D.Buoyancy] Stopped
2025-03-12T05:13:49.560Z,1741756429.560 [sci2_flat_and_level:DiveCmd:InitialDive:dive:D.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-03-12T05:13:49.560Z,1741756429.560 [sci2_flat_and_level:DiveCmd:InitialDive](INFO): Completed sci2_flat_and_level:DiveCmd:InitialDive
2025-03-12T05:13:49.994Z,1741756429.994 [sci2_flat_and_level:DiveCmd:SettleAtDepth] Running Loop=1
2025-03-12T05:13:49.994Z,1741756429.994 [sci2_flat_and_level:DiveCmd:SettleAtDepth](DEBUG): Aggregate::initialize sci2_flat_and_level:DiveCmd:SettleAtDepth
2025-03-12T05:13:49.994Z,1741756429.994 [sci2_flat_and_level:DiveCmd:SettleAtDepth:dive] Running Loop=1
2025-03-12T05:13:49.994Z,1741756429.994 [sci2_flat_and_level:DiveCmd:SettleAtDepth:dive](DEBUG): Aggregate::initialize sci2_flat_and_level:DiveCmd:SettleAtDepth:dive
2025-03-12T05:13:49.994Z,1741756429.994 [sci2_flat_and_level:DiveCmd:SettleAtDepth:dive:B.Pitch] Running Loop=1
2025-03-12T05:13:49.994Z,1741756429.994 [sci2_flat_and_level:DiveCmd:SettleAtDepth:dive:B.Pitch](DEBUG): Initialize.
2025-03-12T05:13:49.994Z,1741756429.994 [sci2_flat_and_level:DiveCmd:SettleAtDepth:dive:A] Running Loop=1
2025-03-12T05:13:49.994Z,1741756429.994 [sci2_flat_and_level:DiveCmd:SettleAtDepth] Running Loop=1
2025-03-12T05:13:49.994Z,1741756429.994 [sci2_flat_and_level:DiveCmd:SettleAtDepth:dive:B.Pitch] Running Loop=1
2025-03-12T05:13:49.000Z,1741756430.000 [sci2_flat_and_level:DiveCmd:SettleAtDepth:dive:A](INFO): Reached  2.117927 m , settling for  3.000000 min 
2025-03-12T05:13:49.000Z,1741756430.000 [sci2_flat_and_level:DiveCmd:SettleAtDepth:dive:A] Stopped
2025-03-12T05:13:50.000Z,1741756430.000 [sci2_flat_and_level:DiveCmd:SettleAtDepth:dive:C.Wait] Running Loop=1
2025-03-12T05:13:50.000Z,1741756430.000 [sci2_flat_and_level:DiveCmd:SettleAtDepth:dive:C.Wait](DEBUG): Initialize Wait Component.
2025-03-12T05:14:21.752Z,1741756461.752 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T05:14:42.892Z,1741756482.892 [Radio_Surface](INFO): Powering down
2025-03-12T05:14:52.877Z,1741756492.877 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T05:14:53.881Z,1741756493.881 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-03-12T05:16:27.281Z,1741756587.281 [CTD_Seabird](ERROR): Failed to parse device response: 2.07,11.8005,3.82798,
2025-03-12T05:16:30.296Z,1741756590.296 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=180.762711
2025-03-12T05:16:50.422Z,1741756610.422 [sci2_flat_and_level:DiveCmd:SettleAtDepth:dive:C.Wait](INFO): Done Waiting.
2025-03-12T05:16:50.422Z,1741756610.422 [sci2_flat_and_level:DiveCmd:SettleAtDepth:dive:C.Wait] Stopped
2025-03-12T05:16:50.422Z,1741756610.422 [sci2_flat_and_level:DiveCmd:SettleAtDepth:dive:C.Wait](DEBUG): Uninitialize Wait Component.
2025-03-12T05:16:50.422Z,1741756610.422 [sci2_flat_and_level:DiveCmd:SettleAtDepth:dive:D] Running Loop=1
2025-03-12T05:16:50.827Z,1741756610.827 [sci2_flat_and_level:DiveCmd:SettleAtDepth:dive:D] Stopped
2025-03-12T05:16:50.827Z,1741756610.827 [sci2_flat_and_level:DiveCmd:SettleAtDepth:dive](INFO): Completed sci2_flat_and_level:DiveCmd:SettleAtDepth:dive
2025-03-12T05:16:50.827Z,1741756610.827 [sci2_flat_and_level:DiveCmd:SettleAtDepth:dive] Stopped
2025-03-12T05:16:50.827Z,1741756610.827 [sci2_flat_and_level:DiveCmd:SettleAtDepth:dive](DEBUG): Aggregate::uninitialize sci2_flat_and_level:DiveCmd:SettleAtDepth:dive
2025-03-12T05:16:50.828Z,1741756610.828 [sci2_flat_and_level:DiveCmd:SettleAtDepth:dive:B.Pitch] Stopped
2025-03-12T05:16:50.828Z,1741756610.828 [sci2_flat_and_level:DiveCmd:SettleAtDepth](INFO): Completed sci2_flat_and_level:DiveCmd:SettleAtDepth
2025-03-12T05:16:51.256Z,1741756611.256 [sci2_flat_and_level:DiveCmd:MaintainDepth] Running Loop=1
2025-03-12T05:16:51.256Z,1741756611.256 [sci2_flat_and_level:DiveCmd:MaintainDepth](DEBUG): Aggregate::initialize sci2_flat_and_level:DiveCmd:MaintainDepth
2025-03-12T05:16:51.256Z,1741756611.256 [sci2_flat_and_level:DiveCmd:MaintainDepth:dive] Running Loop=1
2025-03-12T05:16:51.257Z,1741756611.257 [sci2_flat_and_level:DiveCmd:MaintainDepth:dive](DEBUG): Aggregate::initialize sci2_flat_and_level:DiveCmd:MaintainDepth:dive
2025-03-12T05:16:51.257Z,1741756611.257 [sci2_flat_and_level:DiveCmd:MaintainDepth:dive:ThrusterDive] Running Loop=1
2025-03-12T05:16:51.257Z,1741756611.257 [sci2_flat_and_level:DiveCmd:MaintainDepth:dive:ThrusterDive](DEBUG): Aggregate::initialize sci2_flat_and_level:DiveCmd:MaintainDepth:dive:ThrusterDive
2025-03-12T05:16:51.257Z,1741756611.257 [sci2_flat_and_level:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass] Running Loop=1
2025-03-12T05:16:51.257Z,1741756611.257 [sci2_flat_and_level:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass](DEBUG): Initialize.
2025-03-12T05:16:51.257Z,1741756611.257 [sci2_flat_and_level:DiveCmd:MaintainDepth:dive:ThrusterDive:B.Buoyancy] Running Loop=1
2025-03-12T05:16:51.257Z,1741756611.257 [sci2_flat_and_level:DiveCmd:MaintainDepth:dive:ThrusterDive:B.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-03-12T05:16:51.257Z,1741756611.257 [sci2_flat_and_level:DiveCmd:MaintainDepth:dive:D.Pitch] Running Loop=1
2025-03-12T05:16:51.257Z,1741756611.257 [sci2_flat_and_level:DiveCmd:MaintainDepth:dive:D.Pitch](DEBUG): Initialize.
2025-03-12T05:16:51.258Z,1741756611.258 [sci2_flat_and_level:DiveCmd:MaintainDepth:dive:SetSpeed] Running Loop=1
2025-03-12T05:16:51.258Z,1741756611.258 [sci2_flat_and_level:DiveCmd:MaintainDepth:dive:SetSpeed](DEBUG): Aggregate::initialize sci2_flat_and_level:DiveCmd:MaintainDepth:dive:SetSpeed
2025-03-12T05:16:51.258Z,1741756611.258 [sci2_flat_and_level:DiveCmd:MaintainDepth:dive:SetSpeed:A.SetSpeed] Running Loop=1
2025-03-12T05:16:51.258Z,1741756611.258 [sci2_flat_and_level:DiveCmd:MaintainDepth:dive:SetSpeed:A.SetSpeed](DEBUG): Initialize.
2025-03-12T05:16:51.258Z,1741756611.258 [sci2_flat_and_level:DiveCmd:MaintainDepth] Running Loop=1
2025-03-12T05:16:51.258Z,1741756611.258 [sci2_flat_and_level:DiveCmd:MaintainDepth:dive] Running Loop=1
2025-03-12T05:16:51.258Z,1741756611.258 [sci2_flat_and_level:DiveCmd:MaintainDepth:dive:D.Pitch] Running Loop=1
2025-03-12T05:16:51.259Z,1741756611.259 [sci2_flat_and_level:DiveCmd:MaintainDepth:dive:SetSpeed:A.SetSpeed] Running Loop=1
2025-03-12T05:16:51.259Z,1741756611.259 [sci2_flat_and_level:DiveCmd:MaintainDepth:dive:ThrusterDive] Running Loop=1
2025-03-12T05:16:51.259Z,1741756611.259 [sci2_flat_and_level:DiveCmd:MaintainDepth:dive:ThrusterDive:B.Buoyancy] Running Loop=1
2025-03-12T05:16:51.259Z,1741756611.259 [sci2_flat_and_level:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass] Running Loop=1
2025-03-12T05:17:29.513Z,1741756649.513 [BPC1](ERROR): Battery stick #4 (s/n: 017A) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0.
2025-03-12T05:17:29.514Z,1741756649.514 [BPC1](INFO): Calculating totals. Valid battery stick count: 55. Valid reserve battery stick count: 6.
2025-03-12T05:17:29.517Z,1741756649.517 [BPC1](INFO): Received data from all battery sticks.
2025-03-12T05:17:36.624Z,1741756656.624 [Radio_Surface](INFO): Powering up
2025-03-12T05:17:42.609Z,1741756662.609 [DataOverHttps](INFO): Radio surface powered ON.
2025-03-12T05:18:12.748Z,1741756692.748 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T05:18:43.872Z,1741756723.872 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T05:18:47.332Z,1741756727.332 [Radio_Surface](INFO): Powering down
2025-03-12T05:19:15.000Z,1741756755.000 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T05:19:16.004Z,1741756756.004 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-03-12T05:26:58.945Z,1741757218.945 [DVL_micro](ERROR): Failed to parse:
:SA,+01.57,+03.77,249.8
2025-03-12T05:28:50.957Z,1741757330.957 [DVL_micro](ERROR): only read 0 of 4 data items for beam range. Device response is::RD9,+9999.99,+9999.99,+9999.99
2025-03-12T05:28:50.957Z,1741757330.957 [DVL_micro](ERROR): Failed to parse:
:RD9,+9999.99,+9999.99,+9999.99
2025-03-12T05:29:56.789Z,1741757396.789 [sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt1:A.Waypoint](IMPORTANT): Reached waypoint: 36.797001,-121.857002
2025-03-12T05:29:56.789Z,1741757396.789 [sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt1:A.Waypoint] Stopped
2025-03-12T05:29:56.789Z,1741757396.789 [sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt1:A.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-03-12T05:29:56.789Z,1741757396.789 [sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt1](INFO): Completed sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt1
2025-03-12T05:29:56.789Z,1741757396.789 [sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt1] Stopped
2025-03-12T05:29:56.790Z,1741757396.790 [sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt1](DEBUG): Aggregate::uninitialize sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt1
2025-03-12T05:29:56.790Z,1741757396.790 [sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt2] Running Loop=1
2025-03-12T05:29:56.790Z,1741757396.790 [sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt2](DEBUG): Aggregate::initialize sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt2
2025-03-12T05:29:56.790Z,1741757396.790 [sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt2:A.Waypoint] Running Loop=1
2025-03-12T05:29:56.790Z,1741757396.790 [sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt2:A.Waypoint](DEBUG): Initialize WaypointComponent.
2025-03-12T05:30:44.252Z,1741757444.252 [sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt2:A.Waypoint] Stopped
2025-03-12T05:30:44.252Z,1741757444.252 [sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt2:A.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-03-12T05:30:44.253Z,1741757444.253 [sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt2](INFO): Completed sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt2
2025-03-12T05:30:44.253Z,1741757444.253 [sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt2] Stopped
2025-03-12T05:30:44.253Z,1741757444.253 [sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt2](DEBUG): Aggregate::uninitialize sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt2
2025-03-12T05:30:44.253Z,1741757444.253 [sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt3] Running Loop=1
2025-03-12T05:30:44.253Z,1741757444.253 [sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt3](DEBUG): Aggregate::initialize sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt3
2025-03-12T05:30:44.253Z,1741757444.253 [sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt3:A.Waypoint] Running Loop=1
2025-03-12T05:30:44.253Z,1741757444.253 [sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt3:A.Waypoint](DEBUG): Initialize WaypointComponent.
2025-03-12T05:30:44.657Z,1741757444.657 [sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt3:A.Waypoint] Stopped
2025-03-12T05:30:44.658Z,1741757444.658 [sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt3:A.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-03-12T05:30:44.658Z,1741757444.658 [sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt3](INFO): Completed sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt3
2025-03-12T05:30:44.658Z,1741757444.658 [sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt3] Stopped
2025-03-12T05:30:44.658Z,1741757444.658 [sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt3](DEBUG): Aggregate::uninitialize sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt3
2025-03-12T05:30:44.658Z,1741757444.658 [sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt4] Running Loop=1
2025-03-12T05:30:44.658Z,1741757444.658 [sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt4](DEBUG): Aggregate::initialize sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt4
2025-03-12T05:30:44.658Z,1741757444.658 [sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt4:A.Waypoint] Running Loop=1
2025-03-12T05:30:44.658Z,1741757444.658 [sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt4:A.Waypoint](DEBUG): Initialize WaypointComponent.
2025-03-12T05:30:45.082Z,1741757445.082 [sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt4:A.Waypoint] Stopped
2025-03-12T05:30:45.083Z,1741757445.083 [sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt4:A.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-03-12T05:30:45.083Z,1741757445.083 [sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt4](INFO): Completed sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt4
2025-03-12T05:30:45.083Z,1741757445.083 [sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt4] Stopped
2025-03-12T05:30:45.083Z,1741757445.083 [sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt4](DEBUG): Aggregate::uninitialize sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt4
2025-03-12T05:30:45.083Z,1741757445.083 [sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt5] Running Loop=1
2025-03-12T05:30:45.083Z,1741757445.083 [sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt5](DEBUG): Aggregate::initialize sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt5
2025-03-12T05:30:45.083Z,1741757445.083 [sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt5:A.Waypoint] Running Loop=1
2025-03-12T05:30:45.083Z,1741757445.083 [sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt5:A.Waypoint](DEBUG): Initialize WaypointComponent.
2025-03-12T05:30:45.461Z,1741757445.461 [sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt5:A.Waypoint] Stopped
2025-03-12T05:30:45.461Z,1741757445.461 [sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt5:A.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-03-12T05:30:45.461Z,1741757445.461 [sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt5](INFO): Completed sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt5
2025-03-12T05:30:45.461Z,1741757445.461 [sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt5] Stopped
2025-03-12T05:30:45.461Z,1741757445.461 [sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt5](DEBUG): Aggregate::uninitialize sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt5
2025-03-12T05:30:45.462Z,1741757445.462 [sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt6] Running Loop=1
2025-03-12T05:30:45.462Z,1741757445.462 [sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt6](DEBUG): Aggregate::initialize sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt6
2025-03-12T05:30:45.462Z,1741757445.462 [sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt6:A.Waypoint] Running Loop=1
2025-03-12T05:30:45.462Z,1741757445.462 [sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt6:A.Waypoint](DEBUG): Initialize WaypointComponent.
2025-03-12T05:30:45.882Z,1741757445.882 [sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt6:A.Waypoint] Stopped
2025-03-12T05:30:45.882Z,1741757445.882 [sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt6:A.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-03-12T05:30:45.883Z,1741757445.883 [sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt6](INFO): Completed sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt6
2025-03-12T05:30:45.883Z,1741757445.883 [sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt6] Stopped
2025-03-12T05:30:45.883Z,1741757445.883 [sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt6](DEBUG): Aggregate::uninitialize sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt6
2025-03-12T05:30:45.883Z,1741757445.883 [sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt7] Running Loop=1
2025-03-12T05:30:45.883Z,1741757445.883 [sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt7](DEBUG): Aggregate::initialize sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt7
2025-03-12T05:30:45.883Z,1741757445.883 [sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt7:A.Waypoint] Running Loop=1
2025-03-12T05:30:45.883Z,1741757445.883 [sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt7:A.Waypoint](DEBUG): Initialize WaypointComponent.
2025-03-12T05:30:46.278Z,1741757446.278 [sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt7:A.Waypoint] Stopped
2025-03-12T05:30:46.278Z,1741757446.278 [sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt7:A.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-03-12T05:30:46.278Z,1741757446.278 [sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt7](INFO): Completed sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt7
2025-03-12T05:30:46.278Z,1741757446.278 [sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt7] Stopped
2025-03-12T05:30:46.278Z,1741757446.278 [sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt7](DEBUG): Aggregate::uninitialize sci2_flat_and_level:Lap:DepthByLap:Leg1:Wpt7
2025-03-12T05:30:46.278Z,1741757446.278 [sci2_flat_and_level:Lap:DepthByLap:Leg1](INFO): Completed sci2_flat_and_level:Lap:DepthByLap:Leg1
2025-03-12T05:30:46.278Z,1741757446.278 [sci2_flat_and_level:Lap:DepthByLap:Leg1] Stopped
2025-03-12T05:30:46.278Z,1741757446.278 [sci2_flat_and_level:Lap:DepthByLap:Leg1](DEBUG): Aggregate::uninitialize sci2_flat_and_level:Lap:DepthByLap:Leg1
2025-03-12T05:30:46.279Z,1741757446.279 [sci2_flat_and_level:Lap:DepthByLap:Leg2] Running Loop=1
2025-03-12T05:30:46.279Z,1741757446.279 [sci2_flat_and_level:Lap:DepthByLap:Leg2](DEBUG): Aggregate::initialize sci2_flat_and_level:Lap:DepthByLap:Leg2
2025-03-12T05:30:46.279Z,1741757446.279 [sci2_flat_and_level:Lap:DepthByLap:Leg2:A] Running Loop=1
2025-03-12T05:30:46.692Z,1741757446.692 [sci2_flat_and_level:Lap:DepthByLap:Leg2] Stopped
2025-03-12T05:30:46.693Z,1741757446.693 [sci2_flat_and_level:Lap:DepthByLap:Leg2](DEBUG): Aggregate::uninitialize sci2_flat_and_level:Lap:DepthByLap:Leg2
2025-03-12T05:30:46.693Z,1741757446.693 [sci2_flat_and_level:Lap:DepthByLap:Leg2:A] Stopped
2025-03-12T05:30:46.693Z,1741757446.693 [sci2_flat_and_level:Lap:DepthByLap:Leg3] Running Loop=1
2025-03-12T05:30:46.693Z,1741757446.693 [sci2_flat_and_level:Lap:DepthByLap:Leg3](DEBUG): Aggregate::initialize sci2_flat_and_level:Lap:DepthByLap:Leg3
2025-03-12T05:30:46.693Z,1741757446.693 [sci2_flat_and_level:Lap:DepthByLap:Leg3:A] Running Loop=1
2025-03-12T05:30:47.089Z,1741757447.089 [sci2_flat_and_level:Lap:DepthByLap:Leg3] Stopped
2025-03-12T05:30:47.089Z,1741757447.089 [sci2_flat_and_level:Lap:DepthByLap:Leg3](DEBUG): Aggregate::uninitialize sci2_flat_and_level:Lap:DepthByLap:Leg3
2025-03-12T05:30:47.089Z,1741757447.089 [sci2_flat_and_level:Lap:DepthByLap:Leg3:A] Stopped
2025-03-12T05:30:47.089Z,1741757447.089 [sci2_flat_and_level:Lap:DepthByLap:Leg4] Running Loop=1
2025-03-12T05:30:47.089Z,1741757447.089 [sci2_flat_and_level:Lap:DepthByLap:Leg4](DEBUG): Aggregate::initialize sci2_flat_and_level:Lap:DepthByLap:Leg4
2025-03-12T05:30:47.089Z,1741757447.089 [sci2_flat_and_level:Lap:DepthByLap:Leg4:A] Running Loop=1
2025-03-12T05:30:47.489Z,1741757447.489 [sci2_flat_and_level:Lap:DepthByLap:Leg4] Stopped
2025-03-12T05:30:47.490Z,1741757447.490 [sci2_flat_and_level:Lap:DepthByLap:Leg4](DEBUG): Aggregate::uninitialize sci2_flat_and_level:Lap:DepthByLap:Leg4
2025-03-12T05:30:47.490Z,1741757447.490 [sci2_flat_and_level:Lap:DepthByLap:Leg4:A] Stopped
2025-03-12T05:30:47.490Z,1741757447.490 [sci2_flat_and_level:Lap:DepthByLap:Leg5] Running Loop=1
2025-03-12T05:30:47.490Z,1741757447.490 [sci2_flat_and_level:Lap:DepthByLap:Leg5](DEBUG): Aggregate::initialize sci2_flat_and_level:Lap:DepthByLap:Leg5
2025-03-12T05:30:47.490Z,1741757447.490 [sci2_flat_and_level:Lap:DepthByLap:Leg5:A] Running Loop=1
2025-03-12T05:30:47.893Z,1741757447.893 [sci2_flat_and_level:Lap:DepthByLap:Leg5] Stopped
2025-03-12T05:30:47.893Z,1741757447.893 [sci2_flat_and_level:Lap:DepthByLap:Leg5](DEBUG): Aggregate::uninitialize sci2_flat_and_level:Lap:DepthByLap:Leg5
2025-03-12T05:30:47.893Z,1741757447.893 [sci2_flat_and_level:Lap:DepthByLap:Leg5:A] Stopped
2025-03-12T05:30:47.893Z,1741757447.893 [sci2_flat_and_level:Lap:DepthByLap:Leg6] Running Loop=1
2025-03-12T05:30:47.893Z,1741757447.893 [sci2_flat_and_level:Lap:DepthByLap:Leg6](DEBUG): Aggregate::initialize sci2_flat_and_level:Lap:DepthByLap:Leg6
2025-03-12T05:30:47.894Z,1741757447.894 [sci2_flat_and_level:Lap:DepthByLap:Leg6:A] Running Loop=1
2025-03-12T05:30:48.330Z,1741757448.330 [sci2_flat_and_level:Lap:DepthByLap:Leg6] Stopped
2025-03-12T05:30:48.330Z,1741757448.330 [sci2_flat_and_level:Lap:DepthByLap:Leg6](DEBUG): Aggregate::uninitialize sci2_flat_and_level:Lap:DepthByLap:Leg6
2025-03-12T05:30:48.330Z,1741757448.330 [sci2_flat_and_level:Lap:DepthByLap:Leg6:A] Stopped
2025-03-12T05:30:48.330Z,1741757448.330 [sci2_flat_and_level:Lap:DepthByLap:Leg7] Running Loop=1
2025-03-12T05:30:48.330Z,1741757448.330 [sci2_flat_and_level:Lap:DepthByLap:Leg7](DEBUG): Aggregate::initialize sci2_flat_and_level:Lap:DepthByLap:Leg7
2025-03-12T05:30:48.330Z,1741757448.330 [sci2_flat_and_level:Lap:DepthByLap:Leg7:A] Running Loop=1
2025-03-12T05:30:48.695Z,1741757448.695 [sci2_flat_and_level:Lap:DepthByLap:Leg7] Stopped
2025-03-12T05:30:48.695Z,1741757448.695 [sci2_flat_and_level:Lap:DepthByLap:Leg7](DEBUG): Aggregate::uninitialize sci2_flat_and_level:Lap:DepthByLap:Leg7
2025-03-12T05:30:48.695Z,1741757448.695 [sci2_flat_and_level:Lap:DepthByLap:Leg7:A] Stopped
2025-03-12T05:30:48.696Z,1741757448.696 [sci2_flat_and_level:Lap:DepthByLap:Leg8] Running Loop=1
2025-03-12T05:30:48.696Z,1741757448.696 [sci2_flat_and_level:Lap:DepthByLap:Leg8](DEBUG): Aggregate::initialize sci2_flat_and_level:Lap:DepthByLap:Leg8
2025-03-12T05:30:48.696Z,1741757448.696 [sci2_flat_and_level:Lap:DepthByLap:Leg8:A] Running Loop=1
2025-03-12T05:30:49.111Z,1741757449.111 [sci2_flat_and_level:Lap:DepthByLap:Leg8] Stopped
2025-03-12T05:30:49.111Z,1741757449.111 [sci2_flat_and_level:Lap:DepthByLap:Leg8](DEBUG): Aggregate::uninitialize sci2_flat_and_level:Lap:DepthByLap:Leg8
2025-03-12T05:30:49.111Z,1741757449.111 [sci2_flat_and_level:Lap:DepthByLap:Leg8:A] Stopped
2025-03-12T05:30:49.111Z,1741757449.111 [sci2_flat_and_level:Lap:DepthByLap:Leg9] Running Loop=1
2025-03-12T05:30:49.111Z,1741757449.111 [sci2_flat_and_level:Lap:DepthByLap:Leg9](DEBUG): Aggregate::initialize sci2_flat_and_level:Lap:DepthByLap:Leg9
2025-03-12T05:30:49.112Z,1741757449.112 [sci2_flat_and_level:Lap:DepthByLap:Leg9:A] Running Loop=1
2025-03-12T05:30:49.540Z,1741757449.540 [sci2_flat_and_level:Lap:DepthByLap:Leg9] Stopped
2025-03-12T05:30:49.540Z,1741757449.540 [sci2_flat_and_level:Lap:DepthByLap:Leg9](DEBUG): Aggregate::uninitialize sci2_flat_and_level:Lap:DepthByLap:Leg9
2025-03-12T05:30:49.540Z,1741757449.540 [sci2_flat_and_level:Lap:DepthByLap:Leg9:A] Stopped
2025-03-12T05:30:49.540Z,1741757449.540 [sci2_flat_and_level:Lap:DepthByLap:Leg10] Running Loop=1
2025-03-12T05:30:49.540Z,1741757449.540 [sci2_flat_and_level:Lap:DepthByLap:Leg10](DEBUG): Aggregate::initialize sci2_flat_and_level:Lap:DepthByLap:Leg10
2025-03-12T05:30:49.541Z,1741757449.541 [sci2_flat_and_level:Lap:DepthByLap:Leg10:A] Running Loop=1
2025-03-12T05:30:49.907Z,1741757449.907 [sci2_flat_and_level:Lap:DepthByLap:Leg10] Stopped
2025-03-12T05:30:49.907Z,1741757449.907 [sci2_flat_and_level:Lap:DepthByLap:Leg10](DEBUG): Aggregate::uninitialize sci2_flat_and_level:Lap:DepthByLap:Leg10
2025-03-12T05:30:49.907Z,1741757449.907 [sci2_flat_and_level:Lap:DepthByLap:Leg10:A] Stopped
2025-03-12T05:30:49.907Z,1741757449.907 [sci2_flat_and_level:Lap:DepthByLap](INFO): Completed sci2_flat_and_level:Lap:DepthByLap
2025-03-12T05:30:49.907Z,1741757449.907 [sci2_flat_and_level:Lap:DepthByLap] Stopped
2025-03-12T05:30:49.924Z,1741757449.924 [sci2_flat_and_level:Lap:DepthByLap](DEBUG): Aggregate::uninitialize sci2_flat_and_level:Lap:DepthByLap
2025-03-12T05:30:49.924Z,1741757449.924 [sci2_flat_and_level:Lap:DepthByLeg] Running Loop=1
2025-03-12T05:30:49.924Z,1741757449.924 [sci2_flat_and_level:Lap:DepthByLeg](DEBUG): Aggregate::initialize sci2_flat_and_level:Lap:DepthByLeg
2025-03-12T05:30:49.924Z,1741757449.924 [sci2_flat_and_level:Lap:DepthByLeg:Leg1] Running Loop=1
2025-03-12T05:30:49.924Z,1741757449.924 [sci2_flat_and_level:Lap:DepthByLeg:Leg1](DEBUG): Aggregate::initialize sci2_flat_and_level:Lap:DepthByLeg:Leg1
2025-03-12T05:30:49.924Z,1741757449.924 [sci2_flat_and_level:Lap:DepthByLeg:Leg1:A] Running Loop=1
2025-03-12T05:30:50.324Z,1741757450.324 [sci2_flat_and_level:Lap:DepthByLeg] Stopped
2025-03-12T05:30:50.325Z,1741757450.325 [sci2_flat_and_level:Lap:DepthByLeg](DEBUG): Aggregate::uninitialize sci2_flat_and_level:Lap:DepthByLeg
2025-03-12T05:30:50.325Z,1741757450.325 [sci2_flat_and_level:Lap:DepthByLeg:Leg1] Stopped
2025-03-12T05:30:50.325Z,1741757450.325 [sci2_flat_and_level:Lap:DepthByLeg:Leg1](DEBUG): Aggregate::uninitialize sci2_flat_and_level:Lap:DepthByLeg:Leg1
2025-03-12T05:30:50.325Z,1741757450.325 [sci2_flat_and_level:Lap:DepthByLeg:Leg1:A] Stopped
2025-03-12T05:30:50.325Z,1741757450.325 [sci2_flat_and_level:Lap](INFO): Completed sci2_flat_and_level:Lap
2025-03-12T05:30:50.326Z,1741757450.326 [sci2_flat_and_level:Lap] Stopped
2025-03-12T05:30:50.326Z,1741757450.326 [sci2_flat_and_level:Lap](DEBUG): Aggregate::uninitialize sci2_flat_and_level:Lap
2025-03-12T05:30:50.326Z,1741757450.326 [sci2_flat_and_level:Lap:Dive] Stopped
2025-03-12T05:30:50.326Z,1741757450.326 [sci2_flat_and_level:Lap:Dive](DEBUG): Aggregate::uninitialize sci2_flat_and_level:Lap:Dive
2025-03-12T05:30:50.326Z,1741757450.326 [sci2_flat_and_level:Lap:Dive:A] Stopped
2025-03-12T05:30:50.326Z,1741757450.326 [sci2_flat_and_level:Lap:Dive:A](DEBUG): Aggregate::uninitialize sci2_flat_and_level:Lap:Dive:A
2025-03-12T05:30:50.360Z,1741757450.360 [sci2_flat_and_level](INFO): Completed sci2_flat_and_level
2025-03-12T05:30:50.361Z,1741757450.361 [MissionManager](INFO): sci2_flat_and_level is completed.
2025-03-12T05:30:50.361Z,1741757450.361 [MissionManager](INFO): Uninitializing Mission sci2_flat_and_level
2025-03-12T05:30:50.361Z,1741757450.361 [sci2_flat_and_level] Stopped
2025-03-12T05:30:50.361Z,1741757450.361 [sci2_flat_and_level](DEBUG): Aggregate::uninitialize sci2_flat_and_level
2025-03-12T05:30:50.361Z,1741757450.361 [sci2_flat_and_level:Science] Stopped
2025-03-12T05:30:50.362Z,1741757450.362 [sci2_flat_and_level:Science](DEBUG): Aggregate::uninitialize sci2_flat_and_level:Science
2025-03-12T05:30:50.362Z,1741757450.362 [sci2_flat_and_level:Science:B] Stopped
2025-03-12T05:30:50.362Z,1741757450.362 [sci2_flat_and_level:Science:C] Stopped
2025-03-12T05:30:50.362Z,1741757450.362 [sci2_flat_and_level:Science:E] Stopped
2025-03-12T05:30:50.362Z,1741757450.362 [sci2_flat_and_level:Science:OceanCurrent] Stopped
2025-03-12T05:30:50.362Z,1741757450.362 [sci2_flat_and_level:Science:OceanCurrent](DEBUG): Aggregate::uninitialize sci2_flat_and_level:Science:OceanCurrent
2025-03-12T05:30:50.362Z,1741757450.362 [sci2_flat_and_level:Science:OceanCurrent:A.] Stopped
2025-03-12T05:30:50.363Z,1741757450.363 [sci2_flat_and_level:StandardEnvelopes] Stopped
2025-03-12T05:30:50.363Z,1741757450.363 [sci2_flat_and_level:StandardEnvelopes](DEBUG): Aggregate::uninitialize sci2_flat_and_level:StandardEnvelopes
2025-03-12T05:30:50.363Z,1741757450.363 [sci2_flat_and_level:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-03-12T05:30:50.363Z,1741757450.363 [sci2_flat_and_level:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-03-12T05:30:50.363Z,1741757450.363 [sci2_flat_and_level:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-03-12T05:30:50.363Z,1741757450.363 [sci2_flat_and_level:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-03-12T05:30:50.363Z,1741757450.363 [sci2_flat_and_level:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-03-12T05:30:50.368Z,1741757450.368 [sci2_flat_and_level:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-03-12T05:30:50.368Z,1741757450.368 [sci2_flat_and_level:BackseatDriver] Stopped
2025-03-12T05:30:50.368Z,1741757450.368 [sci2_flat_and_level:BackseatDriver](DEBUG): Aggregate::uninitialize sci2_flat_and_level:BackseatDriver
2025-03-12T05:30:50.368Z,1741757450.368 [sci2_flat_and_level:BackseatDriver:A.BackseatDriver] Stopped
2025-03-12T05:30:50.369Z,1741757450.369 [sci2_flat_and_level:PowerOnly] Stopped
2025-03-12T05:30:50.369Z,1741757450.369 [sci2_flat_and_level:PowerOnly](DEBUG): Aggregate::uninitialize sci2_flat_and_level:PowerOnly
2025-03-12T05:30:50.369Z,1741757450.369 [sci2_flat_and_level:PowerOnly:E.Wait] Stopped
2025-03-12T05:30:50.369Z,1741757450.369 [sci2_flat_and_level:PowerOnly:E.Wait](DEBUG): Uninitialize Wait Component.
2025-03-12T05:30:50.369Z,1741757450.369 [sci2_flat_and_level:DiveCmd] Stopped
2025-03-12T05:30:50.369Z,1741757450.369 [sci2_flat_and_level:DiveCmd](DEBUG): Aggregate::uninitialize sci2_flat_and_level:DiveCmd
2025-03-12T05:30:50.369Z,1741757450.369 [sci2_flat_and_level:DiveCmd:InitialDive] Stopped
2025-03-12T05:30:50.370Z,1741757450.370 [sci2_flat_and_level:DiveCmd:InitialDive](DEBUG): Aggregate::uninitialize sci2_flat_and_level:DiveCmd:InitialDive
2025-03-12T05:30:50.370Z,1741757450.370 [sci2_flat_and_level:DiveCmd:SettleAtDepth] Stopped
2025-03-12T05:30:50.370Z,1741757450.370 [sci2_flat_and_level:DiveCmd:SettleAtDepth](DEBUG): Aggregate::uninitialize sci2_flat_and_level:DiveCmd:SettleAtDepth
2025-03-12T05:30:50.370Z,1741757450.370 [sci2_flat_and_level:DiveCmd:MaintainDepth] Stopped
2025-03-12T05:30:50.370Z,1741757450.370 [sci2_flat_and_level:DiveCmd:MaintainDepth](DEBUG): Aggregate::uninitialize sci2_flat_and_level:DiveCmd:MaintainDepth
2025-03-12T05:30:50.370Z,1741757450.370 [sci2_flat_and_level:DiveCmd:MaintainDepth:dive] Stopped
2025-03-12T05:30:50.371Z,1741757450.371 [sci2_flat_and_level:DiveCmd:MaintainDepth:dive](DEBUG): Aggregate::uninitialize sci2_flat_and_level:DiveCmd:MaintainDepth:dive
2025-03-12T05:30:50.371Z,1741757450.371 [sci2_flat_and_level:DiveCmd:MaintainDepth:dive:ThrusterDive] Stopped
2025-03-12T05:30:50.371Z,1741757450.371 [sci2_flat_and_level:DiveCmd:MaintainDepth:dive:ThrusterDive](DEBUG): Aggregate::uninitialize sci2_flat_and_level:DiveCmd:MaintainDepth:dive:ThrusterDive
2025-03-12T05:30:50.371Z,1741757450.371 [sci2_flat_and_level:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass] Stopped
2025-03-12T05:30:50.371Z,1741757450.371 [sci2_flat_and_level:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass](DEBUG): Uninitialize.
2025-03-12T05:30:50.371Z,1741757450.371 [sci2_flat_and_level:DiveCmd:MaintainDepth:dive:ThrusterDive:B.Buoyancy] Stopped
2025-03-12T05:30:50.371Z,1741757450.371 [sci2_flat_and_level:DiveCmd:MaintainDepth:dive:ThrusterDive:B.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-03-12T05:30:50.376Z,1741757450.376 [sci2_flat_and_level:DiveCmd:MaintainDepth:dive:SetSpeed] Stopped
2025-03-12T05:30:50.376Z,1741757450.376 [sci2_flat_and_level:DiveCmd:MaintainDepth:dive:SetSpeed](DEBUG): Aggregate::uninitialize sci2_flat_and_level:DiveCmd:MaintainDepth:dive:SetSpeed
2025-03-12T05:30:50.376Z,1741757450.376 [sci2_flat_and_level:DiveCmd:MaintainDepth:dive:SetSpeed:A.SetSpeed] Stopped
2025-03-12T05:30:50.377Z,1741757450.377 [sci2_flat_and_level:DiveCmd:MaintainDepth:dive:SetSpeed:A.SetSpeed](DEBUG): Uninitialize.
2025-03-12T05:30:50.377Z,1741757450.377 [sci2_flat_and_level:DiveCmd:MaintainDepth:dive:D.Pitch] Stopped
2025-03-12T05:30:50.532Z,1741757450.532 [WetLabsBB2FL](INFO): Powering down
2025-03-12T05:30:50.833Z,1741757450.833 [MissionManager](IMPORTANT): Started mission Default
2025-03-12T05:30:50.833Z,1741757450.833 [Default] Running Loop=1
2025-03-12T05:30:50.833Z,1741757450.833 [Default](DEBUG): Aggregate::initialize Default
2025-03-12T05:30:50.833Z,1741757450.833 [Default:B.GoToSurface] Running Loop=1
2025-03-12T05:30:50.833Z,1741757450.833 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-03-12T05:30:50.833Z,1741757450.833 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-03-12T05:30:50.834Z,1741757450.834 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-03-12T05:30:50.834Z,1741757450.834 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-03-12T05:30:50.834Z,1741757450.834 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-03-12T05:30:50.835Z,1741757450.835 [Default:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-03-12T05:30:50.835Z,1741757450.835 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-03-12T05:30:50.835Z,1741757450.835 [Default:A.Wait] Running Loop=1
2025-03-12T05:30:50.835Z,1741757450.835 [Default:A.Wait](DEBUG): Initialize Wait Component.
2025-03-12T05:30:51.397Z,1741757451.397 [Radio_Surface](INFO): Powering up
2025-03-12T05:30:56.893Z,1741757456.893 [DataOverHttps](INFO): Radio surface powered ON.
2025-03-12T05:31:04.218Z,1741757464.218 [Default:A.Wait](INFO): Done Waiting.
2025-03-12T05:31:04.218Z,1741757464.218 [Default:A.Wait] Stopped
2025-03-12T05:31:04.218Z,1741757464.218 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2025-03-12T05:31:27.012Z,1741757487.012 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T05:31:46.636Z,1741757506.636 [Default:CheckIn] Running Loop=1
2025-03-12T05:31:46.637Z,1741757506.636 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-03-12T05:31:46.637Z,1741757506.637 [Default:CheckIn:Read_GPS] Running Loop=1
2025-03-12T05:31:58.136Z,1741757518.136 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T05:32:14.905Z,1741757534.905 [NAL9602](INFO): SBD MO Status=0, MOMSN=18956, MT Status=0, MTMSN=0
2025-03-12T05:32:14.905Z,1741757534.905 [NAL9602](INFO): No messages in MT queue
2025-03-12T05:32:16.119Z,1741757536.119 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,053211.00,A,3647.93072,N,12151.53461,W,1.749,288.69,120325,,,A*73
2025-03-12T05:32:16.121Z,1741757536.121 [NAL9602](INFO): GPS fix at 20250312T053211: (36.798845, -121.858910)
2025-03-12T05:32:16.133Z,1741757536.133 [UniversalFixResidualReporter](INFO): Fix residual: 22.6 %DT, over the last 880.3 m. Residual distance 198.7 m at bearing 128.4 degrees. Fix at (36.7988, -121.8589) with 950.5 m made good.
2025-03-12T05:32:16.134Z,1741757536.134 [Default:CheckIn:Read_GPS] Stopped
2025-03-12T05:32:16.134Z,1741757536.134 [Default:CheckIn:Read_Iridium] Running Loop=1
2025-03-12T05:32:29.260Z,1741757549.260 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T05:32:32.414Z,1741757552.414 [NAL9602](INFO): SBD MO Status=2, MOMSN=18957, MT Status=2, MTMSN=0
2025-03-12T05:32:32.415Z,1741757552.415 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-03-12T05:32:41.409Z,1741757561.409 [DVL_micro](ERROR): Failed to parse:
:RD,+9999.99,+9999.99,+9999.99,+9999.99
2025-03-12T05:32:50.707Z,1741757570.707 [NAL9602](INFO): SBD MO Status=1, MOMSN=18957, MT Status=0, MTMSN=0
2025-03-12T05:32:50.772Z,1741757570.772 [NAL9602](INFO): Sent 97 bytes from file Logs/20250312T040137/Courier0034.lzma
2025-03-12T05:32:50.773Z,1741757570.773 [NAL9602](INFO): Packets left to send: 0
2025-03-12T05:33:00.384Z,1741757580.384 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T05:33:09.165Z,1741757589.165 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003611
2025-03-12T05:33:15.027Z,1741757595.027 [NAL9602](INFO): SBD MO Status=1, MOMSN=18958, MT Status=0, MTMSN=0
2025-03-12T05:33:15.076Z,1741757595.076 [NAL9602](INFO): Sent 332 bytes from file Logs/20250312T040137/Express0035.lzma
2025-03-12T05:33:15.076Z,1741757595.076 [NAL9602](INFO): Packets left to send: 1
2025-03-12T05:33:17.329Z,1741757597.329 [DataOverHttps](INFO): Sending 523 bytes from file Logs/20250312T040137/Express0035.lzma
2025-03-12T05:33:18.330Z,1741757598.330 [DataOverHttps](INFO): Moved sent file to Logs/20250312T040137/Express0035.lzma.bak
2025-03-12T05:33:18.330Z,1741757598.330 [DataOverHttps](INFO): SBD MOMSN=24182499
2025-03-12T05:33:19.892Z,1741757599.892 [Default:CheckIn:Read_Iridium] Stopped
2025-03-12T05:33:19.892Z,1741757599.892 [Default:CheckIn:C.Wait] Running Loop=1
2025-03-12T05:33:19.892Z,1741757599.892 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2025-03-12T05:33:45.725Z,1741757625.725 [NAL9602](INFO): Not Powering down - fast GPS
2025-03-12T05:35:34.509Z,1741757734.509 [DataOverHttps](IMPORTANT): SBD MTMSN=20250312T053529
2025-03-12T05:35:48.908Z,1741757748.908 [DataOverHttps](INFO): Received command: configset CBIT.runNavErrorCritical 0 bool persist;restart logs